diff --git a/autonomous_robotics_ros/src/CMakeLists.txt b/autonomous_robotics_ros/src/CMakeLists.txt new file mode 120000 index 0000000..581e61d --- /dev/null +++ b/autonomous_robotics_ros/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/autonomous_robotics_ros/navigation/fake_localization/CMakeLists.txt b/autonomous_robotics_ros/src/navigation/fake_localization/CMakeLists.txt similarity index 100% rename from autonomous_robotics_ros/navigation/fake_localization/CMakeLists.txt rename to autonomous_robotics_ros/src/navigation/fake_localization/CMakeLists.txt diff --git a/autonomous_robotics_ros/navigation/fake_localization/fake_localization.cpp b/autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp similarity index 100% rename from autonomous_robotics_ros/navigation/fake_localization/fake_localization.cpp rename to autonomous_robotics_ros/src/navigation/fake_localization/fake_localization.cpp diff --git a/autonomous_robotics_ros/navigation/fake_localization/package.xml b/autonomous_robotics_ros/src/navigation/fake_localization/package.xml similarity index 100% rename from autonomous_robotics_ros/navigation/fake_localization/package.xml rename to autonomous_robotics_ros/src/navigation/fake_localization/package.xml diff --git a/autonomous_robotics_ros/navigation/move_base/CHANGELOG.rst b/autonomous_robotics_ros/src/navigation/move_base/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/CHANGELOG.rst rename to autonomous_robotics_ros/src/navigation/move_base/CHANGELOG.rst diff --git a/autonomous_robotics_ros/navigation/move_base/CMakeLists.txt b/autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/CMakeLists.txt rename to autonomous_robotics_ros/src/navigation/move_base/CMakeLists.txt diff --git a/autonomous_robotics_ros/navigation/move_base/cfg/MoveBase.cfg b/autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/cfg/MoveBase.cfg rename to autonomous_robotics_ros/src/navigation/move_base/cfg/MoveBase.cfg diff --git a/autonomous_robotics_ros/navigation/move_base/include/move_base/move_base.h b/autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/include/move_base/move_base.h rename to autonomous_robotics_ros/src/navigation/move_base/include/move_base/move_base.h diff --git a/autonomous_robotics_ros/navigation/move_base/package.xml b/autonomous_robotics_ros/src/navigation/move_base/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/package.xml rename to autonomous_robotics_ros/src/navigation/move_base/package.xml diff --git a/autonomous_robotics_ros/navigation/move_base/planner_test.xml b/autonomous_robotics_ros/src/navigation/move_base/planner_test.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/planner_test.xml rename to autonomous_robotics_ros/src/navigation/move_base/planner_test.xml diff --git a/autonomous_robotics_ros/navigation/move_base/src/move_base.cpp b/autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/src/move_base.cpp rename to autonomous_robotics_ros/src/navigation/move_base/src/move_base.cpp diff --git a/autonomous_robotics_ros/navigation/move_base/src/move_base_node.cpp b/autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/move_base/src/move_base_node.cpp rename to autonomous_robotics_ros/src/navigation/move_base/src/move_base_node.cpp diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/CHANGELOG.rst b/autonomous_robotics_ros/src/navigation/rotate_recovery/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/CHANGELOG.rst rename to autonomous_robotics_ros/src/navigation/rotate_recovery/CHANGELOG.rst diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/CMakeLists.txt b/autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/CMakeLists.txt rename to autonomous_robotics_ros/src/navigation/rotate_recovery/CMakeLists.txt diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h b/autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h rename to autonomous_robotics_ros/src/navigation/rotate_recovery/include/rotate_recovery/rotate_recovery.h diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/package.xml b/autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/package.xml rename to autonomous_robotics_ros/src/navigation/rotate_recovery/package.xml diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/rotate_plugin.xml b/autonomous_robotics_ros/src/navigation/rotate_recovery/rotate_plugin.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/rotate_plugin.xml rename to autonomous_robotics_ros/src/navigation/rotate_recovery/rotate_plugin.xml diff --git a/autonomous_robotics_ros/navigation/rotate_recovery/src/rotate_recovery.cpp b/autonomous_robotics_ros/src/navigation/rotate_recovery/src/rotate_recovery.