Commit 0501f296 authored by Fernando Herrero's avatar Fernando Herrero
Browse files

Initial commit

parents
cmake_minimum_required(VERSION 2.8.3)
project(iri_rosnav)
## 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 iri_rosnav
# 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/${PROJECT_NAME}/iri_rosnav.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/iri_rosnav_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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_iri_rosnav.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="config" default="$(find iri_rosnav)/params/amcl_default.yaml"/>
<arg name="scan_topic" default="$(arg ns)/scan"/>
<arg name="map_service" default="$(arg ns/static_map"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node name="amcl"
pkg ="amcl"
type="amcl"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="/$(arg ns)/scan" to="$(arg scan_topic)"/>
<remap from="/static_map" to="$(arg map_service)"/>
<rosparam file="$(arg config)" command="load"/>
<param name="map_frame_id" value="$(arg map_frame_id)"/>
<param name="odom_frame_id" value="$(arg odom_frame_id)"/>
<param name="base_frame_id" value="$(arg base_frame_id)"/>
<param name="initial_x" value="$(arg initial_x)"/>
<param name="initial_y" value="$(arg initial_y)"/>
<param name="initial_yaw" value="$(arg initial_yaw)"/>
</node>
</group>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="config" default="$(find iri_rosnav)/param/cmdvelmux_default.yaml"/>
<arg name="output" default="log" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node pkg ="nodelet"
type="nodelet"
name="$(arg nodelet_manager_name)"
args="manager"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)"/>
<node pkg ="nodelet"
type="nodelet"
name="cmd_vel_mux"
args="load yocs_cmd_vel_mux/CmdVelMuxNodelet $(arg nodelet_manager_name)"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<param name="yaml_cfg_file" value="$(arg config)"/>
</node>
</group>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="map_frame_id" default="map" />
<arg name="odom_frame_id" default="$(arg ns)/odom" />
<arg name="base_frame_id" default="$(arg ns)/base_footprint" />
<arg name="transform_tolerance" default="0.1" />
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="odom_topic" default="$(arg ns)/odom"/>
<arg name="ground_truth_topic" default="$(arg ns)/ground_truth"/>
<arg name="initialpose_topic" default="$(arg ns)/initialpose"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node name="fake_localization"
pkg ="fake_localization"
type="fake_localization"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<param name="global_frame_id" value="$(arg map_frame_id)" />
<param name="odom_frame_id" value="$(arg odom_frame_id)" />
<param name="base_frame_id" value="$(arg base_frame_id)" />
<param name="transform_tolerance" value="$(arg transform_tolerance)" />
<param name="delta_x" value="$(arg initial_x)" />
<param name="delta_y" value="$(arg initial_y)" />
<param name="delta_yaw" value="$(arg initial_yaw)" />
<remap from="/odom" to="$(arg odom_topic)"/>
<remap from="base_pose_ground_truth" to="$(arg ground_truth_topic)"/>
<remap from="initialpose" to="$(arg initialpose_topic)"/>
</node>
</group>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="resolution" default="0.1"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="config" default="$(find iri_rosnav)/params/gmapping_default.yaml"/>
<arg name="gmapping_scan_topic" default="$(arg ns)/scan"/>
<arg name="map_topic" default="$(arg ns/map"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node name="slam_gmapping"
pkg ="gmapping"
type="slam_gmapping"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="/$(arg ns)/scan" to="$(arg gmapping_scan_topic)"/>
<remap from="/$(arg ns)/map" to="$(arg map_topic)"/>
<rosparam file="$(arg config)" command="load"/>
<param name="map_frame" value="$(arg map_frame_id)"/>
<param name="odom_frame" value="$(arg odom_frame_id)"/>
<param name="base_frame" value="$(arg base_frame_id)"/>
<param name="delta" value="$(arg resolution)"/>
</node>
</group>
</launch>
\ No newline at end of file
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="map_name" default="empty"/>
<arg name="map_frame_id" default="map"/>
<arg name="map_topic" default="$(arg ns)/map"/>
<arg name="map_service" default="$(arg ns)/static_map"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node name="map_server"
pkg ="map_server"
type="map_server"
args="$(find iri_maps)/maps/$(arg map_name).yaml"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<param name="frame_id" value="$(arg map_frame_id)"/>
<remap from="~map" to="$(arg map_topic)"/>
<remap from="~static_map" to="$(arg map_service)"/>
</node>
</group>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="path" default="$(find iri_rosnav)"/>
<arg name="use_map" default="true"/>
<arg name="map_topic" default="/$(arg ns)/map)"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="costmap_path" value="map" if="$(arg use_map)"/>
<arg name="costmap_path" value="no_map" unless="$(arg use_map)"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group ns="$(arg ns)">
<node pkg ="move_base"
type="move_base"
name="move_base"
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="/map" to="$(arg map_topic)" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
<remap from="odom" to="$(arg odom_topic)" />
