diff --git a/.vscode/settings.json b/.vscode/settings.json index ac23903..8435882 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -3,5 +3,10 @@ "/home/leon/Personal/Control_AND_Programacion_Robots/proyecto_CPR/ros_workspace/devel/lib/python2.7/dist-packages", "/home/leon/Personal/Control_AND_Programacion_Robots/CPR_Practicas/ros_workspace/devel/lib/python2.7/dist-packages", "/opt/ros/melodic/lib/python2.7/dist-packages" + ], + "python.analysis.extraPaths": [ + "/home/leon/Personal/Control_AND_Programacion_Robots/proyecto_CPR/ros_workspace/devel/lib/python2.7/dist-packages", + "/home/leon/Personal/Control_AND_Programacion_Robots/CPR_Practicas/ros_workspace/devel/lib/python2.7/dist-packages", + "/opt/ros/melodic/lib/python2.7/dist-packages" ] } \ No newline at end of file diff --git a/AlphaBotPlanner_Memoria.pdf b/AlphaBotPlanner_Memoria.pdf new file mode 100644 index 0000000..4bbf1b5 Binary files /dev/null and b/AlphaBotPlanner_Memoria.pdf differ diff --git a/CMakeLists.txt b/CMakeLists.txt deleted file mode 120000 index 66dd650..0000000 --- a/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/melodic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/README.md b/README.md new file mode 100755 index 0000000..6038047 --- /dev/null +++ b/README.md @@ -0,0 +1,70 @@ +# ALPHA BOT PROJECT +![Robot_image](https://github.com/arubedaq/alpha-bot/blob/main/images/PlanteamientoGeneral.png) + +## Project description +This project is based on the existing repository: https://github.com/ros-mobile-robots/diffbot. All the documentation and results of the project are available in "AlphaBotPlanner_Memoria.pdf". + +This project implements the entire navigation stack for an autonomous ground mobile robot: + +- Localization: We present some localization methods: + - Localization based on the "robot_localization" package (https://docs.ros.org/en/melodic/api/robot_localization/html/index.html), which fuses information from the following sensors: + - Model-based odometry + - LiDAR odometry, using the ROS package "scan_tools" (https://wiki.ros.org/scan_tools). + - IMU + - AMCL (Adaptive Monte Carlo Localization, http://wiki.ros.org/amcl) using LiDAR readings and the map + Three versions are available, following the ROS REP105 standard (https://www.ros.org/reps/rep-0105.html). + +Ground Truth-based Localization: We use the actual robot position for debugging and some experiments. + +![EKF_image](https://github.com/arubedaq/alpha-bot/blob/main/images/EKF.png) + +- Path Planning: We have developed a path planning algorithm based on Dijkstra. This algorithm relies on information from a global cost map, so it will not take into account any possible map modifications during runtime; it will be treated as static. The planner has been programmed by ourselves, but to achieve this, we need to use a cost map based on a previously created global map using the ROS package "gmapping" (http://wiki.ros.org/gmapping). + +![Planner_image](https://github.com/arubedaq/alpha-bot/blob/main/images/Planner.png) + +- High-Level Control (Path Following): The developed high-level control algorithm is a path following algorithm based on Pure Pursuit. From it, we have made a series of specific adaptations for our configuration and have proposed some simplifications for its implementation. + +![PurePursuit_image](https://github.com/arubedaq/alpha-bot/blob/main/images/PurePursuit.png) + +Next, we present a series of graphs from a representative experiment: + +![Experiment_image](https://github.com/arubedaq/alpha-bot/blob/main/images/ExperimentoRepresentativo.png) + + +## Tested Platforms +This ROS package has been tested in the following environments: +- Native Ubuntu 18 - ROS 1 Melodic +- VirtualBox and VMware virtual machines +- WSL2 + +## Installation +### From Ubuntu +This installation method will also work for WSL2 and virtual machines. + +- Prerequisites: Ubuntu 18 - ROS Melodic +- If selected: WSL2 or virtual machine installed and running Ubuntu 18 - ROS Melodic + +``` +cd ~ # IT IS IMPORTANT TO CLONE REPO IN +git clone https://github.com/arubedaq/alpha-bot.git +cd alpha-bot +rosdep install --from-paths src --ignore-src -r -y +catkin_make +source devel/setup.sh +roslaunch alpha_bot_simulation sim.launch +``` + +## Development +This is intended as a deliverable for a university course. Therefore, probably will not receive any updated from now on. However, feel free to fork it and expand its functionalities ;) + +## Authors +Isaac Rodríguez García + +Álvaro García Lora + +Sergio León Doncel + +Arturo Renato Úbeda Quilón + + + diff --git a/alpha_bot_control/CMakeLists.txt b/alpha_bot_control/CMakeLists.txt deleted file mode 100644 index 04b7c80..0000000 --- a/alpha_bot_control/CMakeLists.txt +++ /dev/null @@ -1,210 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(alpha_bot_control) - -## 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 COMPONENTS - controller_manager - diff_drive_controller - hardware_interface - roscpp - #rosparam_shortcuts - sensor_msgs - transmission_interface -) - -## 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 -# sensor_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 alpha_bot_control -# CATKIN_DEPENDS controller_manager diff_drive_controller hardware_interface roscpp rosparam_shortcuts sensor_msgs transmission_interface -# 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/${PROJECT_NAME}/alpha_bot_control.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/alpha_bot_control_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 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_alpha_bot_control.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) diff --git a/alpha_bot_control/config/alpha_bot_control.yaml b/alpha_bot_control/config/alpha_bot_control.yaml deleted file mode 100644 index b1cf432..0000000 --- a/alpha_bot_control/config/alpha_bot_control.yaml +++ /dev/null @@ -1,57 +0,0 @@ -alpha_bot: - # Settings for ros_control hardware interface - hardware_interface: - joints: - - front_left_wheel_joint - - front_right_wheel_joint - - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - extra_joints: - - name: rear_caster_rotation_joint - position: 0.01 - velocity: 0.0 - effort: 0.0 - - name: rear_caster_wheel_joint - position: 0.01 - velocity: 0.0 - effort: 0.0 - - - mobile_base_controller: - type: diff_drive_controller/DiffDriveController - publish_rate: 50 - - left_wheel: 'front_left_wheel_joint' - right_wheel: 'front_right_wheel_joint' - - # Wheel separation and diameter. These are both optional. - # diff_drive_controller will attempt to read either one or both from the - # URDF if not specified as a parameter - wheel_separation : 0.145 - wheel_radius : 0.0325 - - # Odometry covariances for the encoder output of the robot. These values should - # be tuned to your robot's sample odometry data, but these values are a good place - # to start - pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] - twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03] - - # Top level frame (link) of the robot description - base_frame_id: base_footprint - - # Velocity and acceleration limits for the robot - linear: - x: - has_velocity_limits : true - max_velocity : 0.3 # m/s - has_acceleration_limits: true - max_acceleration : 0.6 # m/s^2 - angular: - z: - has_velocity_limits : true - max_velocity : 8.0 # rad/s - has_acceleration_limits: true - max_acceleration : 6.0 # rad/s^2 diff --git a/alpha_bot_control/config/pid.yaml b/alpha_bot_control/config/pid.yaml deleted file mode 100644 index 0fc73f1..0000000 --- a/alpha_bot_control/config/pid.yaml +++ /dev/null @@ -1,11 +0,0 @@ -alpha_bot: - gazebo_ros_control: - pid_gains: - front_right_wheel_joint: - p: 0.06 - i: 0.0 - d: 0.0 - front_left_wheel_joint: - p: 0.06 - i: 0.0 - d: 0.0 \ No newline at end of file diff --git a/alpha_bot_control/launch/alpha_bot.launch b/alpha_bot_control/launch/alpha_bot.launch deleted file mode 100644 index 6274234..0000000 --- a/alpha_bot_control/launch/alpha_bot.launch +++ /dev/null @@ -1,18 +0,0 @@ - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_control/launch/alpha_bot_control.launch b/alpha_bot_control/launch/alpha_bot_control.launch deleted file mode 100644 index fbb320c..0000000 --- a/alpha_bot_control/launch/alpha_bot_control.launch +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_control/launch/alpha_bot_rviz.launch b/alpha_bot_control/launch/alpha_bot_rviz.launch deleted file mode 100644 index 217ee34..0000000 --- a/alpha_bot_control/launch/alpha_bot_rviz.launch +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - diff --git a/alpha_bot_control/package.xml b/alpha_bot_control/package.xml deleted file mode 100644 index 179d61e..0000000 --- a/alpha_bot_control/package.xml +++ /dev/null @@ -1,82 +0,0 @@ - - - alpha_bot_control - 1.1.0 - The alpha_bot_control package - - - - - Franz Pucher - - - - - - BSDv3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - controller_manager - diff_drive_controller - hardware_interface - roscpp - rosparam_shortcuts - sensor_msgs - transmission_interface - controller_manager - diff_drive_controller - hardware_interface - roscpp - rosparam_shortcuts - sensor_msgs - transmission_interface - controller_manager - joint_state_controller - robot_state_publisher - diff_drive_controller - hardware_interface - roscpp - rosparam_shortcuts - sensor_msgs - transmission_interface - - - - - - - - diff --git a/alpha_bot_description/CMakeLists.txt b/alpha_bot_description/CMakeLists.txt deleted file mode 100644 index 9027f12..0000000 --- a/alpha_bot_description/CMakeLists.txt +++ /dev/null @@ -1,206 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(alpha_bot_description) - -## 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 COMPONENTS - joint_state_publisher - robot_state_publisher - rviz -) - -## 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 quimera_robot_description -# CATKIN_DEPENDS joint_state_publisher robot_state_publisher rviz -# 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/${PROJECT_NAME}/quimera_robot_description.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/quimera_robot_description_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_quimera_robot_description.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) diff --git a/alpha_bot_description/LICENSE b/alpha_bot_description/LICENSE deleted file mode 100644 index 9db42d4..0000000 --- a/alpha_bot_description/LICENSE +++ /dev/null @@ -1,29 +0,0 @@ -BSD 3-Clause License - -Copyright (c) 2020, Pedro Alcantara -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - -1. Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. - -2. Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -3. Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" -AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE -IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE -DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE -FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL -DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR -SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, -OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/alpha_bot_description/README.md b/alpha_bot_description/README.md deleted file mode 100644 index 40f9498..0000000 --- a/alpha_bot_description/README.md +++ /dev/null @@ -1 +0,0 @@ -# Fork based on diffbot, adding ultrasoonic sensor + IMU in simulation, and also developing localization and planning by our own applying classes knowledge \ No newline at end of file diff --git a/alpha_bot_description/config/alpha_bot/back_wheel.yaml b/alpha_bot_description/config/alpha_bot/back_wheel.yaml deleted file mode 100644 index 59400c1..0000000 --- a/alpha_bot_description/config/alpha_bot/back_wheel.yaml +++ /dev/null @@ -1,17 +0,0 @@ -wheel: -# Wheel mass in Kilograms - mass: 1.0 -# Wheel radius in meters - radius: 0.053 -# Wheel length in meters, considering is as a cylinder - length: 0.033 -# Name of the mesh files. Leave it empty ('') to have a red wheel. - mesh: '' -# Offset distance, in meters, from the outer face of the base to the center of the wheel. - x_offset: 0.250 -# Offset distance, in meters, from the outer face of the base to the inner face of the wheel. -# The outer face of the base is the reference so, if the wheels are inside the base the value must be -# negative. If the wheels are outside, must be positive. - y_offset: -0.002 -# Offset distance, in meters, from the bottom face of the base to the center of the wheel. - z_offset: 0.01 \ No newline at end of file diff --git a/alpha_bot_description/config/alpha_bot/base.yaml b/alpha_bot_description/config/alpha_bot/base.yaml deleted file mode 100644 index 37782b0..0000000 --- a/alpha_bot_description/config/alpha_bot/base.yaml +++ /dev/null @@ -1,7 +0,0 @@ -base: - mass: 0.8 # Base mass in Kg - x_size: 0.195 # Dimension in x axis - y_size: 0.08 # Dimension in y axis - z_size: 0.005 # Dimension in z axis - mesh: 'chassis.stl' # Name of the mesh files. Leave it empty ('') to have a white base. - #mesh: '' \ No newline at end of file diff --git a/alpha_bot_description/config/alpha_bot/caster_wheel.yaml b/alpha_bot_description/config/alpha_bot/caster_wheel.yaml deleted file mode 100644 index 0483eb8..0000000 --- a/alpha_bot_description/config/alpha_bot/caster_wheel.yaml +++ /dev/null @@ -1,32 +0,0 @@ -base: - mass: 0.02 - size: - x: 0.04 - y: 0.04 - z: 0.04 - dx: -0.076 #-0.5 # Can we use variable inside yaml files? ${-base_length/2*0.69} - dy: 0.0 - dz: 0.0045 - mesh: 'caster_base.stl' - -hub: - mass: 0.02 - size: - x: 0.04 - y: 0.04 - z: 0.04 - dx: -0.077 #-0.5 # Can we use variable inside yaml files? ${-base_length/2*0.69} - dy: 0.0 - dz: 0.0045 - mesh: 'caster_wheel_support.stl' - -wheel: - # - mass: 0.5 # Wheel mass in Kg - radius: 0.015 # Wheel radius in m - length: 0.01 # Wheel length in m, considering is as a cylinder - mesh: 'caster_wheel.stl' # Name of the mesh files. Leave it empty ('') to have a red wheel - x_offset: 0.035 - dx: -0.016 # ${-caster_base_size/2.0*0.8} - dy: -1 # TODO unused - dz: -0.04 # TODO can we use ${-caster_base_size} inside yaml? \ No newline at end of file diff --git a/alpha_bot_description/config/alpha_bot/front_wheel.yaml b/alpha_bot_description/config/alpha_bot/front_wheel.yaml deleted file mode 100644 index f7bcb82..0000000 --- a/alpha_bot_description/config/alpha_bot/front_wheel.yaml +++ /dev/null @@ -1,9 +0,0 @@ -mass: 0.5 # Wheel mass in Kg -radius: 0.0331 # Wheel radius in m -length: 0.025 # Wheel length in m, considering is as a cylinder -mesh: '../components/wheel.stl' # Name of the mesh files. Leave it empty ('') to have a red wheel -#mesh: '' -scale: '' -x_offset: 0.079 -y_offset: 0.015 -z_offset: -0.017 diff --git a/alpha_bot_description/config/alpha_bot/motor.yaml b/alpha_bot_description/config/alpha_bot/motor.yaml deleted file mode 100644 index 3e79b51..0000000 --- a/alpha_bot_description/config/alpha_bot/motor.yaml +++ /dev/null @@ -1,10 +0,0 @@ -mass: 0.1 # Motor mass in Kg -x_size: 0.07 # Motor dimension in x axis -y_size: 0.0225 # Motor dimension in y axis -z_size: 0.0188 # Motor dimension in z axis -mesh: 'motor.stl' # Name of the mesh files. Leave it empty ('') to have a box as motor -#mesh: '' -scale: '' -x_offset: 0.096 -y_offset: -0.0135 -z_offset: -0.017 diff --git a/alpha_bot_description/config/alpha_bot/sensors.yaml b/alpha_bot_description/config/alpha_bot/sensors.yaml deleted file mode 100644 index 54a0706..0000000 --- a/alpha_bot_description/config/alpha_bot/sensors.yaml +++ /dev/null @@ -1,25 +0,0 @@ -laser: - mass: 0.1 # Motor mass in Kg - radius: 0.015 # Wheel radius in m - length: 0.01 # Wheel length in m, considering is as a cylinder - mesh: 'rplidar-a2.stl' # Name of the mesh files. Leave it empty ('') to have a red wheel - #mesh: '' - dx: 0.0 - dy: 0.0 - dz: 0.04 - angular_range: - min: -3.1415 - max: 3.1415 - color: Gazebo/Grey - enable_gpu: false - -imu: - mesh: '' - scale: 0.01 - radius: 0.015 - length: 0.01 - mass: 0.1 - size: - x: 0.6 - y: 0.7 - z: 0.2 diff --git a/alpha_bot_description/docs/base_config.gif b/alpha_bot_description/docs/base_config.gif deleted file mode 100644 index 4d49629..0000000 Binary files a/alpha_bot_description/docs/base_config.gif and /dev/null differ diff --git a/alpha_bot_description/docs/mobile_robot_axis.png b/alpha_bot_description/docs/mobile_robot_axis.png deleted file mode 100644 index d0ce9ef..0000000 Binary files a/alpha_bot_description/docs/mobile_robot_axis.png and /dev/null differ diff --git a/alpha_bot_description/docs/mobile_robot_top_axis.png b/alpha_bot_description/docs/mobile_robot_top_axis.png deleted file mode 100644 index 