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/navigation/rotate_recovery/src/rotate_recovery.cpp rename to autonomous_robotics_ros/src/navigation/rotate_recovery/src/rotate_recovery.cpp diff --git a/autonomous_robotics_ros/src/serial b/autonomous_robotics_ros/src/serial new file mode 160000 index 0000000..cbcca7c --- /dev/null +++ b/autonomous_robotics_ros/src/serial @@ -0,0 +1 @@ +Subproject commit cbcca7c83745fedd75afb7a0a27ee5c4112435c2 diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/CMakeLists.txt b/autonomous_robotics_ros/src/ti_mmwave_rospkg/CMakeLists.txt old mode 100644 new mode 100755 similarity index 92% rename from autonomous_robotics_ros/ti_mmwave_rospkg/CMakeLists.txt rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/CMakeLists.txt index b57b9bf..8df824c --- a/autonomous_robotics_ros/ti_mmwave_rospkg/CMakeLists.txt +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/CMakeLists.txt @@ -1,230 +1,232 @@ -cmake_minimum_required(VERSION 2.8.3) -project(ti_mmwave_rospkg) - -## Add support for C++11, supported in ROS Kinetic and newer - add_definitions(-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 - nodelet - roscpp - serial - std_msgs - sensor_msgs - message_generation - pluginlib -) - -find_package(Boost REQUIRED ) - -find_package(Threads REQUIRED) - -find_package(PCL 1.7.2 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 run_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 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 -# RadarScan.msg -#) - -## Generate services in the 'srv' folder - add_service_files( - FILES - mmWaveCLI.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 - 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 run_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 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 mmwave - #CATKIN_DEPENDS nodelet roscpp serial std_msgs - DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( include - ${catkin_INCLUDE_DIRS} - ${ti_mmwave_rospkg_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} - ${pthread_INCLUDE_DIRS} - ${rt_INCLUDE_DIRS} -) - -link_directories( ${Boost_LIBRARIES_DIRS} ) - -link_directories( ${PCL_LIBRARY_DIRS} ) - -add_definitions(${PCL_DEFINITIONS}) - -## Declare a C++ library - add_library(mmwave - src/mmWaveDataHdl.cpp - src/mmWaveCommSrv.cpp - src/DataHandlerClass.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(mmwave ${${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/ti_mmwave_rospkg_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 and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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 ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) -set (CMAKE_CXX_STANDARD 11) - -add_executable(${PROJECT_NAME} src/mmWaveLoader.cpp) -target_link_libraries(mmwave ${serial_LIBRARIES}) -target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES}) -add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} mmwave ${serial_EXPORTED_TARGETS}) - -add_executable(mmWaveQuickConfig src/mmWaveQuickConfig.cpp) -target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave) -add_dependencies(mmWaveQuickConfig ${catkin_EXPORTED_TARGETS} mmwave) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_ti_mmwave_rospkg.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) +cmake_minimum_required(VERSION 2.8.3) +project(ti_mmwave_rospkg) + +## Add support for C++11, supported in ROS Kinetic and newer + add_definitions(-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 + nodelet + roscpp + serial + std_msgs + sensor_msgs + message_generation + pluginlib +) + +find_package(Boost REQUIRED) + +find_package(Threads REQUIRED) + +find_package(PCL 1.7.2 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 run_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 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 + RadarScan.msg +) + +## Generate services in the 'srv' folder +add_service_files( + FILES + mmWaveCLI.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 + 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 run_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 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 mmwave + #CATKIN_DEPENDS nodelet roscpp serial std_msgs + DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( include + ${catkin_INCLUDE_DIRS} + ${ti_mmwave_rospkg_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${pthread_INCLUDE_DIRS} + ${rt_INCLUDE_DIRS} +) + +link_directories( ${Boost_LIBRARIES_DIRS} ) + +link_directories( ${PCL_LIBRARY_DIRS} ) + +add_definitions(${PCL_DEFINITIONS}) + +## Declare a C++ library +add_library(mmwave + src/mmWaveDataHdl.cpp + src/mmWaveCommSrv.cpp + src/DataHandlerClass.cpp + src/mmWaveQuickConfig.cpp + src/ParameterParser.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(mmwave ${${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/ti_mmwave_rospkg_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 and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_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 ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) +set (CMAKE_CXX_STANDARD 11) + +add_executable(${PROJECT_NAME} src/mmWaveLoader.cpp) +target_link_libraries(mmwave ${serial_LIBRARIES}) +target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES}) +add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} mmwave ${serial_EXPORTED_TARGETS}) + +add_executable(mmWaveQuickConfig src/mmWaveQuickConfig.cpp) +target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave) +add_dependencies(mmWaveQuickConfig ${catkin_EXPORTED_TARGETS} mmwave) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_ti_mmwave_rospkg.