Commit a90baa92 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
Browse files

copied files from old repo

parents
/.settings/
/.cproject
/.project
/.clangd
stages:
- demo
############ YAML ANCHORS ############
.preliminaries_template: &preliminaries_definition
## Install ssh-agent if not already installed, it is required by Docker.
## (change apt-get to yum if you use an RPM-based image)
- 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
## Run ssh-agent (inside the build environment)
- eval $(ssh-agent -s)
## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
## We're using tr to fix line endings which makes ed25519 keys work
## without extra base64 encoding.
## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
- mkdir -p ~/.ssh
- chmod 700 ~/.ssh
- echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
# - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
- ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
# update apt
- apt-get update
# create ci_deps folder (if not exists)
- mkdir -pv ci_deps
# manually source ros setup.bash
- source /root/catkin_ws/devel/setup.bash
- roscd # check that it works
.install_wolf_template: &install_wolf_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d wolf ]; then
- echo "directory wolf exists"
- cd wolf
- git checkout devel
- git pull
- git checkout $WOLF_CORE_BRANCH
- else
- git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
- cd wolf
- git checkout $WOLF_CORE_BRANCH
- fi
- mkdir -pv build
- cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
- make -j$(nproc)
- make install
- ldconfig
.install_laserscanutils_template: &install_laserscanutils_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d laser_scan_utils ]; then
- echo "directory laser_scan_utils exists"
- cd laser_scan_utils
- git pull
- else
- git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
- cd laser_scan_utils
- fi
- mkdir -pv build
- cd build
- rm -rf *
- cmake -DCMAKE_BUILD_TYPE=release ..
- make -j$(nproc)
- make install
- ldconfig
.install_csm_template: &install_csm_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- apt-get install -y libgsl-dev
- if [ -d csm ]; then
- echo "directory csm exists"
- cd csm
- git pull
- else
- git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
- cd csm
- fi
- cmake .
- make -j$(nproc)
- make install
- ldconfig
.install_falko_template: &install_falko_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d falkolib ]; then
- echo "directory falkolib exists"
- cd falkolib
- git pull
- else
- git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
- cd falkolib
- fi
- mkdir -pv build
- cd build
- cmake ..
- make -j$(nproc)
- make install
- ldconfig
.install_wolflaser_template: &install_wolflaser_definition
- cd ${CI_PROJECT_DIR}/ci_deps
- if [ -d laser ]; then
- echo "directory laser exists"
- cd laser
- git checkout devel
- git pull
- git checkout $WOLF_LASER_BRANCH
- else
- git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
- cd laser
- git checkout $WOLF_LASER_BRANCH
- fi
- mkdir -pv build
- cd build
- cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
- make -j$(nproc)
- make install
- ldconfig
.clone_wolfrosnode_template: &clone_wolfrosnode_definition
- roscd
- cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
- cd wolf_ros_node
- git checkout $WOLF_ROS_CORE_BRANCH
.clone_wolfroslaser_template: &clone_wolfroslaser_definition
- roscd
- cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_laser.git
- cd wolf_ros_laser
- git checkout $WOLF_ROS_LASER_BRANCH
.demo_template: &demo_definition
- roscd
- cd ../src
- git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
- cd wolf_demo_laser2d
- git checkout $CI_COMMIT_BRANCH
- cd ../..
