CIR-KIT-Unit03 · MoriKen254 · Nov 17, 2016 · Nov 17, 2016 · Nov 17, 2016 · Nov 17, 2016
diff --git a/cirkit_unit03_navigation_gazebo/CMakeLists.txt b/cirkit_unit03_navigation_gazebo/CMakeLists.txt
@@ -1,160 +1,3 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(cirkit_unit03_navigation_gazebo)
-
-## 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 roslaunch)
-find_package(catkin REQUIRED COMPONENTS)
-
-## 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 and a run_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependencies might have been
-##     pulled in transitively but can be declared for certainty nonetheless:
-##     * add a build_depend tag for "message_generation"
-##     * add a run_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
-# )
-
-###################################
-## 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 you 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 third_robot_2dnav
-#  CATKIN_DEPENDS offset_urg_tf third_robot_driver
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-#include_directories(
-#  ${catkin_INCLUDE_DIRS}
-#)
-
-## Declare a cpp library
-# add_library(third_robot_2dnav
-#   src/${PROJECT_NAME}/third_robot_2dnav.cpp
-# )
-
-## Declare a cpp executable
-# add_executable(third_robot_2dnav_node src/third_robot_2dnav_node.cpp)
-
-## Add cmake target dependencies of the executable/library
-## as an example, message headers may need to be generated before nodes
-# add_dependencies(third_robot_2dnav_node third_robot_2dnav_generate_messages_cpp)
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(third_robot_2dnav_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS third_robot_2dnav third_robot_2dnav_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_third_robot_2dnav.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)
+find_package(catkin REQUIRED)
diff --git a/cirkit_unit03_navigation_gazebo/README.md b/cirkit_unit03_navigation_gazebo/README.md
@@ -1,4 +1,4 @@
-# Third Robot 2d Navigation gazebo
+# CIR-KIT Unit03 Navigation gazebo
 ## 雰囲気
 - ~~[デモ動画（NG）](https://youtu.be/t8RvtNwTC90)~~
 - [デモ動画（TrajectoryPlannerROS）](https://youtu.be/6OA_49ULO2A)
@@ -10,11 +10,11 @@
 - amcl の自己位置推定
 
 ```bash
-roslaunch third_robot_2dnav_gazebo autorun.launch 
+roslaunch cirkit_unit03_navigation_gazebo autorun.launch 
 ```
 
 - gmapping の地図作成
 
 ```bash
-roslaunch third_robot_gmapping_gazebo autorun.launch 
+roslaunch cirkit_unit03_navigation_gazebo gmapping.launch 
 ```
diff --git a/cirkit_unit03_navigation_gazebo/config/base_local_planner_params.yaml b/cirkit_unit03_navigation_gazebo/config/base_local_planner_params.yaml
@@ -136,7 +136,7 @@ TebLocalPlannerROS:
     #   rear_offset: 0.2 # for type "two_circles"
     #   rear_radius: 0.2 # for type "two_circles"
     #   vertices: [[1.00, 0.45], [1.00, -0.45], [-0.15, -0.45], [-0.15, 0.45]] # for type "polygon"
-    #   footprint: [[0.55, 0.35], [0.55, -0.35], [-0.55, -0.35], [-0.55, 0.35]] #third
+    #   footprint: [[0.55, 0.35], [0.55, -0.35], [-0.55, -0.35], [-0.55, 0.35]] #unit03
     #
     # GoalTolerance
     #

diff --git a/cirkit_unit03_navigation_gazebo/config/costmap_common_params.yaml b/cirkit_unit03_navigation_gazebo/config/costmap_common_params.yaml
@@ -1,7 +1,6 @@
 obstacle_range: 9.5 #2.5
 raytrace_range: 10.0
-footprint: [[0.65, 0.35], [0.65, -0.35], [-0.65, -0.35], [-0.65, 0.35]] #third
-#footprint: [[0.3, 0.25], [0.3, -0.25], [-0.47, -0.25], [-0.47, 0.25]] #fourth
+footprint: [[0.65, 0.35], [0.65, -0.35], [-0.65, -0.35], [-0.65, 0.35]] #unit03
 #robot_radius: ir_of_robot
 inflation_radius: 0.5 #1.0
 cost_scaling_factor: 2.0 #10

diff --git a/...3_navigation_gazebo/amcl/amcl_diff.launch → ...navigation_gazebo/launch/amcl_diff.launch b/...3_navigation_gazebo/amcl/amcl_diff.launch → ...navigation_gazebo/launch/amcl_diff.launch
@@ -4,7 +4,7 @@
     <node pkg="topic_tools" type="relay" name="relay_base_scan" args="/third_robot/laser/base_scan /base_scan"/>
     <node pkg="topic_tools" type="relay" name="relay_base_scan2" args="/third_robot/laser/base_scan2 /base_scan2"/>
 