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/autonomous_robotics_ros/src/ti_mmwave_rospkg/README.md b/autonomous_robotics_ros/src/ti_mmwave_rospkg/README.md new file mode 100755 index 0000000..7839a26 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/README.md @@ -0,0 +1,183 @@ +# TI mmWave ROS Package (Customized) + +#### Auhor and Maintainer: Leo Zhang +#### Organization: University of Arizona +#### Email: dr.leo.zhang@outlook.com +--- +### Most recent change: + +Add support for XWR18XX devices. SDK version: 3.2.0.4. + +--- +Initially derived from TI's origin ROS package in Industrial Toolbox 2.3.0 (new version available [Industrial Toolbox 2.5.2](http://dev.ti.com/tirex/#/?link=Software%2FmmWave%20Sensors%2FIndustrial%20Toolbox)). + +### Differences from origin TI's version: +1. Added all radar parameters from calculations and can be read from `rosparam get`. +2. Added Doppler data from detecting targets and form a customized ROS message `/ti_mmwave/radar_scan`. +3. Added support for multiple radars working together. +4. Added support for camera overlay (for sensor fusion). +5. Working with xWR1443 and xWR1642 ES1.0 and ES2.0 (ES1.0 is deprecated from TI) +--- +### Available devices: +``` +TI mmWave AWR1443BOOST +TI mmWave AWR1642BOOST +TI mmWave AWR1642BOOST ES2.0/3.0 EVM (not tested) +TI mmWave AWR1642BOOST ES2.0 EVM +TI mmWave AWR1843BOOST ES1.0 EVM +``` +--- +### Quick start guide (AWR1642BOOST ES2.0 EVM): +1. Mount AWR1642BOOST ES2.0 EVM (as below), connect 5V/2.5A power supply and connect a micro-USB cable to host Ubuntu 16.04 LTS with [ROS Kinetic](http://wiki.ros.org/kinetic). + +![](https://github.com/radar-lab/ti_mmwave_rospkg/raw/master/auxiliary/mounting.jpg "AWR1642 Mounting") + +Note: Tested with Ubuntu 16.04 LTS with ROS Kinectic and Ubuntu 18.04 LTS with [ROS Melodic](http://wiki.ros.org/melodic) + +2. Download SDK 2.0 or above (suggested SDK 2.1) from [here](http://www.ti.com/tool/MMWAVE-SDK) and use [UNIFLASH](http://www.ti.com/tool/UNIFLASH) to flash xwr16xx_mmw_demo.bin to your device. **Do not forget SOP2 jumper when flashing.** + +Note: +AWR1642 ES1.0 (usually purchased before May 2018) uses SDK 1.2. AWR1642 ES2.0 (usually purchased after May 2018) uses SDK 2.0. Same applies to AWR1443. (You can refer to [this thread](https://e2e.ti.com/support/sensors/f/1023/t/692195?tisearch=e2e-sitesearch&keymatch=%20user:356347)) + +3. Clone this repo and ROS serial onto your `/src`: + +``` +git clone https://github.com/radar-lab/ti_mmwave_rospkg.git +git clone https://github.com/wjwwood/serial.git +``` +4. Go back to ``: + +``` +catkin_make && source devel/setup.bash +echo "source /devel/setup.bash" >> ~/.bashrc +``` + +5. Enable command and data ports on Linux: +``` +sudo chmod 666 /dev/ttyACM0 +sudo chmod 666 /dev/ttyACM1 +``` +Note: If multiple sensors are used, enable additional ports `/dev/ttyACM2` and `/dev/ttyACM3`, etc. the same as this step. + +6. Launch AWR1642 short range config: +``` +roslaunch ti_mmwave_rospkg 1642es2_short_range.launch +``` + +Note: If you want to build your own config, use [mmWave Demo Visualizer](https://dev.ti.com/mmwavedemovisualizer) and link the launch file to the config. + +7. ROS topics can be accessed as follows: +``` +rostopic list +rostopic echo /ti_mmwave/radar_scan +``` +8. ROS parameters can be accessed as follows: +``` +rosparam list +rosparam get /ti_mmwave/max_doppler_vel +``` + +Note: AWR1843 requires SDK 3.2.0.4, which has different output format. The later release will improve this part. + +--- +### Message format: +``` +header: + seq: 6264 + stamp: + secs: 1538888235 + nsecs: 712113897 + frame_id: "ti_mmwave" # Frame ID used for multi-sensor scenarios +point_id: 17 # Point ID of the detecting frame (Every frame starts with 0) +x: 8.650390625 # Point x coordinates in m (front from antenna) +y: 6.92578125 # Point y coordinates in m (left/right from antenna, right positive) +z: 0.0 # Point z coordinates in m (up/down from antenna, up positive) +range: 11.067276001 # Radar measured range in m +velocity: 0.0 # Radar measured range rate in m/s +doppler_bin: 8 # Doppler bin location of the point (total bins = num of chirps) +bearing: 38.6818885803 # Radar measured angle in degrees (right positive) +intensity: 13.6172780991 # Radar measured intensity in dB +``` +--- +### Troubleshooting +1. +``` +mmWaveCommSrv: Failed to open User serial port with error: IO Exception (13): Permission denied +mmWaveCommSrv: Waiting 20 seconds before trying again... +``` +This happens when serial port is called without superuser permission, do the following steps: +``` +sudo chmod 666 /dev/ttyACM0 +sudo chmod 666 /dev/ttyACM1 +``` +2. +``` +mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done') +mmWaveQuickConfig: Response: 'sensorStop +'?`????`????`???~' is not recognized as a CLI command +mmwDemo:/>' +``` +When this happens, re-run the command you send to sensor. If it continues, shut down and restart the sensor. + +--- +### Multiple devices support (dual AWR1642 ES2.0 EVM): +1. Connect two devices and try `ll /dev/serial/by-id` or `ls /dev`. In this case, `/dev/ttyACM0` to `/dev/ttyACM3` should shown. +2. To avoid serial port confliction, you need to launch devices separately. So for first device (it will open rviz): + +``` +roslaunch ti_mmwave_rospkg multi_1642_0.launch +``` +3. Change radars' location in first three arguments `` (stands for x,y,z for positions) in launch file `multi_1642_1.launch`. And launch second device: + +``` +roslaunch ti_mmwave_rospkg multi_1642_1.launch +``` + +Note: As serial connection and the original code, you need to launch devices separately using different launch files. + +--- +### Camera overlay support (working with USB camera or CV camera): +1. Download and build USB camera repo [here](https://github.com/radar-lab/usb_webcam`). And set parameters of camera in `/launch/usb_webcam.launch`. +2. To test the device image working, try: +``` +roslaunch usb_webcam usb_webcam.launch +rosrun rqt_image_view rqt_image_view +``` +3. Make sure you have done [ROS camera calibration](http://wiki.ros.org/camera_calibration) and create a `*.yaml` configuration file accordingly. +4. Launch radar-camera system using: +``` +roslaunch ti_mmwave_rospkg camera_overlay.launch +``` + +--- +### Changelog: + +``` +v3.3.0 + +Add support for XWR18XX devices. SDK version: 3.2.0.4. + +v3.2.2 +Fix bugs and update README. + +v3.2.1 +Support camera overlay over 3D 1443s. + +v3.2.0 +Added camera overlay support. + +v3.1.0 +Strengthened code. + +v3.0.0 +Added README. +Improved rviz looking for point cloud data. +Added support for multiple radars working together. +Improved radar's all around working conditions. + +v2.0.0 +Added support for ES2.0 EVM devices. + +v1.0.0 +Added Doppler from TI's mmWave radars. +``` \ No newline at end of file diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/auxiliary/mounting.jpg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/auxiliary/mounting.jpg new file mode 100755 index 0000000..d7372d4 Binary files /dev/null and b/autonomous_robotics_ros/src/ti_mmwave_rospkg/auxiliary/mounting.jpg differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_2d.cfg similarity index 94% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_2d.cfg index 7e492c6..4f6708c 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_2d.cfg @@ -1,39 +1,40 @@ -% *************************************************************** -% Created for SDK ver:01.02 -% Created using Visualizer ver:1.2.0.0 -% Frequency:77 -% Platform:xWR14xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 -% Range Resolution(m):0.044 -% Maximum unambiguous Range(m):9.01 -% Maximum Radial Velocity(m/s):5.06 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):9 -% Range Peak Grouping:disabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 5 0 -adcCfg 2 1 -adcbufCfg 0 1 0 1 -profileCfg 0 77 39 7 57.14 0 0 70 1 240 4884 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -frameCfg 0 1 16 0 33.333 1 0 -guiMonitor 1 0 0 0 0 0 -cfarCfg 0 2 8 4 3 0 768 -peakGrouping 1 0 1 1 229 -multiObjBeamForming 1 0.5 -clutterRemoval 0 -calibDcRangeSig 0 -5 8 256 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 5 123 0 -CQSigImgMonitor 0 119 4 -analogMonitor 1 1 -sensorStart \ No newline at end of file +% *************************************************************** +% Created for SDK ver:01.02 +% Created using Visualizer ver:1.2.0.0 +% Frequency:77 +% Platform:xWR14xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.01 +% Maximum Radial Velocity(m/s):5.06 +% Radial velocity resolution(m/s):0.64 +% Frame Duration(msec):33.333 +% Range Detection Threshold (dB):9 +% Range Peak Grouping:disabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 5 0 +adcCfg 2 1 +adcbufCfg 0 1 0 1 +profileCfg 0 77 39 7 57.14 0 0 70 1 240 4884 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +frameCfg 0 1 16 0 33.333 1 0 +guiMonitor 1 0 0 0 0 0 +cfarCfg 0 2 8 4 3 0 768 +peakGrouping 1 0 1 1 229 +multiObjBeamForming 1 0.5 +clutterRemoval 0 +calibDcRangeSig 0 -5 8 256 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 123 0 +CQSigImgMonitor 0 119 4 +analogMonitor 1 1 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg similarity index 94% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg index b60914c..2c3e285 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg @@ -1,40 +1,41 @@ -% *************************************************************** -% Created for SDK ver:01.02 -% Created using Visualizer ver:1.2.0.0 -% Frequency:77 -% Platform:xWR14xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 + Elevation -% Range Resolution(m):0.044 -% Maximum unambiguous Range(m):9.01 -% Maximum Radial Velocity(m/s):5.06 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):9 -% Range Peak Grouping:disabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 7 0 -adcCfg 2 1 -adcbufCfg 0 1 0 1 -profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -chirpCfg 2 2 0 0 0 0 0 2 -frameCfg 0 2 16 0 33.333 1 0 -guiMonitor 1 0 0 0 0 0 -cfarCfg 0 2 8 4 3 0 768 -peakGrouping 1 0 1 1 229 -multiObjBeamForming 1 0.5 -clutterRemoval 0 -calibDcRangeSig 0 -5 8 256 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 5 123 0 -CQSigImgMonitor 0 119 4 -analogMonitor 1 1 -sensorStart \ No newline at end of file +% *************************************************************** +% Created for SDK ver:01.02 +% Created using Visualizer ver:1.2.0.0 +% Frequency:77 +% Platform:xWR14xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 + Elevation +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.01 +% Maximum Radial Velocity(m/s):5.06 +% Radial velocity resolution(m/s):0.64 +% Frame Duration(msec):33.333 +% Range Detection Threshold (dB):9 +% Range Peak Grouping:disabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 7 0 +adcCfg 2 1 +adcbufCfg 0 1 0 1 +profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +chirpCfg 2 2 0 0 0 0 0 2 +frameCfg 0 2 16 0 33.333 1 0 +guiMonitor 1 0 0 0 0 0 +cfarCfg 0 2 8 4 3 0 768 +peakGrouping 1 0 1 1 229 +multiObjBeamForming 1 0.5 +clutterRemoval 0 +calibDcRangeSig 0 -5 8 256 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 