<rosparam file="$(arg path)/params/move_base_params.yaml" command="load" />
<rosparam file="$(arg path)/params/local_planner/$(arg local_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/params/global_planner/$(arg global_planner)_params.yaml" command="load" />
<rosparam file="$(arg path)/params/costmap/common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(arg path)/params/costmap/local_params.yaml" command="load" ns="local_costmap"/>
<rosparam file="$(arg path)/params/costmap/common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(arg path)/params/costmap/$(arg costmap_path)/global_params.yaml" command="load" ns="global_costmap"/>
</node>
</group>
</launch>
<?xml version="1.0"?>
<!-- -->
<launch>
<arg name="ns" default="robot"/>
<arg name="path" default="$(find iri_rosnav)"/>
<arg name="map_frame_id" default="map"/>
<arg name="odom_frame_id" default="$(arg ns)/odom"/>
<arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<arg name="map_topic" default="/$(arg ns)/map"/>
<arg name="map_service" default="/$(arg ns)/static_map"/>
<arg name="odom_topic" default="/$(arg ns)/odom"/>
<arg name="cmd_vel_topic" default="/$(arg ns)/navigation/cmd_vel"/>
<arg name="scan_topic" default="/$(arg ns)/scan"/>
<arg name="use_map" default="true"/>
<arg name="use_map_server" default="true"/>
<arg name="map_name" default="willow"/>
<arg name="use_amcl" default="true"/>
<arg name="amcl_config" default="$(arg path)/params/amcl_default.yaml"/>
<arg name="initial_x" default="0.0"/>
<arg name="initial_y" default="0.0"/>
<arg name="initial_yaw" default="0.0"/>
<arg name="use_fake_loc" default="false"/>
<arg name="use_gmapping" default="false"/>
<arg name="gmapping_scan_topic" default="/$(arg ns)/front_hokuyo_scan"/>
<arg name="gmapping_config" default="$(arg path)/params/gmapping_default.yaml"/>
<arg name="resolution" default="0.1"/>
<arg name="use_cmd_vel_mux" default="false"/>
<arg name="nodelet_manager_name" default="nodelet_manager"/>
<arg name="cmd_vel_mux_config" default="$(arg path)/params/cmdvelmux_default.yaml"/>
<arg name="use_move_base" default="true"/>
<arg name="local_planner" default="dwa"/>
<arg name="global_planner" default="global_planner"/>
<arg name="output" default="screen" />
<arg name="launch_prefix" default="" />
<group if="$(arg use_map)">
<group if="$(arg use_map_server)">
<include file="$(find iri_rosnav)/launch/include/map_server.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="map_name" value="$(arg map_name)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_amcl)">
<include file="$(find iri_rosnav)/launch/include/amcl.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="config" value="$(arg amcl_config)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="scan_topic" value="$(arg scan_topic)"/>
<arg name="map_service" value="$(arg map_service)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_gmapping)">
<include file="$(find iri_rosnav)/launch/include/gmapping.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="resolution" value="$(arg resolution)"/>
<arg name="config" value="$(arg gmapping_config)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="gmapping_scan_topic" value="$(arg gmapping_scan_topic)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
</group>
<group if="$(arg use_fake_loc)">
<include file="$(find iri_rosnav)/launch/include/fake_loc.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="map_frame_id" value="$(arg map_frame_id)"/>
<arg name="odom_frame_id" value="$(arg odom_frame_id)"/>
<arg name="base_frame_id" value="$(arg base_frame_id)"/>
<arg name="initial_x" value="$(arg initial_x)"/>
<arg name="initial_y" value="$(arg initial_y)"/>
<arg name="initial_yaw" value="$(arg initial_yaw)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_cmd_vel_mux)">
<include file="$(find iri_rosnav)/launch/include/cmd_vel_mux.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="nodelet_manager_name" value="$(arg nodelet_manager_name)"/>
<arg name="config" value="$(arg cmd_vel_mux_config)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
<group if="$(arg use_move_base)">
<include file="$(find iri_rosnav)/launch/include/move_base.launch">
<arg name="ns" value="$(arg ns)"/>
<arg name="path" value="$(arg path)"/>
<arg name="use_map" value="$(arg use_map_server)"/>
<arg name="map_topic" value="$(arg map_topic)"/>
<arg name="odom_topic" value="$(arg odom_topic)"/>
<arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
<arg name="local_planner" value="$(arg local_planner)"/>
<arg name="global_planner" value="$(arg global_planner)"/>
<arg name="output" value="$(arg output)" />
<arg name="launch_prefix" value="$(arg launch_prefix)" />
</include>
</group>
</launch>
<?xml version="1.0"?>
<package format="2">
<name>iri_rosnav</name>
<version>0.0.0</version>
<description>The iri_rosnav package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="fherrero@todo.todo">fherrero</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/iri_rosnav</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>
#map_frame_id: map
#odom_frame_id: odom
#base_frame_id: base_link
initial_x: 0.0
initial_y: 0.0
initial_a: 0.0
# filer parameters
min_particles: 100
max_particles: 5000
kld_err: 0.01
kld_z: 0.99
update_min_d: 0.2
update_min_a: 0.5236
resample_interval: 2
transform_tolerance: 0.1
recovery_alpha_slow: 0.0
recovery_alpha_fast: 0.0
initial_cov_xx: 0.25
initial_cov_yy: 0.25
initial_cov_aa: 0.0685
gui_publish_rate: -1.0