11f0397..0000000 Binary files a/alpha_bot_description/docs/mobile_robot_top_axis.png and /dev/null differ diff --git a/alpha_bot_description/docs/quimera_axis.png b/alpha_bot_description/docs/quimera_axis.png deleted file mode 100644 index 34af5b1..0000000 Binary files a/alpha_bot_description/docs/quimera_axis.png and /dev/null differ diff --git a/alpha_bot_description/docs/quimera_bottom.png b/alpha_bot_description/docs/quimera_bottom.png deleted file mode 100644 index db72fa0..0000000 Binary files a/alpha_bot_description/docs/quimera_bottom.png and /dev/null differ diff --git a/alpha_bot_description/docs/wheel_config.gif b/alpha_bot_description/docs/wheel_config.gif deleted file mode 100644 index 530a727..0000000 Binary files a/alpha_bot_description/docs/wheel_config.gif and /dev/null differ diff --git a/alpha_bot_description/docs/x_offset.png b/alpha_bot_description/docs/x_offset.png deleted file mode 100644 index 70ab834..0000000 Binary files a/alpha_bot_description/docs/x_offset.png and /dev/null differ diff --git a/alpha_bot_description/docs/y_offset.png b/alpha_bot_description/docs/y_offset.png deleted file mode 100644 index 8fa5812..0000000 Binary files a/alpha_bot_description/docs/y_offset.png and /dev/null differ diff --git a/alpha_bot_description/docs/z_offset.png b/alpha_bot_description/docs/z_offset.png deleted file mode 100644 index 83c3e76..0000000 Binary files a/alpha_bot_description/docs/z_offset.png and /dev/null differ diff --git a/alpha_bot_description/launch/alpha_bot_view.launch b/alpha_bot_description/launch/alpha_bot_view.launch deleted file mode 100644 index d880b6d..0000000 --- a/alpha_bot_description/launch/alpha_bot_view.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/alpha_bot_description/meshes/alpha_bot/caster_base.stl b/alpha_bot_description/meshes/alpha_bot/caster_base.stl deleted file mode 100644 index 802ea2a..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/caster_base.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/caster_wheel.stl b/alpha_bot_description/meshes/alpha_bot/caster_wheel.stl deleted file mode 100644 index 66e0390..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/caster_wheel.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/caster_wheel_support.stl b/alpha_bot_description/meshes/alpha_bot/caster_wheel_support.stl deleted file mode 100644 index baa1d3d..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/caster_wheel_support.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/chassis.stl b/alpha_bot_description/meshes/alpha_bot/chassis.stl deleted file mode 100644 index ee3af3b..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/chassis.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/motor.stl b/alpha_bot_description/meshes/alpha_bot/motor.stl deleted file mode 100644 index a1a003b..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/motor.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/wheel_rim.stl b/alpha_bot_description/meshes/alpha_bot/wheel_rim.stl deleted file mode 100644 index ce48ba1..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/wheel_rim.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/alpha_bot/wheel_tire.stl b/alpha_bot_description/meshes/alpha_bot/wheel_tire.stl deleted file mode 100644 index cf6cfbf..0000000 Binary files a/alpha_bot_description/meshes/alpha_bot/wheel_tire.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/components/wheel.stl b/alpha_bot_description/meshes/components/wheel.stl deleted file mode 100644 index 8f7865c..0000000 Binary files a/alpha_bot_description/meshes/components/wheel.stl and /dev/null differ diff --git a/alpha_bot_description/meshes/sensors/hokuyo.dae b/alpha_bot_description/meshes/sensors/hokuyo.dae deleted file mode 100644 index bc65151..0000000 --- a/alpha_bot_description/meshes/sensors/hokuyo.dae +++ /dev/null @@ -1,253 +0,0 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- - - - - - - - - -4e-4 6.03983e-11 0 0 -6.03983e-11 -4e-4 0 0 0 0 3.99996e-4 0 0 0 0 1 - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_description/package.xml b/alpha_bot_description/package.xml deleted file mode 100644 index def27d3..0000000 --- a/alpha_bot_description/package.xml +++ /dev/null @@ -1,68 +0,0 @@ - - - alpha_bot_description - 1.1.0 - The alpha_bot_description package - - - - - Franz Pucher - - - - - - BSDv3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - joint_state_publisher - robot_state_publisher - rviz - joint_state_publisher - robot_state_publisher - rviz - joint_state_publisher - robot_state_publisher - rviz - - - - - - - - diff --git a/alpha_bot_description/rviz/alpha_bot_description.rviz b/alpha_bot_description/rviz/alpha_bot_description.rviz deleted file mode 100644 index 9121cd0..0000000 --- a/alpha_bot_description/rviz/alpha_bot_description.rviz +++ /dev/null @@ -1,204 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /TF1 - Splitter Ratio: 0.5 - Tree Height: 772 - - 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: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 0; 0; 0 - 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: 10 - Reference Frame: - Value: true - - Alpha: 0.5 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - back_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - back_caster_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - back_caster_rotation_link: - Value: true - back_caster_wheel_link: - Value: true - base_footprint: - Value: true - base_link: - Value: true - front_left_wheel: - Value: true - front_right_wheel: - Value: true - Marker Alpha: 1 - Marker Scale: 0.10000000149011612 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - base_footprint: - base_link: - back_caster_rotation_link: - back_caster_wheel_link: - {} - front_left_wheel: - {} - front_right_wheel: - {} - Update Interval: 0 - Value: true - Enabled: true - Global Options: - Background Color: 122; 122; 122 - Default Light: true - Fixed Frame: base_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 0.28106582164764404 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Field of View: 0.7853981852531433 - Focal Point: - X: -0.014273932203650475 - Y: 0.03332357108592987 - Z: -0.008147681131958961 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: -0.23960191011428833 - Target Frame: - Yaw: 1.8335163593292236 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1069 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd00000004000000000000016a0000038ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000038f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001f5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001f5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000006100000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 1920 - Y: 26 diff --git a/alpha_bot_description/urdf/alpha_bot.urdf.xacro b/alpha_bot_description/urdf/alpha_bot.urdf.xacro deleted file mode 100644 index bcc6e35..0000000 --- a/alpha_bot_description/urdf/alpha_bot.urdf.xacro +++ /dev/null @@ -1,94 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_description/urdf/include/addon_macro.urdf.xacro b/alpha_bot_description/urdf/include/addon_macro.urdf.xacro deleted file mode 100644 index 10437b7..0000000 --- a/alpha_bot_description/urdf/include/addon_macro.urdf.xacro +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Black - - - \ No newline at end of file diff --git a/alpha_bot_description/urdf/include/alpha_bot_caster_macro.urdf.xacro b/alpha_bot_description/urdf/include/alpha_bot_caster_macro.urdf.xacro deleted file mode 100644 index 3209338..0000000 --- a/alpha_bot_description/urdf/include/alpha_bot_caster_macro.urdf.xacro +++ /dev/null @@ -1,176 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/DarkGrey - - - - \ No newline at end of file diff --git a/alpha_bot_description/urdf/include/common_macros.urdf.xacro b/alpha_bot_description/urdf/include/common_macros.urdf.xacro deleted file mode 100644 index e56300c..0000000 --- a/alpha_bot_description/urdf/include/common_macros.urdf.xacro +++ /dev/null @@ -1,344 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Grey - - - - - - - - - - - - transmission_interface/SimpleTransmission - - hardware_interface/VelocityJointInterface - - - hardware_interface/VelocityJointInterface - 1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/SkyBlue - false - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_description/urdf/include/common_sensors.xacro b/alpha_bot_description/urdf/include/common_sensors.xacro deleted file mode 100644 index c72b303..0000000 --- a/alpha_bot_description/urdf/include/common_sensors.xacro +++ /dev/null @@ -1,300 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - ${sensor_prop['laser']['color']} - - - - - - - - - - - - - - 0 0 0 0 0 0 - true - 12 - - - - 360 - 1 - ${sensor_prop['laser']['angular_range']['min']} - ${sensor_prop['laser']['angular_range']['max']} - - - - 0.12 - 12.0 - 0.01 - - - gaussian - - 0.0 - 0.01 - - - - - /alpha_bot/scan - ${prefix}_laser_link - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Red - - - - - - - - - - - - 60 - ${visualize} - - 1.92 - - 640 - 480 - B8G8R8 - - - - - 0.02 - 300 - - - gaussian - - 0.0 - 0.007 - - - - true - 0.0 - alpha_bot/camera1 - image_raw - camera_info - camera_link - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Gazebo/Yellow - - - - - - - - - - - true - - true - 100 - true - alpha_bot/imu - - sensor/imu - imu_link - 30.0 - 0.005 - 0 0 0 - 0 0 0 - imu_link - false - - 0 0 0 0 0 0 - - - - - - - 0 0 0 0 0 0 - true - 50 - - - - 10 - 1 - -0.14835 - 0.14835 - - - 10 - 1 - -0.14835 - 0.14835 - - - - 0.01 - 2 - 0.02 - - - - 0.005 - true - 50 - sensor/range - ultrasonic_link - INFRARED - 0.2967 - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_description/urdf/include/robot.gazebo.xacro b/alpha_bot_description/urdf/include/robot.gazebo.xacro deleted file mode 100644 index 73f3ea8..0000000 --- a/alpha_bot_description/urdf/include/robot.gazebo.xacro +++ /dev/null @@ -1,65 +0,0 @@ - - - - - - - - ${robotNamespace} - - ${robotSimType} - - - - - - - - - - - true - 50.0 - base_link - ground_truth/state - 0.01 - map - 0 0 0 - 0 0 0 - - - - - - - - - - - - 0.01 - - - - - - - - - - - diff --git a/alpha_bot_localization/CMakeLists.txt b/alpha_bot_localization/CMakeLists.txt deleted file mode 100644 index fbe10ed..0000000 --- a/alpha_bot_localization/CMakeLists.txt +++ /dev/null @@ -1,204 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(alpha_bot_localization) - -## 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 COMPONENTS - roscpp -) - -## 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 alpha_bot_localization -# CATKIN_DEPENDS roscpp -# 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/${PROJECT_NAME}/alpha_bot_localization.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/alpha_bot_localization_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_alpha_bot_localization.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) diff --git a/alpha_bot_localization/launch/KF_alpha_bot.launch b/alpha_bot_localization/launch/KF_alpha_bot.launch deleted file mode 100644 index 6c35382..0000000 --- a/alpha_bot_localization/launch/KF_alpha_bot.launch +++ /dev/null @@ -1,111 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - [false, false, false, - false, false, false, - true, true, false, - false, false, true, - false, false, false] - - [false, false, false, - false, false, true, - false, false, false, - false, false, true, - true, false, false] - - - [true, true, false, - false, false, true, - true, false, false, - false, false, false, - false, false, false] - - - - - - - - - - [0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0, - 0.0, 0.0, 0.0] - - - - diff --git a/alpha_bot_localization/launch/mapeado.launch b/alpha_bot_localization/launch/mapeado.launch deleted file mode 100644 index 0b5faca..0000000 --- a/alpha_bot_localization/launch/mapeado.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_localization/maps/mapa0_1.pgm b/alpha_bot_localization/maps/mapa0_1.pgm deleted file mode 100644 index 9314358..0000000 --- a/alpha_bot_localization/maps/mapa0_1.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.100 m/pix -1984 1984 -255 - \ No newline at end of file diff --git a/alpha_bot_localization/maps/mapa0_1.yaml b/alpha_bot_localization/maps/mapa0_1.yaml deleted file mode 100644 index c7e52ca..0000000 --- a/alpha_bot_localization/maps/mapa0_1.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: mapa0_1.pgm -resolution: 0.100000 -origin: [-100.000000, -100.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_localization/maps/mapa_global.pgm b/alpha_bot_localization/maps/mapa_global.pgm deleted file mode 100644 index 04bad28..0000000 --- a/alpha_bot_localization/maps/mapa_global.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.050 m/pix -4000 4000 -255 - \ No newline at end of file diff --git a/alpha_bot_localization/maps/mapa_global.yaml b/alpha_bot_localization/maps/mapa_global.yaml deleted file mode 100644 index 5aba026..0000000 --- a/alpha_bot_localization/maps/mapa_global.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: mapa_global.pgm -resolution: 0.050000 -origin: [-100.000000, -100.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_localization/maps/prueba_mapa.pgm b/alpha_bot_localization/maps/prueba_mapa.pgm deleted file mode 100644 index 1e7d109..0000000 --- a/alpha_bot_localization/maps/prueba_mapa.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.050 m/pix -4000 4000 -255 - \ No newline at end of file diff --git a/alpha_bot_localization/maps/prueba_mapa.yaml b/alpha_bot_localization/maps/prueba_mapa.yaml deleted file mode 100644 index a52945c..0000000 --- a/alpha_bot_localization/maps/prueba_mapa.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: prueba_mapa.pgm -resolution: 0.050000 -origin: [-100.000000, -100.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_localization/package.xml b/alpha_bot_localization/package.xml deleted file mode 100644 index d274316..0000000 --- a/alpha_bot_localization/package.xml +++ /dev/null @@ -1,62 +0,0 @@ - - - alpha_bot_localization - 0.0.0 - The alpha_bot_localization package - - - - - usuario - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - roscpp - roscpp - roscpp - - - - - - - - diff --git a/alpha_bot_localization/rviz/AMCL_alpha_bot.rviz b/alpha_bot_localization/rviz/AMCL_alpha_bot.rviz deleted file mode 100644 index 80354b6..0000000 --- a/alpha_bot_localization/rviz/AMCL_alpha_bot.rviz +++ /dev/null @@ -1,310 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /TF1/Frames1 - - /TF1/Tree1 - - /LaserScan1 - - /LaserScan1/Autocompute Value Bounds1 - Splitter Ratio: 0.4171428680419922 - Tree Height: 452 - - 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: LaserScan -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 0; 0; 0 - 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: 10 - Reference Frame: odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rplidar_laser_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: /diffbot/robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - front_left_wheel: - Value: true - front_right_wheel: - Value: true - left_motor: - Value: true - map: - Value: true - odom: - Value: true - rear_caster_base_link: - Value: true - rear_caster_rotation_link: - Value: true - rear_caster_wheel_link: - Value: true - right_motor: - Value: true - rplidar_laser_link: - Value: true - Marker Scale: 0.20000000298023224 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - odom: - base_footprint: - base_link: - front_left_wheel: - {} - front_right_wheel: - {} - left_motor: - {} - rear_caster_base_link: - {} - rear_caster_rotation_link: - rear_caster_wheel_link: - {} - right_motor: - {} - rplidar_laser_link: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 4.261574745178223 - Min Value: -0.7898415923118591 - Value: true - Axis: X - Channel Name: z - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 2 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /diffbot/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Map - Topic: /map - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 1 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: true - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: PoseArray - Shaft Length: 0.23000000417232513 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (Flat) - Topic: /particlecloud - Unreliable: false - Value: true - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: true - History Length: 1 - Name: Imu - Topic: /imu - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 122; 122; 122 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 