123 0 +CQSigImgMonitor 0 119 4 +analogMonitor 1 1 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1642_2d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1642_2d.cfg new file mode 100644 index 0000000..ae76fd5 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1642_2d.cfg @@ -0,0 +1,51 @@ +% *************************************************************** +% Created for SDK ver:03.03 +% Created using Visualizer ver:3.3.0.0 +% Frequency:77 +% Platform:xWR16xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.02 +% Maximum Radial Velocity(m/s):1 +% Radial velocity resolution(m/s):0.13 +% Frame Duration(msec):100 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 3 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 0 +profileCfg 0 77 429 7 57.14 0 0 70 1 256 5209 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 2 +frameCfg 0 1 16 0 100 1 0 +lowPower 0 1 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 0 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +bpmCfg -1 0 0 1 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 121 0 +CQSigImgMonitor 0 127 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 8.92 +cfarFovCfg -1 1 -1 1.00 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_2d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_2d.cfg new file mode 100644 index 0000000..0db98c6 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_2d.cfg @@ -0,0 +1,50 @@ +% *************************************************************** +% Created for SDK ver:03.03 +% Created using Visualizer ver:3.3.0.0 +% Frequency:77 +% Platform:xWR18xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.02 +% Maximum Radial Velocity(m/s):6.45 +% Radial velocity resolution(m/s):0.81 +% Frame Duration(msec):100 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 5 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 77 18 7 57.14 0 0 70 1 256 5209 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +frameCfg 0 1 16 0 100 1 0 +lowPower 0 0 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 0 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 121 0 +CQSigImgMonitor 0 127 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 8.92 +cfarFovCfg -1 1 -6.48 6.48 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1843_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg similarity index 89% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1843_3d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg index 12bde8b..e2e3411 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1843_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg @@ -1,50 +1,51 @@ -% *************************************************************** -% Created for SDK ver:03.02 -% Created using Visualizer ver:3.2.0.1 -% Frequency:77 -% Platform:xWR18xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 + Elevation -% Range Resolution(m):0.044 -% Maximum unambiguous Range(m):9.02 -% Maximum Radial Velocity(m/s):1 -% Radial velocity resolution(m/s):0.13 -% Frame Duration(msec):100 -% Range Detection Threshold (dB):15 -% Doppler Detection Threshold (dB):15 -% Range Peak Grouping:enabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% Angle of Arrival FoV: Full FoV -% Range FoV: Full FoV -% Doppler FoV: Full FoV -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 7 0 -adcCfg 2 1 -adcbufCfg -1 0 1 1 1 -profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -chirpCfg 2 2 0 0 0 0 0 2 -frameCfg 0 2 16 0 100 1 0 -lowPower 0 0 -guiMonitor -1 1 1 0 0 0 1 -cfarCfg -1 0 2 8 4 3 0 15 0 -cfarCfg -1 1 0 4 2 3 1 15 1 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -extendedMaxVelocity -1 0 -lvdsStreamCfg -1 0 0 0 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 5 121 0 -CQSigImgMonitor 0 127 4 -analogMonitor 0 0 -aoaFovCfg -1 -90 90 -90 90 -cfarFovCfg -1 0 0 8.92 -cfarFovCfg -1 1 -1 1.00 -sensorStart +% *************************************************************** +% Created for SDK ver:03.03 +% Created using Visualizer ver:3.3.0.0 +% Frequency:77 +% Platform:xWR18xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 + Elevation +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.02 +% Maximum Radial Velocity(m/s):1 +% Radial velocity resolution(m/s):0.13 +% Frame Duration(msec):100 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 7 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +chirpCfg 2 2 0 0 0 0 0 2 +frameCfg 0 2 16 0 100 1 0 +lowPower 0 0 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 0 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 121 0 +CQSigImgMonitor 0 127 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 8.92 +cfarFovCfg -1 1 -1 1.00 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_2d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_2d.cfg new file mode 100644 index 0000000..bdfb0c5 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_2d.cfg @@ -0,0 +1,51 @@ +% *************************************************************** +% Created for SDK ver:03.04 +% Created using Visualizer ver:3.4.0.0 +% Frequency:60 +% Platform:xWR68xx_AOP +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):60 + 30 +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.02 +% Maximum Radial Velocity(m/s):1 +% Radial velocity resolution(m/s):0.13 +% Frame Duration(msec):100 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 7 