odom added

src/turtlebot3_simulations

@@ -1 +0,0 @@
-Subproject commit e9d809ca8e3bf889c0275e4103b15a341ffab888

src/turtlebot_description/launch/gazebo.launch

@@ -1,5 +1,5 @@
 <launch>
-   <arg name="model" default="$(find kubot_description)/urdf/kubot.urdf.xacro"/>
+   <arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
    <arg name="world" default="$(find kubot_description)/worlds/ku_lab/ku_model.sdf"/>
    <!-- <arg name="world" default="empty_world"/> -->
    

src/turtlebot_description/rviz/display.rviz

@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
         - /TF1/Frames1
-      Splitter Ratio: 0.5
+      Splitter Ratio: 0.5264706015586853
     Tree Height: 439
   - Class: rviz/Selection
     Name: Selection
@@ -78,25 +78,7 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        camera_link:
+        caster_back:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        camera_rgb_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        camera_rgb_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        caster_back_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_right_link:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -182,9 +164,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5753997564315796
+      Pitch: 0.31039994955062866
       Target Frame: <Fixed Frame>
-      Yaw: 0.013627300970256329
+      Yaw: 4.9499592781066895
     Saved: ~
 Window Geometry:
   Displays:

src/turtlebot_description/urdf/turtlebot.urdf.xacro

@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
 
 <robot name="turtlebot" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    
     <xacro:arg name="model" default="$(find turtlebot_description)/urdf/turtlebot.urdf.xacro"/>
 
     <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.xacro"/>
@@ -9,7 +10,7 @@
 
     <link name="base_link">
         <visual>
-            <origin xyz="-0.14 0.2 -0.05" rpy="1.5708 0 0"/>
+            <origin xyz="-0.2 0.2 -0.07" rpy="1.5708 0 0"/>
             <geometry>
                 <mesh filename="package://turtlebot_description/meshes/bases/kubot_base.STL" scale="0.001 0.001 0.001"/>
             </geometry>
@@ -19,7 +20,7 @@
         <collision>
             <origin xyz="-0.064 0 0.047" rpy="0 0 0"/>
             <geometry>
-                <box size="0.266 0.266 0.094"/>
+            <box size="0.266 0.266 0.094"/>
             </geometry>
         </collision>
 
@@ -44,7 +45,7 @@
         <collision>
             <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
-                <cylinder length="0.018" radius="0.033"/>
+            <cylinder length="0.018" radius="0.033"/>
             </geometry>
         </collision>
 
@@ -89,9 +90,11 @@
             </inertial>
     </link>
 
-    <link name="caster_link">
+    <link name="caster_back">
+        
+
         <collision>
-            <origin xyz="0 0.001 0" rpy="0 0 0"/>
+            <origin xyz="0 0.004 0" rpy="0 0 0"/>
             <geometry>
                 <box size="0.030 0.009 0.020"/>
             </geometry>
@@ -106,40 +109,6 @@
         </inertial>            
     </link>
 
-    <!-- <link name="caster_back_right_link">
-        <collision>
-            <origin xyz="0 0.001 0" rpy="0 0 0"/>
-            <geometry>
-                <box size="0.030 0.009 0.020"/>
-            </geometry>
-        </collision>
-
-        <inertial>
-            <origin xyz="0 0 0" />
-            <mass value="0.005" />
-            <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-        </inertial>            
-    </link>
-
-    <link name="caster_back_left_link">
-        <collision>
-            <origin xyz="0 0.001 0" rpy="0 0 0"/>
-            <geometry>
-            <box size="0.030 0.009 0.020"/>
-            </geometry>
-        </collision>
-
-        <inertial>
-            <origin xyz="0 0 0" />
-            <mass value="0.005" />
-            <inertia ixx="0.001" ixy="0.0" ixz="0.0"
-               iyy="0.001" iyz="0.0"
-               izz="0.001" />
-        </inertial>
-    </link> -->
-
     <link name="imu_link"/>
 
     <link name="base_scan">
@@ -166,19 +135,19 @@
                izz="0.001" />
         </inertial>
     </link>
-<!-- 
+
-    <link name="camera_link">
+    <!-- <link name="camera_link">
         <collision>
         <origin xyz="0.005 0.011 0.013" rpy="0 0 0"/>
         <geometry>
             <box size="0.015 0.030 0.027"/>
         </geometry>
         </collision>
-    </link> -->
+    </link>
 
-    <!-- <link name="camera_rgb_frame"/> -->
+    <link name="camera_rgb_frame"/>
 
-    <!-- <link name="camera_rgb_optical_frame"/> -->
+    <link name="camera_rgb_optical_frame"/> -->
 
