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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.
master
Wolfgang Hess 2016-09-15 12:05:03 +02:00 committed by GitHub
parent 0e26c9feac
commit 15e9638ce7
10 changed files with 47 additions and 557 deletions
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317
cartographer_ros/configuration_files/demo_turtlebot.rviz
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@ -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: <Fixed 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: <Fixed 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

40
cartographer_ros/configuration_files/turtlebot.lua
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@ -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

29
cartographer_ros/launch/demo_turtlebot.launch
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@ -1,29 +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.
-->
<launch>
<param name="/use_sim_time" value="true" />
<node name="cartographer" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename turtlebot.lua"
output="screen" />
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_turtlebot.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>

29
cartographer_ros/launch/turtlebot.launch
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@ -1,29 +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.
-->
<launch>
<param name="robot_description"
textfile="$(find cartographer_ros)/urdf/turtlebot.urdf" />
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" />
<node name="cartographer" pkg="cartographer_ros"
type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename turtlebot.lua"
output="screen" />
</launch>

83
cartographer_ros/package.xml
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@ -15,61 +15,52 @@
limitations under the License. limitations under the License.
--> -->
<package> <package format="2">
<name>cartographer_ros</name> <name>cartographer_ros</name>
<version>1.0.0</version> <version>1.0.0</version>
<description>The cartographer_ros package.</description> <description>
<maintainer email="nobody@google.com">Google</maintainer> 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.
</description>
<maintainer email="google-cartographer@googlegroups.com">
The Cartographer Authors
</maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<url>https://github.com/googlecartographer/cartographer_ros</url>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>g++-static</build_depend> <build_depend>g++-static</build_depend>
<build_depend>wget</build_depend> <!-- for glog --> <build_depend>google-mock</build_depend>
<build_depend>cartographer</build_depend>
<build_depend>eigen_conversions</build_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>cartographer_ros_msgs</build_depend>
<build_depend>libgflags-dev</build_depend>
<build_depend>libpcl-all-dev</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>nav_msgs</build_depend>
<build_depend>pcl_conversions</build_depend>
<build_depend>protobuf-dev</build_depend>
<build_depend>python-sphinx</build_depend> <build_depend>python-sphinx</build_depend>
<build_depend>qtbase5-dev</build_depend> <build_depend>protobuf-dev</build_depend>
<build_depend>rosbag</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>roslib</build_depend>
<build_depend>rviz</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>suitesparse</build_depend>
<build_depend>tf2</build_depend>
<build_depend>tf2_eigen</build_depend>
<build_depend>visualization_msgs</build_depend>
<run_depend>eigen_conversions</run_depend> <depend>cartographer</depend>
<run_depend>geometry_msgs</run_depend> <depend>cartographer_ros_msgs</depend>
<run_depend>cartographer_ros_msgs</run_depend>
<run_depend>libgflags-dev</run_depend> <depend>libgflags-dev</depend>
<run_depend>libpcl-all</run_depend> <depend>libgoogle-glog-dev</depend>
<run_depend>libqt5-core</run_depend> <depend>rosbag</depend>
<run_depend>libqt5-gui</run_depend> <depend>roscpp</depend>
<run_depend>libqt5-widgets</run_depend> <depend>roslib</depend>
<run_depend>message_runtime</run_depend> <depend>rviz</depend>
<run_depend>nav_msgs</run_depend> <depend>sensor_msgs</depend>
<run_depend>pcl_conversions</run_depend> <depend>std_msgs</depend>
<run_depend>rosbag</run_depend> <depend>tf2</depend>
<run_depend>roscpp</run_depend> <depend>tf2_eigen</depend>
<run_depend>roslib</run_depend> <depend>visualization_msgs</depend>
<run_depend>rviz</run_depend> <depend>geometry_msgs</depend>
<run_depend>sensor_msgs</run_depend> <depend>nav_msgs</depend>
<run_depend>std_msgs</run_depend> <depend>libpcl-all-dev</depend>
<run_depend>suitesparse</run_depend> <depend>pcl_conversions</depend>
<run_depend>tf2_eigen</run_depend> <depend>eigen_conversions</depend>
<run_depend>tf2</run_depend> <depend>message_runtime</depend>
<run_depend>visualization_msgs</run_depend> <depend>qtbase5-dev</depend>
<depend>libqt5-core</depend>
<depend>libqt5-gui</depend>
<depend>libqt5-widgets</depend>
<test_depend>rosunit</test_depend> <test_depend>rosunit</test_depend>

2
cartographer_ros/urdf/backpack_2d.urdf
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@ -14,7 +14,7 @@
limitations under the License. limitations under the License.
--> -->
<robot name="cartographer_ros"> <robot name="cartographer_backpack_2d">
<material name="orange"> <material name="orange">
<color rgba="1.0 0.5 0.2 1" /> <color rgba="1.0 0.5 0.2 1" />
</material> </material>

2
cartographer_ros/urdf/backpack_3d.urdf
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@ -14,7 +14,7 @@
limitations under the License. limitations under the License.
--> -->
<robot name="cartographer_ros"> <robot name="cartographer_backpack_3d">
<material name="orange"> <material name="orange">
<color rgba="1.0 0.5 0.2 1" /> <color rgba="1.0 0.5 0.2 1" />
</material> </material>

68
cartographer_ros/urdf/turtlebot.urdf
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@ -1,68 +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.
-->
<robot name="cartographer_ros">
<material name="orange">
<color rgba="1.0 0.5 0.2 1" />
</material>
<material name="gray">
<color rgba="0.2 0.2 0.2 1" />
</material>
<material name="green">
<color rgba="0.2 0.4 0.2 1" />
</material>
<link name="horizontal_laser_link">
<visual>
<origin xyz="0.0 0.0 0.0" />
<geometry>
<cylinder length="0.09" radius="0.03" />
</geometry>
<material name="gray" />
</visual>
</link>
<link name="base_link">
<visual>
<origin xyz="0. 0. 0." />
<geometry>
<box size="0.03 0.4 0.8" />
</geometry>
<material name="green" />
</visual>
</link>
<link name="camera_link" />
<link name="base_footprint" />
<joint name="horizontal_laser_link_joint" type="fixed">
<parent link="base_link" />
<child link="horizontal_laser_link" />
<origin xyz="0. 0. 0.6" />
</joint>
<joint name="camera_link_joint" type="fixed">
<parent link="base_link" />
<child link="camera_link" />
<origin xyz="0.15 0. 0.6" />
</joint>
<joint name="base_link_base_footprint_joint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0. 0. 0." />
</joint>
</robot>

11
cartographer_ros_msgs/package.xml
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@ -1,3 +1,4 @@
<?xml version="1.0"?>
<!-- <!--
Copyright 2016 The Cartographer Authors Copyright 2016 The Cartographer Authors
@ -14,15 +15,19 @@
limitations under the License. limitations under the License.
--> -->
<package> <package format="2">
<name>cartographer_ros_msgs</name> <name>cartographer_ros_msgs</name>
<version>1.0.0</version> <version>1.0.0</version>
<description> <description>
The cartographer_ros_msgs package. ROS messages for the cartographer_ros package.
</description> </description>
<maintainer email="nobody@google.com">Google</maintainer> <maintainer email="google-cartographer@googlegroups.com">
The Cartographer Authors
</maintainer>
<license>Apache 2.0</license> <license>Apache 2.0</license>
<url>https://github.com/googlecartographer/cartographer_ros</url>
<buildtool_depend>catkin</buildtool_depend> <buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend> <build_depend>message_generation</build_depend>

23
cartographer_turtlebot/Dockerfile
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@ -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/*