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 60 567 7 57.14 0 0 70 1 256 5209 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 2 +frameCfg 0 1 16 0 100 1 0 +lowPower 0 0 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 0 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 121 0 +CQSigImgMonitor 0 127 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 8.92 +cfarFovCfg -1 1 -1 1.00 +calibData 0 0 0 +sensorStart + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg similarity index 93% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg index 6923eb9..ec2957c 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg @@ -32,10 +32,10 @@ chirpCfg 2 2 0 0 0 0 0 4 frameCfg 0 2 16 0 33.333 1 0 lowPower 0 0 guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 2 8 4 3 0 12 0 -cfarCfg -1 1 0 4 2 3 1 12 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 +clutterRemoval -1 1 calibDcRangeSig -1 0 -5 8 256 extendedMaxVelocity -1 0 lvdsStreamCfg -1 0 0 0 @@ -47,4 +47,5 @@ analogMonitor 0 0 aoaFovCfg -1 -90 90 -90 90 cfarFovCfg -1 0 0 8.40 cfarFovCfg -1 1 -5.02 5.02 +calibData 0 0 0 sensorStart diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg similarity index 92% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg index 90b5647..f4795e9 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg @@ -1,51 +1,53 @@ -% *************************************************************** -% Created for SDK ver:03.02 -% Created using Visualizer ver:3.2.0.1 -% Frequency:60 -% Platform:xWR68xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 + Elevation -% Range Resolution(m):0.047 -% Maximum unambiguous Range(m):9.04 -% Maximum Radial Velocity(m/s):5.09 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):15 -% Doppler Detection Threshold (dB):15 -% Range Peak Grouping:enabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% Angle of Arrival FoV: Full FoV -% Range FoV: Full FoV -% Doppler FoV: Full FoV -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 7 0 -adcCfg 2 1 -adcbufCfg -1 0 1 1 1 -profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -chirpCfg 2 2 0 0 0 0 0 2 -frameCfg 0 2 16 0 33.333 1 0 -lowPower 0 0 -guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 2 8 4 3 0 15 0 -cfarCfg -1 1 0 4 2 3 1 15 1 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -extendedMaxVelocity -1 0 -bpmCfg -1 0 0 1 -lvdsStreamCfg -1 0 0 0 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 4 99 0 -CQSigImgMonitor 0 119 4 -analogMonitor 0 0 -aoaFovCfg -1 -90 90 -90 90 -cfarFovCfg -1 0 0 9.00 -cfarFovCfg -1 1 -5.14 5.14 -sensorStart +% *************************************************************** +% Created for SDK ver:03.02 +% Created using Visualizer ver:3.2.0.1 +% Frequency:60 +% Platform:xWR68xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 + Elevation +% Range Resolution(m):0.047 +% Maximum unambiguous Range(m):9.04 +% Maximum Radial Velocity(m/s):5.09 +% Radial velocity resolution(m/s):0.64 +% Frame Duration(msec):33.333 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 7 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +chirpCfg 2 2 0 0 0 0 0 2 +frameCfg 0 2 16 0 33.333 1 0 +lowPower 0 0 +guiMonitor -1 1 0 0 0 0 0 +cfarCfg -1 0 2 8 4 3 0 15 0 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 1 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +bpmCfg -1 0 0 1 +lvdsStreamCfg -1 1 1 1 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 4 99 0 +CQSigImgMonitor 0 119 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 9.00 +cfarFovCfg -1 1 -5.14 5.14 +calibData 0 0 0 +sensorStart + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_2d.cfg similarity index 51% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_2d.cfg index fa945cd..43e3abc 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_2d.cfg @@ -1,44 +1,51 @@ -% *************************************************************** -% Created for SDK ver:03.00 -% Created using Visualizer ver:3.0.0.1 -% Frequency:60.25 -% Platform:xWR68xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 -% Range Resolution(m):0.045 -% Maximum unambiguous Range(m):9.02 -% Maximum Radial Velocity(m/s):5.06 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):9 -% Doppler Detection Threshold (dB):9 -% Range Peak Grouping:disabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% Angle of Arrival FoV: Full FoV -% Range FoV: Full FoV -% Doppler FoV: Full FoV -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 5 0 -adcCfg 2 1 -adcbufCfg -1 0 1 1 1 -profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -frameCfg 0 1 16 0 33.333 1 0 -lowPower 0 0 -guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 0 8 4 4 0 768 0 -cfarCfg -1 1 0 4 2 3 1 768 1 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -aoaFovCfg -1 -90 90 -90 90 -cfarFovCfg -1 0 0 8.59 -cfarFovCfg -1 1 -5.06 5.06 -sensorStart \ No newline at end of file +% *************************************************************** +% Created for SDK ver:03.03 +% Created using Visualizer ver:3.3.0.0 +% Frequency:60 +% Platform:xWR68xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 +% Range Resolution(m):0.044 +% Maximum unambiguous Range(m):9.02 +% Maximum Radial Velocity(m/s):1 +% Radial velocity resolution(m/s):0.13 +% Frame Duration(msec):100 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 5 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 