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Commit 2b886618 authored by Fernando Herrero's avatar Fernando Herrero
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CMakeLists.txt 0 → 100644
View file @ 2b886618
cmake_minimum_required(VERSION 3.0.2)
project(iri_adc_circuit_example)
## 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_adc_circuit_example
# 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/${PROJECT_NAME}/iri_adc_circuit_example.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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_adc_circuit_example_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_iri_adc_circuit_example.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
data/example.png 0 → 100644
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data/example.xodr 0 → 100644
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data/example.yaml 0 → 100644
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road_x: 35
road_y: 39.9997
road_yaw: 0.0
road_image_size: 99.101
launch/sample/spawn_objects.launch 0 → 100644
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<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter1_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="10"/>
<arg name="height" value="0.5"/>
<arg name="x" value="9.2"/>
<arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter3_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="10"/>
<arg name="height" value="0.5"/>
<arg name="x" value="-2.2"/>
<arg name="y" value="4"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object0_0"/>
<arg name="model" value="box"/>
<arg name="length" value="2.5"/>
<arg name="width" value="6"/>
<arg name="height" value="0.5"/>
<arg name="x" value="1.25"/>
<arg name="y" value="4"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object1_0"/>
<arg name="model" value="box"/>
<arg name="length" value="2.5"/>
<arg name="width" value="2"/>
<arg name="height" value="0.5"/>
<arg name="x" value="5.75"/>
<arg name="y" value="6"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="object2_0"/>
<arg name="model" value="box"/>
<arg name="length" value="2.5"/>
<arg name="width" value="3"/>
<arg name="height" value="0.5"/>
<arg name="x" value="5.75"/>
<arg name="y" value="2.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter0_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="12"/>
<arg name="height" value="0.5"/>
<arg name="x" value="3.5"/>
<arg name="y" value="-1.2"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_object_description)/launch/spawn_object.launch">
<arg name="name" value="perimeter2_0"/>
<arg name="model" value="box"/>
<arg name="length" value="0.5"/>
<arg name="width" value="12"/>
<arg name="height" value="0.5"/>
<arg name="x" value="3.5"/>
<arg name="y" value="9.2"/>
<arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/>
</include>
</launch>
launch/sample/spawn_road.launch 0 → 100644
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<arg name="road_name" default="road"/>
<arg name="road_file" default="example"/>
<arg name="road_size" default="9.9101"/>
<arg name="road_path" default="$(find iri_adc_circuit_example)/data"/>
<arg name="x" default="3.5"/>
<arg name="y" default="4.0"/>
<arg name="yaw" default="1.5708"/>
<arg name="parent" default="map"/>
<param name="road_description"
command="$(find xacro)/xacro --inorder '$(find iri_road_description)/urdf/road.xacro' name:=$(arg road_name) size:=$(arg road_size)">
</param>
<node name="$(arg road_name)_state_publisher"
pkg ="robot_state_publisher"
type="robot_state_publisher">
<remap from="robot_description" to="road_description" />
<remap from="/joint_states" to="/$(arg road_name)/joint_states" />
</node>
<node name="spawn_urdf_$(arg road_name)"
pkg ="gazebo_ros"
type="spawn_model"
args="-param road_description -urdf -model $(arg road_name) -x $(arg x) -y $(arg y) -z 0 -Y $(arg yaw)">
</node>
<node name="$(arg road_name)_set_road" pkg="iri_road_description" type="set_road.sh" output="screen" args="$(arg road_path)/$(arg road_file).png $(find iri_road_description)/urdf/roads/road.png" />
<node name="static_tf_$(arg road_name)_base_link_to_$(arg parent)" pkg="tf" type="static_transform_publisher"
args="$(arg x) $(arg y) 0 $(arg yaw) 0 0 $(arg parent) $(arg road_name)_base_link 100">
</node>
</launch>
launch/sample/spawn_signs.launch 0 → 100644
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<?xml version="1.0"?>
<launch>
<arg name="parent" default="map"/>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="pedestrian_crossing_1001"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar6"/>
<arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1"/>
<arg name="y" value="-0.5"/>
<arg name="yaw" value="3.14159"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="pedestrian_crossing_1002"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar6"/>
<arg name="type" value="pedestrian_crossing"/>
<arg name="x" value="1.5"/>
<arg name="y" value="0.5"/>
<arg name="yaw" value="0"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1031"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="8.5"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1032"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="7.5"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1033"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar2"/>
<arg name="type" value="parking"/>
<arg name="x" value="7.5"/>
<arg name="y" value="5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1081"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-1.5"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="7.85398"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1082"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="-0.5"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="parking_1101"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar2"/>
<arg name="type" value="parking"/>
<arg name="x" value="4"/>
<arg name="y" value="4.2"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1102"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar5"/>
<arg name="type" value="giveway"/>
<arg name="x" value="4"/>
<arg name="y" value="7"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="giveway_1103"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar5"/>
<arg name="type" value="giveway"/>
<arg name="x" value="3"/>
<arg name="y" value="1"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1104"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="4"/>
<arg name="y" value="1.5"/>
<arg name="yaw" value="4.71239"/>
<arg name="parent" value="$(arg parent)"/>
</include>
<include file="$(find iri_sign_description)/launch/spawn_sign.launch">
<arg name="name" value="max_50_1105"/>
<arg name="model" value="sign"/>
<arg name="tag" value="alvar13"/>
<arg name="type" value="max_50"/>
<arg name="x" value="3"/>
<arg name="y" value="6.5"/>
<arg name="yaw" value="1.5708"/>
<arg name="parent" value="$(arg parent)"/>
</include>
</launch>
launch/spawn.launch 0 → 100644
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<?xml version="1.0"?>
<launch>
<arg name="name" default="sample"/>
<arg name="road" default="true"/>
<arg name="signs" default="true"/>
<arg name="objects" default="true"/>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_road.launch" if="$(arg road)">
</include>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_signs.launch" if="$(arg signs)">
</include>
<include file="$(find iri_adc_circuit_example)/launch/$(arg name)/spawn_objects.launch" if="$(arg objects)">
</include>
</launch>
package.xml 0 → 100644
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<?xml version="1.0"?>
<package format="2">
<name>iri_adc_circuit_example</name>
<version>0.0.0</version>
<description>The iri_adc_circuit_example package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="labroboticamobil@iri.upc.edu">IRI labroboticamobil</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>LGPL</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_adc_circuit_example</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>
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