From 72a48bab0f538dc0661609bb1957b0abed8c6a23 Mon Sep 17 00:00:00 2001 From: Paul-antoineLeTolguenec Date: Tue, 16 Jun 2020 11:01:37 +0200 Subject: [PATCH] first commit --- .vscode/c_cpp_properties.json | 25 ++++ .vscode/settings.json | 6 + CMakeLists.txt | 210 ++++++++++++++++++++++++++++++++++ launch/simulation.launch | 42 +++++++ package.xml | 76 ++++++++++++ waypoint/waypoints.yaml | 97 ++++++++++++++++ 6 files changed, 456 insertions(+) create mode 100644 .vscode/c_cpp_properties.json create mode 100644 .vscode/settings.json create mode 100644 CMakeLists.txt create mode 100644 launch/simulation.launch create mode 100644 package.xml create mode 100644 waypoint/waypoints.yaml diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json new file mode 100644 index 0000000..45eee9d --- /dev/null +++ b/.vscode/c_cpp_properties.json @@ -0,0 +1,25 @@ +{ + "configurations": [ + { + "browse": { + "databaseFilename": "", + "limitSymbolsToIncludedHeaders": true + }, + "includePath": [ + "/home/paul-antoine/workspaceRos/devel/include/**", + "/opt/ros/melodic/include/**", + "/home/paul-antoine/workspaceRos/src/karst_simulation/include/**", + "/home/paul-antoine/workspaceRos/src/tp1/include/**", + "/home/paul-antoine/workspaceRos/src/tp2/include/**", + "/home/paul-antoine/workspaceRos/src/tp3/include/**", + "/usr/include/**" + ], + "name": "ROS", + "intelliSenseMode": "gcc-x64", + "compilerPath": "/usr/bin/gcc", + "cStandard": "gnu11", + "cppStandard": "gnu++14" + } + ], + "version": 4 +} \ No newline at end of file diff --git a/.vscode/settings.json b/.vscode/settings.json new file mode 100644 index 0000000..fec2c74 --- /dev/null +++ b/.vscode/settings.json @@ -0,0 +1,6 @@ +{ + "python.autoComplete.extraPaths": [ + "/home/paul-antoine/workspaceRos/devel/lib/python2.7/dist-packages", + "/opt/ros/melodic/lib/python2.7/dist-packages" + ] +} \ No newline at end of file diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..31cc0d1 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,210 @@ +cmake_minimum_required(VERSION 3.0.2) +project(karst_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 COMPONENTS + geometry_msgs + message_generation + message_runtime + roscpp + rospy + std_msgs + tf +) + +## 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 +# geometry_msgs# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/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 karst_simulation +# CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs tf +# 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/${PROJECT_NAME}/karst_simulation.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/karst_simulation_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_karst_simulation.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/launch/simulation.launch b/launch/simulation.launch new file mode 100644 index 0000000..068c26d --- /dev/null +++ b/launch/simulation.launch @@ -0,0 +1,42 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..267115f --- /dev/null +++ b/package.xml @@ -0,0 +1,76 @@ + + + karst_simulation + 0.0.0 + The karst_simulation package + + + + + paul-antoine + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + geometry_msgs + message_generation + roscpp + rospy + std_msgs + tf + geometry_msgs + roscpp + rospy + std_msgs + tf + geometry_msgs + message_runtime + roscpp + rospy + std_msgs + tf + + + + + + + + diff --git a/waypoint/waypoints.yaml b/waypoint/waypoints.yaml new file mode 100644 index 0000000..cbd5795 --- /dev/null +++ b/waypoint/waypoints.yaml @@ -0,0 +1,97 @@ +inertial_frame_id: world +waypoints: + - + point: [33, 66,-15] + max_forward_speed: 0.4 + heading: 0 + use_fixed_heading: False + - + point: [27.5, 35, -21.5] + max_forward_speed: 0.4 + heading: 0 + use_fixed_heading: False + - + point: [30, 18, -22.5] + max_forward_speed: 0.4 + heading: 0 + use_fixed_heading: False + - + point: [34, 9, -24.5] + max_forward_speed: 0.8 + heading: 0 + use_fixed_heading: False + - + point: [44.5, -13, -25.5] + max_forward_speed: 0.8 + heading: 0 + use_fixed_heading: False + - + point: [46.5, -27, -27.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [45.5, -37, -32.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [42.5, -41, -39.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [37.5, -44, -43.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [30.5, -49, -48.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [17.5, -53, -50.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [5.5, -56, -44.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-8.5, -56, -29.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-24.5, -58, -23.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-38.5, -64, -27.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-64.5, -78, -42.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-74.5, -88, -48.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-90.5, -107, -56.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False + - + point: [-98.5, -93, -56.5] + max_forward_speed: 1 + heading: 0 + use_fixed_heading: False