- catkin_make
- roslaunch wolf_demo_laser2d demo_laser2d.launch rviz:=false
############ UBUNTU 16.04 TEST ############
demo:xenial:
stage: demo
image: labrobotica/wolf_deps_ros:16.04
cache:
- key: wolf_and_deps-xenial
paths:
- ci_deps
except:
- master
before_script:
- *preliminaries_definition
- *install_wolf_definition
- *install_csm_definition
#- *install_falko_definition NOT NECESSARY
- *install_laserscanutils_definition
- *install_wolflaser_definition
- *clone_wolfrosnode_definition
- *clone_wolfroslaser_definition
script:
- *demo_definition
############ UBUNTU 18.04 TEST ############
demo:bionic:
stage: demo
image: labrobotica/wolf_deps_ros:18.04
cache:
- key: wolf_and_deps-bionic
paths:
- ci_deps
except:
- master
before_script:
- *preliminaries_definition
- *install_wolf_definition
- *install_csm_definition
#- *install_falko_definition NOT NECESSARY
- *install_laserscanutils_definition
- *install_wolflaser_definition
- *clone_wolfrosnode_definition
- *clone_wolfroslaser_definition
script:
- *demo_definition
############ UBUNTU 20.04 TEST ############
demo:focal:
stage: demo
image: labrobotica/wolf_deps_ros:20.04
cache:
- key: wolf_and_deps-focal
paths:
- ci_deps
except:
- master
before_script:
- *preliminaries_definition
- *install_wolf_definition
- *install_csm_definition
#- *install_falko_definition NOT NECESSARY
- *install_laserscanutils_definition
- *install_wolflaser_definition
- *clone_wolfrosnode_definition
- *clone_wolfroslaser_definition
script:
- *demo_definition
cmake_minimum_required(VERSION 2.8.3)
project(wolf_demo_laser2d)
## Compile as C++11, supported in ROS Kinetic and newer
#add_compile_options(-std=c++11)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
## 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)
# find_package(Ceres REQUIRED)
# find_package(Eigen3 REQUIRED)
## 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
# sensor_msgs# std_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/WolfROS.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 wolf_ros1
# CATKIN_DEPENDS roscpp sensor_msgs std_msgs
# DEPENDS system_lib
#)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
# ${catkin_INCLUDE_DIRS}
)
# link_directories(/usr/local/lib/iri-algorithms)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
## Specify libraries to link a library or executable target against
#target_link_libraries(${PROJECT_NAME}_visualizer ${wolf_LIBRARIES} ${wolflaser_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}
# 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_wolf_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
# wolf_demo_laser2d
Check [WOLF documentation web](http://www.iri.upc.edu/wolf) (section WOLF Demos) for more information.
<!-- -->
<launch>
<arg name="rviz" default="true" />
<arg name="speed" default="1" />
<arg name="sec" default="0" />
<arg name="profiling" default="false" />
<arg name="gdb" default="false" />
<arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
<arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
<arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
<arg name="bag" default="advanced" /> <!-- can be: "basic", "basic_no_odom_tf", "advanced", "advanced_no_odom_tf"-->
<param name="use_sim_time" value="true" />
<!--WOLF-->
<node type="wolf_ros_node"
name="wolf_ros_node"
pkg="wolf_ros_node"
required="true"
output="screen"
launch-prefix="$(arg launch_pref)">
<param name="~yaml_file_path" value="$(find wolf_demo_laser2d)/yaml/demo_laser2d.yaml" />
</node>
<!--VISUALIZATION-->
<group if="$(arg rviz)">
<node type="rviz"
name="rviz"
pkg="rviz"
args="-d $(find wolf_demo_laser2d)/rviz/demo_laser2d.rviz"/>
</group>
<!--ROSBAG PLAY-->
<node pkg="rosbag"
type="play"
name="player"
required="true"
args="-r $(arg speed)
-s $(arg sec)
--clock
$(find wolf_demo_laser2d)/bag/$(arg bag).bag"/>
</launch>
<?xml version="1.0"?>
<package format="2">
<name>wolf_demo_laser2d</name>
<version>0.0.0</version>
<description>The wolf_rospackage</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="jvallve@iri.upc.edu">jvallve</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/wolf_ros1</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> -->
<build_depend>wolf_ros_node</build_depend>
<build_depend>wolf_ros_laser</build_depend>
<!-- <build_depend>roslib</build_depend> -->
<!-- <exec_depend>wolf_ros_laser</exec_depend> -->
<!-- <exec_depend>roslib</exec_depend> -->
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /TF1/Frames1
- /Factors1
- /Factors1/Namespaces1
- /Trajectory1/Namespaces1
Splitter Ratio: 0.8388888835906982
Tree Height: 719
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 100
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
base_footprint:
Value: true
base_laser_link:
Value: true
base_link:
Value: true
map:
Value: true
odom:
Value: true
Marker Alpha: 1
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
map:
odom:
base_footprint:
base_laser_link:
{}
base_link:
{}
Update Interval: 0
Value: true
- Angle Tolerance: 0.10000000149011612
Class: rviz/Odometry
Covariance:
Orientation:
Alpha: 0.5
Color: 255; 255; 127
Color Style: Unique
Frame: Local
Offset: 1
Scale: 1
Value: true
Position:
Alpha: 0.30000001192092896
Color: 204; 51; 204
Scale: 1
Value: true
Value: false
Enabled: true
Keep: 100
Name: Odometry
Position Tolerance: 0.10000000149011612
Queue Size: 10
Shape:
Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Color: 255; 25; 0
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Shaft Length: 1