-    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find third_robot_2dnav_gazebo)/config/autorun_gazebo.rviz" required="true" />
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find cirkit_unit03_navigation_gazebo)/config/autorun_gazebo.rviz" required="true" />
 
     <node pkg="amcl" type="amcl" name="amcl" output="screen">
         <remap from="scan" to="scan_multi" />

diff --git a/cirkit_unit03_navigation_gazebo/launch/autorun.launch b/cirkit_unit03_navigation_gazebo/launch/autorun.launch
@@ -1,15 +1,15 @@
 <launch>
   <include file="$(find third_robot_gazebo)/launch/third_robot_clearpath_playpen.launch"/>
 
-  <!--include file="$(find third_robot_2dnav_gazebo)/launch/move_base.launch"/-->
-  <!--include file="$(find third_robot_2dnav_gazebo)/amcl/amcl_diff.launch" /-->
+  <!--include file="$(find cirkit_unit03_navigation_gazebo)/launch/move_base.launch"/-->
+  <!--include file="$(find cirkit_unit03_navigation_gazebo)/amcl/amcl_diff.launch" /-->
 
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="4 third_robot_2dnav_gazebo move_base.launch"
+    args="4 cirkit_unit03_navigation_gazebo move_base.launch"
     name="timed_roslaunch_move_base" output="screen">
   </node>
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="6 third_robot_2dnav_gazebo amcl_diff.launch"
+    args="6 cirkit_unit03_navigation_gazebo amcl_diff.launch"
     name="timed_roslaunch_amcl" output="screen">
   </node>
   <!-- laserscan_merger should be executed after all launch files are called --> 

diff --git a/cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch b/cirkit_unit03_navigation_gazebo/launch/autorun_with_human.launch
@@ -1,17 +1,17 @@
 <launch>
   <include file="$(find third_robot_gazebo)/launch/third_robot_clearpath_playpen.launch"/>
 
-  <!--include file="$(find third_robot_2dnav_gazebo)/launch/move_base.launch"/-->
-  <!--include file="$(find third_robot_2dnav_gazebo)/amcl/amcl_diff.launch" /-->
+  <!--include file="$(find cirkit_unit03_navigation__gazebo)/launch/move_base.launch"/-->
+  <!--include file="$(find cirkit_unit03_navigation__gazebo)/amcl/amcl_diff.launch" /-->
 
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="4 third_robot_2dnav_gazebo move_base.launch"
+    args="4 cirkit_unit03_navigation_gazebo move_base.launch"
     name="timed_roslaunch_move_base" output="screen">
   </node>
 
   <!-- spawn human -->
   <!--
-  <include file="$(find third_robot_2dnav_gazebo)/launch/spawn_human.launch"/>
+  <include file="$(find cirkit_unit03_navigation_gazebo)/launch/spawn_human.launch"/>
   -->
   <param name="human_description1"
       command="$(find xacro)/xacro.py '$(find human_model_gazebo)/urdf/human.xacro'" />
@@ -26,7 +26,7 @@
     <include file="$(find point_cloud_reducer)/launch/kinect_downsampler.launch"/>
 
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="6 third_robot_2dnav_gazebo amcl_diff.launch"
+    args="6 cirkit_unit03_navigation_gazebo amcl_diff.launch"
     name="timed_roslaunch_amcl" output="screen">
   </node>
   <!-- laserscan_merger should be executed after all launch files are called --> 

diff --git a/cirkit_unit03_navigation_gazebo/launch/move_base.launch b/cirkit_unit03_navigation_gazebo/launch/move_base.launch
@@ -4,18 +4,18 @@
   <!-- Run the map server -->
 