2.181467056274414 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.5610129237174988 - Y: -0.7421680688858032 - Z: 1.7293752431869507 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 1.1747963428497314 - Target Frame: - Value: Orbit (rviz) - Yaw: 3.922255277633667 - Saved: ~ -Window Geometry: - Displays: - collapsed: true - Height: 605 - Hide Left Dock: true - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002be0000024ffc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000003d0000024f000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001f5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001f5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004100000003efc0100000002fb0000000800540069006d0065010000000000000410000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000410000001bf00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1040 - X: 105 - Y: 43 diff --git a/alpha_bot_localization/rviz/KF_alpha_bot.rviz b/alpha_bot_localization/rviz/KF_alpha_bot.rviz deleted file mode 100755 index da1ac70..0000000 --- a/alpha_bot_localization/rviz/KF_alpha_bot.rviz +++ /dev/null @@ -1,472 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /TF1/Frames1 - - /TF1/Tree1 - - /LaserScan1/Autocompute Value Bounds1 - - /Odometry1/Shape1 - - /Odometry3/Shape1 - - /Odometry4/Shape1 - Splitter Ratio: 0.4171428680419922 - Tree Height: 535 - - 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: LaserScan -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 0; 0; 0 - 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: 10 - Reference Frame: odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rplidar_laser_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ultrasonic_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: /alpha_bot/robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - front_left_wheel: - Value: true - front_right_wheel: - Value: true - imu_link: - Value: true - left_motor: - Value: true - map: - Value: true - odom: - Value: true - rear_caster_base_link: - Value: true - rear_caster_rotation_link: - Value: true - rear_caster_wheel_link: - Value: true - right_motor: - Value: true - rplidar_laser_link: - Value: true - ultrasonic_link: - Value: true - Marker Scale: 0.20000000298023224 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - odom: - base_footprint: - base_link: - front_left_wheel: - {} - front_right_wheel: - {} - imu_link: - {} - left_motor: - {} - rear_caster_base_link: - {} - rear_caster_rotation_link: - rear_caster_wheel_link: - {} - right_motor: - {} - rplidar_laser_link: - {} - ultrasonic_link: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 4.147970676422119 - Min Value: -0.21370607614517212 - Value: true - Axis: X - Channel Name: z - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 2 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /alpha_bot/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Map - Topic: /map - Unreliable: false - Use Timestamp: false - Value: true - - Alpha: 1 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz/PoseArray - Color: 255; 25; 0 - Enabled: false - Head Length: 0.07000000029802322 - Head Radius: 0.029999999329447746 - Name: PoseArray - Shaft Length: 0.23000000417232513 - Shaft Radius: 0.009999999776482582 - Shape: Arrow (Flat) - Topic: /particlecloud - Unreliable: false - Value: false - - Alpha: 1 - Class: rviz_plugin_tutorials/Imu - Color: 204; 51; 204 - Enabled: false - History Length: 1 - Name: Imu - Topic: /sensor/imu - Unreliable: false - Value: false - - Alpha: 0.5 - Buffer Length: 1 - Class: rviz/Range - Color: 255; 255; 255 - Enabled: false - Name: Range - Queue Size: 100 - Topic: /sensor/range - Unreliable: false - Value: false - - 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: true - Enabled: false - Keep: 100 - Name: Odometry - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 138; 226; 52 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /ground_truth_final - Unreliable: false - Value: false - - 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 - 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 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /odometry/filtered - Unreliable: false - 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: true - Enabled: true - Keep: 100 - Name: Odometry - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 32; 74; 135 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /wheel_odometry - Unreliable: false - 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: true - Enabled: true - Keep: 100 - Name: Odometry - Position Tolerance: 0.10000000149011612 - Shape: - Alpha: 1 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Color: 200; 127; 50 - Head Length: 0.30000001192092896 - Head Radius: 0.10000000149011612 - Shaft Length: 1 - Shaft Radius: 0.05000000074505806 - Value: Arrow - Topic: /alpha_bot/mobile_base_controller/odom - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 122; 122; 122 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 8.176741600036621 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0.8503028154373169 - Y: -0.5908951759338379 - Z: 2.203817367553711 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.6347967386245728 - Target Frame: - Value: Orbit (rviz) - Yaw: 5.37725305557251 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 832 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002be000002a2fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002a2000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001f5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001f5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005580000003efc0100000002fb0000000800540069006d0065010000000000000558000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000294000002a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1368 - X: 202 - Y: 27 diff --git a/alpha_bot_localization/rviz/mapeado_alpha_bot.rviz b/alpha_bot_localization/rviz/mapeado_alpha_bot.rviz deleted file mode 100644 index a2cd33f..0000000 --- a/alpha_bot_localization/rviz/mapeado_alpha_bot.rviz +++ /dev/null @@ -1,287 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /TF1/Frames1 - - /TF1/Tree1 - - /LaserScan1 - - /LaserScan1/Autocompute Value Bounds1 - - /Map1 - - /Map1/Status1 - Splitter Ratio: 0.4171428680419922 - Tree Height: 670 - - 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: LaserScan -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 0; 0; 0 - 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: 10 - Reference Frame: odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rplidar_laser_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: /diffbot/robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - front_left_wheel: - Value: true - front_right_wheel: - Value: true - left_motor: - Value: true - map: - Value: true - odom: - Value: true - rear_caster_base_link: - Value: true - rear_caster_rotation_link: - Value: true - rear_caster_wheel_link: - Value: true - right_motor: - Value: true - rplidar_laser_link: - Value: true - Marker Scale: 0.20000000298023224 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - odom: - base_footprint: - base_link: - front_left_wheel: - {} - front_right_wheel: - {} - left_motor: - {} - rear_caster_base_link: - {} - rear_caster_rotation_link: - rear_caster_wheel_link: - {} - right_motor: - {} - rplidar_laser_link: - {} - Update Interval: 0 - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 2.423382520675659 - Min Value: -2.428149461746216 - Value: true - Axis: X - Channel Name: z - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 2 - Size (m): 0.05000000074505806 - Style: Flat Squares - Topic: /diffbot/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 0.699999988079071 - Class: rviz/Map - Color Scheme: map - Draw Behind: true - Enabled: true - Name: Map - Topic: /map - Unreliable: false - Use Timestamp: false - Value: true - Enabled: true - Global Options: - Background Color: 122; 122; 122 - Default Light: true - Fixed Frame: rplidar_laser_link - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/Orbit - Distance: 9.622517585754395 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -1.0762449502944946 - Y: 1.0492907762527466 - Z: 2.0166432857513428 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.5403980612754822 