     <joint name="base_joint" type="fixed">
         <parent link="base_footprint"/>
@@ -199,24 +168,14 @@
         <origin xyz="0.0 -0.144 0.023" rpy="-1.57 0 0"/>
         <axis xyz="0 0 1"/>
     </joint>
-    <!-- 
+
     <joint name="caster_back_right_joint" type="fixed">
         <parent link="base_link"/>
-        <child link="caster_back_right_link"/>
+        <child link="caster_back"/>
-        <origin xyz="-0.177 -0.064 -0.004" rpy="-1.57 0 0"/>
+        <origin xyz="-0.177 0 -0.004" rpy="-1.57 0 0"/>
     </joint>
 
-    <joint name="caster_back_left_joint" type="fixed">
-        <parent link="base_link"/>
-        <child link="caster_back_left_link"/>
-        <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-    </joint> -->
 
-    <joint name="caster__joint" type="fixed">
-        <parent link="base_link"/>
-        <child link="caster_link"/>
-        <origin xyz="-0.177 0.064 -0.004" rpy="-1.57 0 0"/>
-    </joint>
 
     <joint name="imu_joint" type="fixed">
         <parent link="base_link"/>
@@ -234,18 +193,18 @@
         <origin xyz="0.073 -0.011 0.084" rpy="0 0 0"/>
         <parent link="base_link"/>
         <child link="camera_link"/>
-    </joint> -->
+    </joint>
-<!-- 
+
     <joint name="camera_rgb_joint" type="fixed">
         <origin xyz="0.003 0.011 0.009" rpy="0 0 0"/>
         <parent link="camera_link"/>
         <child link="camera_rgb_frame"/>
-    </joint> -->
+    </joint>
 
-    <!-- <joint name="camera_rgb_optical_joint" type="fixed">
+    <joint name="camera_rgb_optical_joint" type="fixed">
         <origin xyz="0 0 0" rpy="-1.57 0 -1.57"/>
         <parent link="camera_rgb_frame"/>
         <child link="camera_rgb_optical_frame"/>
     </joint> -->
-
+<!-- zzz -->
 </robot>

src/turtlebot_slam/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(turtlebot_slam)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES turtlebot_slam
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/turtlebot_slam.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/turtlebot_slam_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_turtlebot_slam.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/turtlebot_slam/config/turtlebot_lds_2d.lua

@@ -0,0 +1,58 @@
+-- Copyright 2016 The Cartographer Authors
+--
+-- Licensed under the Apache License, Version 2.0 (the "License");
+-- you may not use this file except in compliance with the License.
+-- You may obtain a copy of the License at
+--
+--      http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+
+include "map_builder.lua"
+include "trajectory_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  trajectory_builder = TRAJECTORY_BUILDER,
+  map_frame = "map",
+--   tracking_frame = "imu_link", -- imu_link, If you are using gazebo, use 'base_footprint' (libgazebo_ros_imu's bug)
+  tracking_frame = "base_footprint"
+  published_frame = "odom",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  publish_frame_projected_to_2d = false,
+  use_odometry = true,
+  use_nav_sat = false,
+  use_landmarks = false,
+  num_laser_scans = 1,
+  num_multi_echo_laser_scans = 0,
+  num_subdivisions_per_laser_scan = 1,
+  num_point_clouds = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+  trajectory_publish_period_sec = 30e-3,
+  rangefinder_sampling_ratio = 1.,
+  odometry_sampling_ratio = 0.1,
+  fixed_frame_pose_sampling_ratio = 1.,
+  imu_sampling_ratio = 0.1,
+  landmarks_sampling_ratio = 1.,
+}
+
+MAP_BUILDER.use_trajectory_builder_2d = true
+
+TRAJECTORY_BUILDER_2D.min_range = 0.1
+TRAJECTORY_BUILDER_2D.max_range = 3.5
+TRAJECTORY_BUILDER_2D.missing_data_ray_length = 3.
+TRAJECTORY_BUILDER_2D.use_imu_data = true
+TRAJECTORY_BUILDER_2D.use_online_correlative_scan_matching = true
+TRAJECTORY_BUILDER_2D.motion_filter.max_angle_radians = math.rad(0.1)
+
+POSE_GRAPH.constraint_builder.min_score = 0.65
+POSE_GRAPH.constraint_builder.global_localization_min_score = 0.7
+
+return options

src/turtlebot_slam/package.xml

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>turtlebot_slam</name>
+  <version>0.0.0</version>
+  <description>The turtlebot_slam package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="sasu@todo.todo">sasu</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/turtlebot_slam</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>