   <!-- clearpath_playpen  -->
-  <node name="map_server" pkg="map_server" type="map_server" args="$(find third_robot_2dnav_gazebo)/map/playpen_map.yaml" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(find cirkit_unit03_navigation_gazebo)/map/playpen_map.yaml" />
 
   <node pkg="topic_tools" type="relay" name="relay_cmd_vel" args="/cmd_vel /steer_drive_controller/cmd_vel"/>
   <node pkg="topic_tools" type="relay" name="relay_odom" args="/steer_drive_controller/odom /odom"/>
 
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <!--param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS" /-->
     <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" /> 
-    <rosparam file="$(find third_robot_2dnav_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find third_robot_2dnav_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find third_robot_2dnav_gazebo)/config/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find third_robot_2dnav_gazebo)/config/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find third_robot_2dnav_gazebo)/config/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find cirkit_unit03_navigation_gazebo)/config/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find cirkit_unit03_navigation_gazebo)/config/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find cirkit_unit03_navigation_gazebo)/config/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find cirkit_unit03_navigation_gazebo)/config/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find cirkit_unit03_navigation_gazebo)/config/base_local_planner_params.yaml" command="load" />
   </node>
 </launch>
diff --git a/cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch b/cirkit_unit03_navigation_gazebo/launch/waypoint_generator.launch
@@ -1,17 +1,14 @@
 <launch>
   <include file="$(find third_robot_gazebo)/launch/third_robot_clearpath_playpen.launch"/>
 
-  <!--include file="$(find third_robot_2dnav_gazebo)/launch/move_base.launch"/-->
-  <!--include file="$(find third_robot_2dnav_gazebo)/amcl/amcl_diff.launch" /-->
-
   <node name="ros_waypoint_generator" pkg="ros_waypoint_generator" type="ros_waypoint_generator" />
 
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="4 third_robot_2dnav_gazebo move_base.launch"
+    args="4 cirkit_unit03_navigation_gazebo move_base.launch"
     name="timed_roslaunch_move_base" output="screen">
   </node>
   <node pkg="timed_roslaunch" type="timed_roslaunch.sh"
-    args="10 third_robot_2dnav_gazebo amcl_diff.launch"
+    args="10 cirkit_unit03_navigation_gazebo amcl_diff.launch"
     name="timed_roslaunch_amcl" output="screen">
   </node>
   <!-- laserscan_merger should be executed after all launch files are called --> 

diff --git a/cirkit_unit03_navigation_gazebo/package.xml b/cirkit_unit03_navigation_gazebo/package.xml
@@ -1,67 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>cirkit_unit03_navigation_gazebo</name>
   <version>0.1.0</version>
   <description>The cirkit_unit03_navigation for gazebo package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
   <maintainer email="[email protected]">Masaru Morita</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>BSD</license>
+  <url type="reposigory">https://github.com/CIR-KIT-Unit03/cirkit_unit03.git</url>
+  <url type="bugtracker">https://github.com/CIR-KIT-Unit03/cirkit_unit03/issues</url>
+  <author email="[email protected]">CIR-KIT</author>
 
-
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/third_robot_2dnav</url> -->
-
-
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="[email protected]">Jane Doe</author> -->
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!--
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>offset_urg_tf</build_depend>
-  <build_depend>third_robot_driver</build_depend>
-  <run_depend>offset_urg_tf</run_depend>
-  <run_depend>third_robot_driver</run_depend>
-  -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roslaunch</build_depend>
-  <run_depend>amcl</run_depend>
-  <run_depend>frontier_exploration</run_depend>
-  <run_depend>gmapping</run_depend>
-  <run_depend>map_server</run_depend>
-  <run_depend>move_base</run_depend>
-  <run_depend>navfn</run_depend>
-  <run_depend>base_local_planner</run_depend>
-  <run_depend>dwa_local_planner</run_depend>
+  <exec_depend>amcl</exec_depend>
+  <exec_depend>base_local_planner</exec_depend>
+  <exec_depend>dwa_local_planner</exec_depend>
+  <exec_depend>frontier_exploration</exec_depend>
+  <exec_depend>gmapping</exec_depend>
+  <exec_depend>map_server</exec_depend>
+  <exec_depend>move_base</exec_depend>
+  <exec_depend>navfn</exec_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
-
-    <!-- Other tools can request additional information be placed here -->
-
   </export>
 </package>