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.7472525835037231 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 967 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000002be00000329fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000329000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000001f5fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000001f5000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003efc0100000002fb0000000800540069006d0065010000000000000515000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002510000032900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1301 - X: 592 - Y: 83 diff --git a/alpha_bot_odometry/CMakeLists.txt b/alpha_bot_odometry/CMakeLists.txt deleted file mode 100755 index d5a608a..0000000 --- a/alpha_bot_odometry/CMakeLists.txt +++ /dev/null @@ -1,24 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(alpha_bot_odometry) -add_compile_options(-std=c++11) -find_package(catkin REQUIRED COMPONENTS - nav_msgs - roscpp - tf -) - -catkin_package( - CATKIN_DEPENDS roscpp nav_msgs tf -) - -include_directories( - ${catkin_INCLUDE_DIRS} -) - - - add_executable(ground_truth_translation_node src/ground_truth_translation.cpp) - target_link_libraries(ground_truth_translation_node ${catkin_LIBRARIES}) - add_executable(alpha_bot_odometry_node src/alpha_bot_odometry_node.cpp) - target_link_libraries(alpha_bot_odometry_node ${catkin_LIBRARIES}) - - diff --git a/alpha_bot_odometry/leeme/EKF vs Odom vs GT.png b/alpha_bot_odometry/leeme/EKF vs Odom vs GT.png deleted file mode 100644 index b91168d..0000000 Binary files a/alpha_bot_odometry/leeme/EKF vs Odom vs GT.png and /dev/null differ diff --git a/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.docx b/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.docx deleted file mode 100644 index 7ca6b8e..0000000 Binary files a/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.docx and /dev/null differ diff --git a/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.pdf b/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.pdf deleted file mode 100644 index de07fc8..0000000 Binary files a/alpha_bot_odometry/leeme/Localizacion Semana 3 Alpha-Bot.pdf and /dev/null differ diff --git a/alpha_bot_odometry/package.xml b/alpha_bot_odometry/package.xml deleted file mode 100755 index 75f3db7..0000000 --- a/alpha_bot_odometry/package.xml +++ /dev/null @@ -1,69 +0,0 @@ - - - alpha_bot_odometry - 0.0.0 - The alpha_bot_odometry package - - - - - usuario - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - nav_msgs - roscpp - tf - nav_msgs - roscpp - tf - nav_msgs - roscpp - tf - - - - - - - - - diff --git a/alpha_bot_odometry/src/alpha_bot_odometry_node.cpp b/alpha_bot_odometry/src/alpha_bot_odometry_node.cpp deleted file mode 100755 index c2e1f9b..0000000 --- a/alpha_bot_odometry/src/alpha_bot_odometry_node.cpp +++ /dev/null @@ -1,113 +0,0 @@ -#include -#include -#include -#include -#include - -/* VARIABLES GLOBALES */ -double vx, vy, vth; - -/* FUNCIÓN DE LECTURA DE VELOCIDADES: - cada vez que es llamada en el bucle infinito del main, lee los valores - de velocidad del ground truth del robot y les añade ruido gaussiano, - simulando la lectura de un encoder con ruido - - Enlaces de interés: - http://wiki.ros.org/navigation/Tutorials/RobotSetup/Odom - http://coliru.stacked-crooked.com/a/ade6e6cb7b606610 - */ - - -void cmdvelCallback(const nav_msgs::Odometry& msg) { - -// Definir generador de números aleatorios según distribución gaussiana, con un error de entre 0 y 1 -const double mean = 0.0; -const double stddev = 0.20; -auto dist = std::bind(std::normal_distribution{mean, stddev},std::mt19937(std::random_device{}())); - -//Lecturas de velocidades del mensaje msg recibido del topic de ground truth /alpha_bot/mobile_base_controller/odom -vx = msg.twist.twist.linear.x; -vy = msg.twist.twist.linear.y; -vth = msg.twist.twist.angular.z; - -//Añadir el ruido gaussiano -vx += dist(); -vy += dist(); -vth += dist(); - -} - - -int main(int argc, char** argv){ - ros::init(argc, argv, "odometry_publisher"); - - ros::NodeHandle n; - ros::Subscriber odom_sub = n.subscribe("/alpha_bot/mobile_base_controller/odom", 50, cmdvelCallback); /* Nombre del topic donde vamos a suscribirnos */ - ros::Publisher odom_pub = n.advertise("wheel_odometry", 50); /* Nombre del topic donde vamos a publicar */ - tf::TransformBroadcaster odom_broadcaster; - - double x = 0.0; - double y = 0.0; - double th = 0.0; - - ros::Time current_time, last_time; - current_time = ros::Time::now(); - last_time = ros::Time::now(); - - ros::Rate r(50.0); - while(n.ok()){ - - ros::spinOnce(); - current_time = ros::Time::now(); - - //Odometría del robot - double dt = (current_time - last_time).toSec(); - double delta_x = (vx * cos(th) - vy * sin(th)) * dt; - double delta_y = (vx * sin(th) + vy * cos(th)) * dt; - double delta_th = vth * dt; - - x += delta_x; - y += delta_y; - th += delta_th; - - //Publicar las transformaciones entre frames sobre tf - geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th); - - geometry_msgs::TransformStamped odom_trans; - odom_trans.header.stamp = current_time; - odom_trans.header.frame_id = "odom"; - odom_trans.child_frame_id = "base_link"; - - odom_trans.transform.translation.x = x; - odom_trans.transform.translation.y = y; - odom_trans.transform.translation.z = 0.0; - odom_trans.transform.rotation = odom_quat; - - //Enviar la transformación - //odom_broadcaster.sendTransform(odom_trans); /* No la enviamos porque hace que mapa se vuelva inestable */ - - //Reconstruir la odometría como un mensaje nav_msgs/Odometry - nav_msgs::Odometry odom; - - odom.header.stamp = current_time; - odom.header.frame_id = "odom"; - - //Actualizar la pose - odom.pose.pose.position.x = x; - odom.pose.pose.position.y = y; - odom.pose.pose.position.z = 0.0; - odom.pose.pose.orientation = odom_quat; - - //Actualizar las velocidades - odom.child_frame_id = "base_link"; - odom.twist.twist.linear.x = vx; - odom.twist.twist.linear.y = vy; - odom.twist.twist.angular.z = vth; - - //Publicar odometría en /wheel_odometry - odom_pub.publish(odom); - - last_time = current_time; - r.sleep(); - } -} \ No newline at end of file diff --git a/alpha_bot_odometry/src/ground_truth_translation.cpp b/alpha_bot_odometry/src/ground_truth_translation.cpp deleted file mode 100755 index 174e779..0000000 --- a/alpha_bot_odometry/src/ground_truth_translation.cpp +++ /dev/null @@ -1,155 +0,0 @@ -#include /* CÓDIGO PARA TRASLADAR EL GROUND TRUTH VISUALMENTE DESDE LA POSICIÓN ARBITRARIA EN LA QUE EMPÌEZA HASTA LA POSICIÓN INICIAL DEL ROBOT */ -#include -#include -#include "std_msgs/String.h" -#include -#include -#include - -/* VARIABLES GLOBALES */ -ros::Time current_time; - -std::string frameID, child_frameID; /* Tipo string del namespace std de C++ */ -int headerSeq; -ros::Time headerStamp; - -float pose_x, pose_y; -float vx,vy,vth; -nav_msgs::Odometry covarianzas; /* Como no encontramos ningún tipo compatible con las covarianzas, usaremos un mensaje odometry entero para guardar - solo las covarianzas, en los campos covarianzas de pose y de velocidad (twist) */ - -geometry_msgs::Quaternion groundtruth_quat; - -void groundtruthCallback(const nav_msgs::Odometry& msg) { /*Cada vez que se llame a esta función, actualizar los siguientes parámetros */ - /*nav_msgs::Odometry groundtruth; - geometry_msgs::TransformStamped groundtruth_trans; - groundtruth.header.stamp = current_time; - groundtruth_trans.header.stamp = current_time;*/ - - - // Actualizar pose_x, pose_y y groundtruth_quat: se toman del mensaje - //Actualizar todos los campos del topic al que me he suscrito: - /*CAMPOS DE UN nav_msgs/Odomettry EXTRAIDOS DE UN rostopic echo */ - /* - header: - seq: 1772 - stamp: - secs: 35 - nsecs: 598000000 - frame_id: "map" - child_frame_id: "base_footprint" - pose: - pose: - position: - x: -2.00022103511 - y: -0.500006260694 - z: -0.0500336306201 - orientation: - x: -1.21653992146e-06 - y: 0.00179337017611 - z: 0.000557919402944 - w: 0.999998236272 - covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001] - twist: - twist: - linear: - x: 0.010007699104 - y: -0.0152720807663 - z: -0.00562976162021 - angular: - x: 0.0107310015785 - y: 0.0342468759728 - z: -0.0143605754152 - covariance: [0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0001] - */ - - /* Por su parte, la documentación de ROS especifica la composición del tipo de dato publicado en estos topics, el "nav_msgs/Odometry" como: */ - /* - - http://docs.ros.org/en/api/nav_msgs/html/msg/Odometry.html - - # This represents an estimate of a position and velocity in free space. - # The pose in this message should be specified in the coordinate frame given by header.frame_id. - # The twist in this message should be specified in the coordinate frame given by the child_frame_id - Header header - string child_frame_id - geometry_msgs/PoseWithCovariance pose - geometry_msgs/TwistWithCovariance twist */ - - - frameID = msg.header.frame_id; - child_frameID = msg.child_frame_id; - headerSeq = msg.header.seq; - headerStamp = msg.header.stamp; - - pose_x = msg.pose.pose.position.x; - pose_y = msg.pose.pose.position.y; - groundtruth_quat = msg.pose.pose.orientation; - covarianzas.pose.covariance = msg.pose.covariance; - - - vx = msg.twist.twist.linear.x; - vy = msg.twist.twist.linear.y; - vth = msg.twist.twist.angular.z; - covarianzas.twist.covariance = msg.twist.covariance; - -} - - -int main(int argc, char** argv){ - - nav_msgs::Odometry groundtruth_final; - geometry_msgs::TransformStamped groundtruth_final_trans; - - ros::init(argc, argv, "groundtruth_publisher"); - ros::NodeHandle n; - - ros::Subscriber groundtruth_sub = n.subscribe("ground_truth/state", 50, groundtruthCallback); /* Nombre del topic donde vamos a suscribirnos */ - ros::Publisher groundtruth_pub = n.advertise("ground_truth_final", 50); /* Nombre del topic donde vamos a publicar */ - - ros::Time current_time, last_time; - current_time = ros::Time::now(); - last_time = ros::Time::now(); - - while(ros::ok() && groundtruth_sub.getNumPublishers() == 0) { - ros::Duration(0.2).sleep(); - ROS_INFO_THROTTLE(1.0, "Waiting for publishers..."); - } - - /* BUCLE INFINITO */ - ros::Rate r(50.0); //Tasa de envío - while(n.ok()){ - - ros::spinOnce(); // check for incoming messages - current_time = ros::Time::now(); - - //Llamar a la función para recoger el valor actual del ground_truth, descomponer el mensaje en componentes del /ground_truth/state - - /* Obtener transformación entre ground_truth/state y ground_truth_final =====> es una traslación pura, por tanto, xGT,fin = xGT,ini + incTF */ - //Recomponer groundtruthfinal y enviarlo por /ground_truth_final - groundtruth_final.header.frame_id = "odom"; /* Este no lo copiamos del topic a la entrada, sino que lo remapeamos a odom */ - groundtruth_final.child_frame_id = child_frameID; - groundtruth_final.header.seq = headerSeq; - groundtruth_final.header.stamp = headerStamp; - - groundtruth_final.pose.pose.position.x = pose_x+2; - groundtruth_final.pose.pose.position.y = pose_y+0.5; - groundtruth_final.pose.pose.position.z = 0.0; - groundtruth_final.pose.pose.orientation = groundtruth_quat; - groundtruth_final.pose.covariance = covarianzas.pose.covariance; - - groundtruth_final.twist.twist.linear.x = vx; - groundtruth_final.twist.twist.linear.y = vy; - groundtruth_final.twist.twist.angular.z = vth; - groundtruth_final.twist.covariance = covarianzas.twist.covariance; - - //Publicar el mensaje recompuesto - groundtruth_pub.publish(groundtruth_final); - - last_time = current_time; - r.sleep(); - } -} - - - diff --git a/alpha_bot_odometry/src/publicasuscribe_ant.cpp b/alpha_bot_odometry/src/publicasuscribe_ant.cpp deleted file mode 100755 index 94fc7b3..0000000 --- a/alpha_bot_odometry/src/publicasuscribe_ant.cpp +++ /dev/null @@ -1,34 +0,0 @@ -#include -#include - -void callback(const std_msgs::String& msg) { - ROS_INFO("I heard '%s'", msg.data.c_str()); -} - -int main(int argc, char** argv) { - ros::init(argc, argv, "wait_for_publishers"); - ros::NodeHandle nh; - - ros::Subscriber sub = nh.subscribe("chatter", 1, callback); - ros::Publisher pub = nh.advertise("talk", 1); - std_msgs::String msg; - msg.data = "Hello"; - - while(ros::ok() && sub.getNumPublishers() == 0) { - ros::Duration(0.2).sleep(); - ROS_INFO_THROTTLE(1.0, "Waiting for publishers..."); - } - - ROS_INFO("There are now %d subscribers connected!", sub.getNumPublishers()); - - ros::Rate rate(1); - while(ros::ok()) { - ros::spinOnce(); - pub.publish(msg); - rate.sleep(); - } - - return 0; -} - - diff --git a/alpha_bot_simulation/CMakeLists.txt b/alpha_bot_simulation/CMakeLists.txt deleted file mode 100644 index d0907d7..0000000 --- a/alpha_bot_simulation/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(alpha_bot_simulation) - -## 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 alpha_bot_gazebo -# 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/${PROJECT_NAME}/alpha_bot_gazebo.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/alpha_bot_gazebo_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_alpha_bot_gazebo.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) diff --git a/alpha_bot_simulation/launch/alpha_bot_base.launch b/alpha_bot_simulation/launch/alpha_bot_base.launch deleted file mode 100644 index eb2bc86..0000000 --- a/alpha_bot_simulation/launch/alpha_bot_base.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/alpha_bot_simulation/launch/alpha_bot_rviz.launch b/alpha_bot_simulation/launch/alpha_bot_rviz.launch deleted file mode 100644 index d2014b8..0000000 --- a/alpha_bot_simulation/launch/alpha_bot_rviz.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - \ No newline at end of file diff --git a/alpha_bot_simulation/launch/alpha_bot_view.launch b/alpha_bot_simulation/launch/alpha_bot_view.launch deleted file mode 100644 index e771e23..0000000 --- a/alpha_bot_simulation/launch/alpha_bot_view.launch +++ /dev/null @@ -1,34 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/alpha_bot_simulation/launch/sim.launch b/alpha_bot_simulation/launch/sim.launch deleted file mode 100644 index c956d61..0000000 --- a/alpha_bot_simulation/launch/sim.launch +++ /dev/null @@ -1,25 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/alpha_bot_simulation/maps/db_world.pgm b/alpha_bot_simulation/maps/db_world.pgm deleted file mode 100644 index c63b070..0000000 --- a/alpha_bot_simulation/maps/db_world.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# Created by GIMP version 2.10.24 PNM plug-in -1984 1984 -255 - \ No newline at end of file diff --git a/alpha_bot_simulation/maps/db_world.yaml b/alpha_bot_simulation/maps/db_world.yaml deleted file mode 100644 index 870580f..0000000 --- a/alpha_bot_simulation/maps/db_world.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: ./db_world.pgm -resolution: 0.010000 -origin: [-10.000000, -10.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_simulation/maps/map.pgm b/alpha_bot_simulation/maps/map.pgm deleted file mode 100644 index 10700a1..0000000 --- a/alpha_bot_simulation/maps/map.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: Map_generator.cpp 0.050 m/pix -384 384 -255 - \ No newline at end of file diff --git a/alpha_bot_simulation/maps/map.yaml b/alpha_bot_simulation/maps/map.yaml deleted file mode 100644 index 8cf0bd4..0000000 --- a/alpha_bot_simulation/maps/map.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: ./map.pgm -resolution: 0.050000 -origin: [-10.000000, -10.