From 15e9638ce728a45a1ccb3bd38eaf1be1dea888ff Mon Sep 17 00:00:00 2001 From: Wolfgang Hess Date: Thu, 15 Sep 2016 12:05:03 +0200 Subject: [PATCH] Remove TurtleBot related configuration and cleanup. (#55) TurtleBot related configuration moves to a new repository cartographer_turtlebot. package.xml files got cleaned up and changed to version 2. --- .../configuration_files/demo_turtlebot.rviz | 317 ------------------ .../configuration_files/turtlebot.lua | 40 --- cartographer_ros/launch/demo_turtlebot.launch | 29 -- cartographer_ros/launch/turtlebot.launch | 29 -- cartographer_ros/package.xml | 83 ++--- cartographer_ros/urdf/backpack_2d.urdf | 2 +- cartographer_ros/urdf/backpack_3d.urdf | 2 +- cartographer_ros/urdf/turtlebot.urdf | 68 ---- cartographer_ros_msgs/package.xml | 11 +- cartographer_turtlebot/Dockerfile | 23 -- 10 files changed, 47 insertions(+), 557 deletions(-) delete mode 100644 cartographer_ros/configuration_files/demo_turtlebot.rviz delete mode 100644 cartographer_ros/configuration_files/turtlebot.lua delete mode 100644 cartographer_ros/launch/demo_turtlebot.launch delete mode 100644 cartographer_ros/launch/turtlebot.launch delete mode 100644 cartographer_ros/urdf/turtlebot.urdf delete mode 100644 cartographer_turtlebot/Dockerfile diff --git a/cartographer_ros/configuration_files/demo_turtlebot.rviz b/cartographer_ros/configuration_files/demo_turtlebot.rviz deleted file mode 100644 index 93cf3d4..0000000 --- a/cartographer_ros/configuration_files/demo_turtlebot.rviz +++ /dev/null @@ -1,317 +0,0 @@ -# Copyright 2016 The Cartographer Authors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Submaps1 - - /PointCloud21 - Splitter Ratio: 0.600671 - Tree Height: 821 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679 - - Class: rviz/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: rviz/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: PointCloud2 -Visualization Manager: - Class: "" - Displays: - - Alpha: 0.5 - Cell Size: 1 - Class: rviz/Grid - Color: 160; 160; 164 - Enabled: true - Line Style: - Line Width: 0.03 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 100 - Reference Frame: - Value: true - - Class: rviz/TF - Enabled: true - Frame Timeout: 15 - Frames: - All Enabled: true - base_footprint: - Value: true - base_link: - Value: true - camera_depth_frame: - Value: true - camera_depth_optical_frame: - Value: true - camera_link: - Value: true - camera_rgb_frame: - Value: true - camera_rgb_optical_frame: - Value: true - caster_back_link: - Value: true - caster_front_link: - Value: true - cliff_sensor_front_link: - Value: true - cliff_sensor_left_link: - Value: true - cliff_sensor_right_link: - Value: true - gyro_link: - Value: true - laser: - Value: true - laser_mount_link: - Value: true - map: - Value: true - odom: - Value: true - plate_bottom_link: - Value: true - plate_middle_link: - Value: true - plate_top_link: - Value: true - pole_bottom_0_link: - Value: true - pole_bottom_1_link: - Value: true - pole_bottom_2_link: - Value: true - pole_bottom_3_link: - Value: true - pole_bottom_4_link: - Value: true - pole_bottom_5_link: - Value: true - pole_kinect_0_link: - Value: true - pole_kinect_1_link: - Value: true - pole_middle_0_link: - Value: true - pole_middle_1_link: - Value: true - pole_middle_2_link: - Value: true - pole_middle_3_link: - Value: true - pole_top_0_link: - Value: true - pole_top_1_link: - Value: true - pole_top_2_link: - Value: true - pole_top_3_link: - Value: true - wheel_left_link: - Value: true - wheel_right_link: - Value: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - map: - odom: - base_footprint: - base_link: - camera_rgb_frame: - camera_depth_frame: - camera_depth_optical_frame: - {} - camera_link: - {} - camera_rgb_optical_frame: - {} - caster_back_link: - {} - caster_front_link: - {} - cliff_sensor_front_link: - {} - cliff_sensor_left_link: - {} - cliff_sensor_right_link: - {} - gyro_link: - {} - laser_mount_link: - laser: - {} - plate_bottom_link: - {} - plate_middle_link: - {} - plate_top_link: - {} - pole_bottom_0_link: - {} - pole_bottom_1_link: - {} - pole_bottom_2_link: - {} - pole_bottom_3_link: - {} - pole_bottom_4_link: - {} - pole_bottom_5_link: - {} - pole_kinect_0_link: - {} - pole_kinect_1_link: - {} - pole_middle_0_link: - {} - pole_middle_1_link: - {} - pole_middle_2_link: - {} - pole_middle_3_link: - {} - pole_top_0_link: - {} - pole_top_1_link: - {} - pole_top_2_link: - {} - pole_top_3_link: - {} - wheel_left_link: - {} - wheel_right_link: - {} - Update Interval: 0 - Value: true - - Class: Submaps - Enabled: true - Map frame: map - Name: Submaps - Submap query service: /cartographer/submap_query - Topic: /cartographer/submap_list - Tracking frame: base_link - Unreliable: false - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 0; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.05 - Style: Flat Squares - Topic: /scan_matched_points2 - Unreliable: false - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Global Options: - Background Color: 100; 100; 100 - Fixed Frame: map - 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 - Topic: /initialpose - - Class: rviz/SetGoal - Topic: /move_base_simple/goal - - Class: rviz/PublishPoint - Single click: true - Topic: /clicked_point - Value: true - Views: - Current: - Angle: 0 - Class: rviz/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.06 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Name: Current View - Near Clip Distance: 0.01 - Scale: 10 - Target Frame: - Value: TopDownOrtho (rviz) - X: 0 - Y: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 1123 - Hide Left Dock: false - Hide Right Dock: false - QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 1918 - X: 0 - Y: 24 diff --git a/cartographer_ros/configuration_files/turtlebot.lua b/cartographer_ros/configuration_files/turtlebot.lua deleted file mode 100644 index 150839b..0000000 --- a/cartographer_ros/configuration_files/turtlebot.lua +++ /dev/null @@ -1,40 +0,0 @@ --- Copyright 2016 The Cartographer Authors --- --- Licensed under the Apache License, Version 2.0 (the "License"); --- you may not use this file except in compliance with the License. --- You may obtain a copy of the License at --- --- http://www.apache.org/licenses/LICENSE-2.0 --- --- Unless required by applicable law or agreed to in writing, software --- distributed under the License is distributed on an "AS IS" BASIS, --- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. --- See the License for the specific language governing permissions and --- limitations under the License. - -include "map_builder.lua" - -options = { - map_builder = MAP_BUILDER, - map_frame = "map", - tracking_frame = "base_link", - odom_frame = "odom", - provide_odom_frame = false, - use_odometry_data = false, - publish_occupancy_grid = false, - use_horizontal_laser = true, - use_horizontal_multi_echo_laser = false, - horizontal_laser_min_range = 0., - horizontal_laser_max_range = 30., - horizontal_laser_missing_echo_ray_length = 5., - num_lasers_3d = 0, - lookup_transform_timeout_sec = 0.2, - submap_publish_period_sec = 0.3, - pose_publish_period_sec = 5e-3, -} - -options.map_builder.use_trajectory_builder_2d = true -options.map_builder.trajectory_builder_2d.use_imu_data = false -options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true - -return options diff --git a/cartographer_ros/launch/demo_turtlebot.launch b/cartographer_ros/launch/demo_turtlebot.launch deleted file mode 100644 index 6eff567..0000000 --- a/cartographer_ros/launch/demo_turtlebot.