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_simulation/maps/office.pgm b/alpha_bot_simulation/maps/office.pgm deleted file mode 100644 index 8fdf00b..0000000 --- a/alpha_bot_simulation/maps/office.pgm +++ /dev/null @@ -1,5 +0,0 @@ -P5 -# CREATOR: map_saver.cpp 0.050 m/pix -384 384 -255 - \ No newline at end of file diff --git a/alpha_bot_simulation/maps/office.yaml b/alpha_bot_simulation/maps/office.yaml deleted file mode 100644 index db131d0..0000000 --- a/alpha_bot_simulation/maps/office.yaml +++ /dev/null @@ -1,7 +0,0 @@ -image: office.pgm -resolution: 0.050000 -origin: [-10.000000, -10.000000, 0.000000] -negate: 0 -occupied_thresh: 0.65 -free_thresh: 0.196 - diff --git a/alpha_bot_simulation/models/db_world/model.config b/alpha_bot_simulation/models/db_world/model.config deleted file mode 100644 index 31755bf..0000000 --- a/alpha_bot_simulation/models/db_world/model.config +++ /dev/null @@ -1,11 +0,0 @@ - - - db_world - 1.0 - model.sdf - - - - - - diff --git a/alpha_bot_simulation/models/db_world/model.sdf b/alpha_bot_simulation/models/db_world/model.sdf deleted file mode 100644 index 7e4198d..0000000 --- a/alpha_bot_simulation/models/db_world/model.sdf +++ /dev/null @@ -1,802 +0,0 @@ - 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- - - - - - - - - - - - 1.233102 -1.383706 0.5 0 0 0.721803 - - 0 0 0 0 0 0 - - - 0.1 0.5 0.8 - - - - - - - - 10 - 0 0 0 0 0 0 - - - 0.1 0.48639 0.8 - - - - - - - - - - - - - - - - -1.85481 -2.63541 0.41 1.5708 0 0 - - 0 0 0 0 0 - - - 0.41 - 0.685 - - - - - - - - 10 - 0 0 0 0 0 0 - - - 0.41 - 0.685 - - - - - - - - - - - - - - - -1.85441 -2.94461 0.4 0 -0 0 - - 0 0 0 0 0 0 - - - 0.4 - - - - - - - - 10 - 0 0 0 0 0 0 - - - 0.4 - - - - - - - - - - - - - - - - - - - 2.18392 1.22175 0.75 2.91106 1.57079 3.14006 - - - 0.25 - 0.5 - - - - - - - - 10 - 2.18392 1.22175 0.75 2.91106 1.57079 3.14006 - - - 0.25 - 0.5 - - - - - - - - - - - - - - - 2.18392 1.22175 0.25 2.91106 1.57079 3.14006 - - - 0.25 - 0.5 - - - - - - - - 10 - 2.18392 1.22175 0.25 2.91106 1.57079 3.14006 - - - 0.25 - 0.5 - - - - - - - - - - - - - - - - - - -1 1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - -1 1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - -1 0 0.4 0 -0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - -1 0 0.4 0 -0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - -1 -1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - -1 -1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - 0 -1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - 0 -1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - 0 0 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - 0 0 0.4 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - 0 1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - 0 1 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - 0.5 0.5 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - 0.5 0.5 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - 0.5 -0.5 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - 10 - 0.5 -0.5 0.4 0 0 0 - - - 0.15 - 0.8 - - - - - - - - - - - - - - - - - 0.268471 -2.54589 0.6 0 0 0 - - 0 0 0 0 0 0 - - - 0.837037 - 1.2 - - - - - - - - 10 - 0 0 0 0 0 0 - - - 0.837037 - 1.2 - - - - - - - - - - - - - - - - -0.643521 2.618322 0.41 1.5708 0 0 - - 0 0 0 0 0 0 - - - 1.67 - 0.9 - - - - - - - - 10 - 0 0 0 0 0 0 - - - 1.67 - 0.9 - - - - - - - - - - - - - - - 1 - - diff --git a/alpha_bot_simulation/package.xml b/alpha_bot_simulation/package.xml deleted file mode 100644 index 7bc03c3..0000000 --- a/alpha_bot_simulation/package.xml +++ /dev/null @@ -1,67 +0,0 @@ - - - alpha_bot_simulation - 1.1.0 - The alpha_bot_simulation package - - - - - Franz Pucher - - - - - - GPLv3 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - gazebo_plugins - gazebo_ros - gazebo_ros_control - alpha_bot_control - alpha_bot_description - xacro - - - - - - - - - diff --git a/alpha_bot_simulation/rviz/basic_config.rviz b/alpha_bot_simulation/rviz/basic_config.rviz deleted file mode 100644 index 65c0125..0000000 --- a/alpha_bot_simulation/rviz/basic_config.rviz +++ /dev/null @@ -1,255 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Global Options1 - - /Status1 - - /Grid1 - - /RobotModel1 - - /TF1 - - /TF1/Frames1 - - /TF1/Tree1 - - /LaserScan1 - - /LaserScan1/Autocompute Value Bounds1 - - /Range1 - Splitter Ratio: 0.4171428680419922 - Tree Height: 721 - - 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: LaserScan -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 0; 0; 0 - 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: 10 - Reference Frame: odom - Value: true - - Alpha: 1 - Class: rviz/RobotModel - Collision Enabled: false - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_footprint: - Alpha: 1 - Show Axes: false - Show Trail: false - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_left_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - front_right_wheel: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - left_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_rotation_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rear_caster_wheel_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - right_motor: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - rplidar_laser_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - ultrasonic_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Name: RobotModel - Robot Description: /diffbot/robot_description - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 0.20000000298023224 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 4.149083137512207 - Min Value: -0.20997749269008636 - Value: true - Axis: X - Channel Name: z - Class: rviz/LaserScan - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Min Color: 0; 0; 0 - Name: LaserScan - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 2 - Size (m): 0.019999999552965164 - Style: Spheres - Topic: /diffbot/scan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - - Alpha: 0.5 - Buffer Length: 1 - Class: rviz/Range - Color: 255; 255; 255 - Enabled: true - Name: Range - Queue Size: 100 - Topic: /sensor/range - Unreliable: false - Value: true - Enabled: true - Global Options: - Background Color: 122; 122; 122 - Default Light: true - Fixed Frame: odom - Frame Rate: 30 - Name: root - Tools: - - Class: rviz/Interact - Hide Inactive Objects: true - - Class: rviz/MoveCamera - - Class: rviz/Select - - Class: rviz/FocusCamera - - Class: rviz/Measure - - Class: rviz/SetInitialPose - Theta std deviation: 0.2617993950843811 - Topic: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Class: rviz/ThirdPersonFollower - Distance: 0.8234440088272095 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: -0.03273332118988037 - Y: 0.013953739777207375 - Z: -0.05010002851486206 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Pitch: 0.4503970444202423 - Target Frame: base_link - Value: ThirdPersonFollower (rviz) - Yaw: 3.141782522201538 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1018 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001c80000035cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002eb00fffffffb0000000800540069006d006501000000000000045000000000000000000000049d0000035c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1920 - X: 0 - Y: 34 diff --git a/alpha_bot_simulation/worlds/corridor.world b/alpha_bot_simulation/worlds/corridor.world deleted file mode 100644 index 49912ea..0000000 --- a/alpha_bot_simulation/worlds/corridor.world +++ /dev/null @@ -1,543 +0,0 @@ - - - - 1 - 0 0 10 0 -0 0 - 0.8 0.8 0.8 1 - 0.2 0.2 0.2 1 - - 1000 - 0.9 - 0.01 - 0.001 - - -0.5 0.1 -0.9 - - - 1 - - - - - 0 0 1 - 100 100 - - - - - - 100 - 50 - - - - - - - - 10 - - - 0 - - - 0 0 1 - 100 100 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - - - 0.001 - 1 - 1000 - 0 0 -9.8 - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - 1 - - - EARTH_WGS84 - 0 - 0 - 0 - 0 - - - 1 - - 0 0 1.4 0 -0 0 - - - - 7.5 0.2 2.8 - - - 10 - - - - - - - - - - - - 0 - - - 7.5 0.2 2.8 - - - - - - - - 0 - 0 - - 0 - 0 - 1 - - -2.53262 -5 0 0 -0 0 - - - 1 - - 0 0 1.4 0 -0 0 - - - - 7.5 0.2 2.8 - - - 10 - - - - - - - - - - - - 0 - - - 7.5 0.2 2.8 - 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0 0 0 0 -0 0 - - - - - - 0.59881 -4.06701 27.182 -2.2526e-16 1.3218 2.2322 - orbit - - - - diff --git a/alpha_bot_simulation/worlds/db_world.world b/alpha_bot_simulation/worlds/db_world.world deleted file mode 100644 index 19480ef..0000000 --- a/alpha_bot_simulation/worlds/db_world.world +++ /dev/null @@ -1,52 +0,0 @@ - - - - - model://sun - - - - - model://ground_plane - - - - 1000.0 - 0.001 - 1 - - - quick - 150 - 0 - 1.400000 - 1 - - - 0.00001 - 0.2 - 2000.000000 - 0.01000 - - - - - - - model://db_world - - - - 0.4 0.4 0.4 1 - 0.7 0.7 0.7 1 - true - - - - - -0.27 0.0 5.0 0 1.5708 1.5708 - orbit - - - - diff --git a/alpha_bot_simulation/worlds/diffbot.world b/alpha_bot_simulation/worlds/diffbot.world deleted file mode 100644 index 444328b..0000000 --- a/alpha_bot_simulation/worlds/diffbot.world +++ /dev/null @@ -1,16 +0,0 @@ - - - - - model://ground_plane - - - model://sun - - - model://gas_station - gas_station - -2.0 7.0 0 0 0 0 - - - \ No newline at end of file diff --git a/alpha_bot_simulation/worlds/diffbot_empty.world b/alpha_bot_simulation/worlds/diffbot_empty.world deleted file mode 100644 index f601f06..0000000 --- a/alpha_bot_simulation/worlds/diffbot_empty.world +++ /dev/null @@ -1,41 +0,0 @@ - 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