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - diff --git a/cartographer_ros/launch/turtlebot.launch b/cartographer_ros/launch/turtlebot.launch deleted file mode 100644 index d9d3a26..0000000 --- a/cartographer_ros/launch/turtlebot.launch +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - diff --git a/cartographer_ros/package.xml b/cartographer_ros/package.xml index 6f2fb2a..ba8bfb7 100644 --- a/cartographer_ros/package.xml +++ b/cartographer_ros/package.xml @@ -15,61 +15,52 @@ limitations under the License. --> - + cartographer_ros 1.0.0 - The cartographer_ros package. - Google + + Cartographer is a system that provides real-time simultaneous localization + and mapping SLAM across multiple platforms and sensor configurations. This + package provides Cartographer's ROS integration. + + + The Cartographer Authors + Apache 2.0 + https://github.com/googlecartographer/cartographer_ros + catkin g++-static - wget - cartographer - eigen_conversions - geometry_msgs - cartographer_ros_msgs - libgflags-dev - libpcl-all-dev - message_generation - nav_msgs - pcl_conversions - protobuf-dev + google-mock python-sphinx - qtbase5-dev - rosbag - roscpp - roslib - rviz - sensor_msgs - std_msgs - suitesparse - tf2 - tf2_eigen - visualization_msgs + protobuf-dev - eigen_conversions - geometry_msgs - cartographer_ros_msgs - libgflags-dev - libpcl-all - libqt5-core - libqt5-gui - libqt5-widgets - message_runtime - nav_msgs - pcl_conversions - rosbag - roscpp - roslib - rviz - sensor_msgs - std_msgs - suitesparse - tf2_eigen - tf2 - visualization_msgs + cartographer + cartographer_ros_msgs + + libgflags-dev + libgoogle-glog-dev + rosbag + roscpp + roslib + rviz + sensor_msgs + std_msgs + tf2 + tf2_eigen + visualization_msgs + geometry_msgs + nav_msgs + libpcl-all-dev + pcl_conversions + eigen_conversions + message_runtime + qtbase5-dev + libqt5-core + libqt5-gui + libqt5-widgets rosunit diff --git a/cartographer_ros/urdf/backpack_2d.urdf b/cartographer_ros/urdf/backpack_2d.urdf index dcb4181..9db4efd 100644 --- a/cartographer_ros/urdf/backpack_2d.urdf +++ b/cartographer_ros/urdf/backpack_2d.urdf @@ -14,7 +14,7 @@ limitations under the License. --> - + diff --git a/cartographer_ros/urdf/backpack_3d.urdf b/cartographer_ros/urdf/backpack_3d.urdf index ac12ede..0d31d0d 100644 --- a/cartographer_ros/urdf/backpack_3d.urdf +++ b/cartographer_ros/urdf/backpack_3d.urdf @@ -14,7 +14,7 @@ limitations under the License. --> - + diff --git a/cartographer_ros/urdf/turtlebot.urdf b/cartographer_ros/urdf/turtlebot.urdf deleted file mode 100644 index 56258a8..0000000 --- a/cartographer_ros/urdf/turtlebot.urdf +++ /dev/null @@ -1,68 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/cartographer_ros_msgs/package.xml b/cartographer_ros_msgs/package.xml index 3fbf3e5..45dfeef 100644 --- a/cartographer_ros_msgs/package.xml +++ b/cartographer_ros_msgs/package.xml @@ -1,3 +1,4 @@ + - + cartographer_ros_msgs 1.0.0 - The cartographer_ros_msgs package. + ROS messages for the cartographer_ros package. - Google + + The Cartographer Authors + Apache 2.0 + https://github.com/googlecartographer/cartographer_ros + catkin message_generation diff --git a/cartographer_turtlebot/Dockerfile b/cartographer_turtlebot/Dockerfile deleted file mode 100644 index ab34cb5..0000000 --- a/cartographer_turtlebot/Dockerfile +++ /dev/null @@ -1,23 +0,0 @@ -# Copyright 2016 The Cartographer Authors -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -FROM cartographer_ros_image -RUN apt-get update && apt-get install -y \ - ros-indigo-depthimage-to-laserscan \ - ros-indigo-kobuki \ - ros-indigo-kobuki-core \ - ros-indigo-openni2-launch \ - ros-indigo-turtlebot-bringup \ - tmux \ - && rm -rf /var/lib/apt/lists/*