60 567 7 57.14 0 0 70 1 256 5209 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +frameCfg 0 1 16 0 100 1 0 +lowPower 0 0 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 0 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +bpmCfg -1 0 0 1 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 5 121 0 +CQSigImgMonitor 0 127 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 8.92 +cfarFovCfg -1 1 -1 1.00 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_3d.cfg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_3d.cfg similarity index 90% rename from autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_3d.cfg rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_3d.cfg index 90b5647..8cb2ece 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_3d.cfg +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_3d.cfg @@ -1,51 +1,52 @@ -% *************************************************************** -% Created for SDK ver:03.02 -% Created using Visualizer ver:3.2.0.1 -% Frequency:60 -% Platform:xWR68xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 + Elevation -% Range Resolution(m):0.047 -% Maximum unambiguous Range(m):9.04 -% Maximum Radial Velocity(m/s):5.09 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):15 -% Doppler Detection Threshold (dB):15 -% Range Peak Grouping:enabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% Angle of Arrival FoV: Full FoV -% Range FoV: Full FoV -% Doppler FoV: Full FoV -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 7 0 -adcCfg 2 1 -adcbufCfg -1 0 1 1 1 -profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 4 -chirpCfg 2 2 0 0 0 0 0 2 -frameCfg 0 2 16 0 33.333 1 0 -lowPower 0 0 -guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 2 8 4 3 0 15 0 -cfarCfg -1 1 0 4 2 3 1 15 1 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -extendedMaxVelocity -1 0 -bpmCfg -1 0 0 1 -lvdsStreamCfg -1 0 0 0 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 4 99 0 -CQSigImgMonitor 0 119 4 -analogMonitor 0 0 -aoaFovCfg -1 -90 90 -90 90 -cfarFovCfg -1 0 0 9.00 -cfarFovCfg -1 1 -5.14 5.14 -sensorStart +% *************************************************************** +% Created for SDK ver:03.02 +% Created using Visualizer ver:3.2.0.1 +% Frequency:60 +% Platform:xWR68xx +% Scene Classifier:best_range_res +% Azimuth Resolution(deg):15 + Elevation +% Range Resolution(m):0.047 +% Maximum unambiguous Range(m):9.04 +% Maximum Radial Velocity(m/s):5.09 +% Radial velocity resolution(m/s):0.64 +% Frame Duration(msec):33.333 +% Range Detection Threshold (dB):15 +% Doppler Detection Threshold (dB):15 +% Range Peak Grouping:enabled +% Doppler Peak Grouping:enabled +% Static clutter removal:disabled +% Angle of Arrival FoV: Full FoV +% Range FoV: Full FoV +% Doppler FoV: Full FoV +% *************************************************************** +sensorStop +flushCfg +dfeDataOutputMode 1 +channelCfg 15 7 0 +adcCfg 2 1 +adcbufCfg -1 0 1 1 1 +profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30 +chirpCfg 0 0 0 0 0 0 0 1 +chirpCfg 1 1 0 0 0 0 0 4 +chirpCfg 2 2 0 0 0 0 0 2 +frameCfg 0 2 16 0 33.333 1 0 +lowPower 0 0 +guiMonitor -1 1 1 0 0 0 1 +cfarCfg -1 0 2 8 4 3 0 15 1 +cfarCfg -1 1 0 4 2 3 1 15 1 +multiObjBeamForming -1 1 0.5 +clutterRemoval -1 1 +calibDcRangeSig -1 0 -5 8 256 +extendedMaxVelocity -1 0 +bpmCfg -1 0 0 1 +lvdsStreamCfg -1 0 0 0 +compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 +measureRangeBiasAndRxChanPhase 0 1.5 0.2 +CQRxSatMonitor 0 3 4 99 0 +CQSigImgMonitor 0 119 4 +analogMonitor 0 0 +aoaFovCfg -1 -90 90 -90 90 +cfarFovCfg -1 0 0 9.00 +cfarFovCfg -1 1 -5.14 5.14 +calibData 0 0 0 +sensorStart diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/include/DataHandlerClass.h b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/DataHandlerClass.h old mode 100644 new mode 100755 similarity index 65% rename from autonomous_robotics_ros/ti_mmwave_rospkg/include/DataHandlerClass.h rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/include/DataHandlerClass.h index 36540d5..a018381 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/include/DataHandlerClass.h +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/DataHandlerClass.h @@ -1,152 +1,142 @@ -/* - * DataHandlerClass.cpp - * - * This file defines the DataUARTHandler class. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ - -#ifndef _DATA_HANDLER_CLASS_ -#define _DATA_HANDLER_CLASS_ - - -#include "mmWave.h" -#include -#include -#include -#include -#include "ros/ros.h" -#include "sensor_msgs/PointCloud2.h" -#define COUNT_SYNC_MAX 2 - -class DataUARTHandler{ - -public: - - /*Constructor*/ - //void DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) {} - DataUARTHandler(ros::NodeHandle* nh); - - /*User callable function to set the UARTPort*/ - void setUARTPort(char* mySerialPort); - - /*User callable function to set the BaudRate*/ - void setBaudRate(int myBaudRate); - - /*User callable function to set maxAllowedElevationAngleDeg*/ - void setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg); - - /*User callable function to set maxAllowedElevationAngleDeg*/ - void setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg); - - void setNodeHandle(ros::NodeHandle* nh); - - /*User callable function to start the handler's internal threads*/ - void start(void); - - /*Helper functions to allow pthread compatability*/ - static void* readIncomingData_helper(void *context); - - static void* sortIncomingData_helper(void *context); - - static void* syncedBufferSwap_helper(void *context); - - /*Sorted mmwDemo Data structure*/ - mmwDataPacket mmwData; - -private: - - /*Contains the name of the serial port*/ - char* dataSerialPort; - - /*Contains the baud Rate*/ - int dataBaudRate; - - /*Contains the max_allowed_elevation_angle_deg (points with elevation angles - outside +/- max_allowed_elevation_angle_deg will be removed)*/ - int maxAllowedElevationAngleDeg; - - /*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles - outside +/- max_allowed_azimuth_angle_deg will be removed)*/ - int maxAllowedAzimuthAngleDeg; - - /*Mutex protected variable which synchronizes threads*/ - int countSync; - - /*Read/Write Buffers*/ - std::vector pingPongBuffers[2]; - - /*Pointer to current data (sort)*/ - std::vector* currentBufp; - - /*Pointer to new data (read)*/ - std::vector* nextBufp; - - /*Mutex protecting the countSync variable */ - pthread_mutex_t countSync_mutex; - - /*Mutex protecting the nextBufp pointer*/ - pthread_mutex_t nextBufp_mutex; - - /*Mutex protecting the currentBufp pointer*/ - pthread_mutex_t currentBufp_mutex; - - /*Condition variable which blocks the Swap Thread until signaled*/ - pthread_cond_t countSync_max_cv; - - /*Condition variable which blocks the Read Thread until signaled*/ - pthread_cond_t read_go_cv; - - /*Condition variable which blocks the Sort Thread until signaled*/ - pthread_cond_t sort_go_cv; - - /*Swap Buffer Pointers Thread*/ - void *syncedBufferSwap(void); - - /*Checks if the magic word was found*/ - int isMagicWord(uint8_t last8Bytes[8]); - - /*Read incoming UART Data Thread*/ - void *readIncomingData(void); - - /*Sort incoming UART Data Thread*/ - void *sortIncomingData(void); - - ros::NodeHandle* nodeHandle; - - ros::Publisher DataUARTHandler_pub; - -}; - -#endif +#ifndef _DATA_HANDLER_CLASS_ +#define _DATA_HANDLER_CLASS_ + +#include +#include "mmWave.h" +#include +#include +#include +#include +#include "ros/ros.h" +#include "sensor_msgs/PointCloud2.h" +#include +#include +#include "pcl_ros/point_cloud.h" +#include "sensor_msgs/PointField.h" +#include "sensor_msgs/PointCloud2.h" +#include "sensor_msgs/point_cloud2_iterator.h" +#include +#include +#include +#include +#define COUNT_SYNC_MAX 2 + +class DataUARTHandler{ + +public: + + /*Constructor*/ + //void DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) {} + DataUARTHandler(ros::NodeHandle* nh); + + void setFrameID(char* myFrameID); + + /*User callable function to set the UARTPort*/ + void setUARTPort(char* mySerialPort); + + /*User callable function to set the BaudRate*/ + void setBaudRate(int myBaudRate); + + /*User callable function to set maxAllowedElevationAngleDeg*/ + void setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg); + + /*User callable function to set maxAllowedElevationAngleDeg*/ + void setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg); + + void setNodeHandle(ros::NodeHandle* nh); + + /*User callable function to start the handler's internal threads*/ + void start(void); + + /*Helper functions to allow pthread compatability*/ + static void* readIncomingData_helper(void *context); + + static void* sortIncomingData_helper(void *context); + + static void* syncedBufferSwap_helper(void *context); + + /*Sorted mmwDemo Data structure*/ + mmwDataPacket mmwData; + +private: + + int nr; + int nd; + int ntx; + float fs; + float fc; + float BW; + float PRI; + float tfr; + float max_range; + float vrange; + float max_vel; + float vvel; + + char* frameID; + /*Contains the name of the serial port*/ + char* dataSerialPort; + + /*Contains the baud Rate*/ + int dataBaudRate; + + /*Contains the max_allowed_elevation_angle_deg (points with elevation angles + outside +/- max_allowed_elevation_angle_deg will be removed)*/ + int maxAllowedElevationAngleDeg; + + /*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles + outside +/- max_allowed_azimuth_angle_deg will be removed)*/ + int maxAllowedAzimuthAngleDeg; + + /*Mutex protected variable which synchronizes threads*/ + int countSync; + + /*Read/Write Buffers*/ + std::vector pingPongBuffers[2]; + + /*Pointer to current data (sort)*/ + std::vector* currentBufp; + + /*Pointer to new data (read)*/ + std::vector* nextBufp; + + /*Mutex protecting the countSync variable */ + pthread_mutex_t countSync_mutex; + + /*Mutex protecting the nextBufp pointer*/ + pthread_mutex_t nextBufp_mutex; + + /*Mutex protecting the currentBufp pointer*/ + pthread_mutex_t currentBufp_mutex; + + /*Condition variable which blocks the Swap Thread until signaled*/ + pthread_cond_t countSync_max_cv; + + /*Condition variable which blocks the Read Thread until signaled*/ + pthread_cond_t read_go_cv; + + /*Condition variable which blocks the Sort Thread until signaled*/ + pthread_cond_t sort_go_cv; + + /*Swap Buffer Pointers Thread*/ + void *syncedBufferSwap(void); + + /*Checks if the magic word was found*/ + int isMagicWord(uint8_t last8Bytes[8]); + + /*Read incoming UART Data Thread*/ + void *readIncomingData(void); + + /*Sort incoming UART Data Thread*/ + void *sortIncomingData(void); + + void visualize(const ti_mmwave_rospkg::RadarScan &msg); + + ros::NodeHandle* nodeHandle; + + ros::Publisher DataUARTHandler_pub; + ros::Publisher radar_scan_pub; + ros::Publisher marker_pub; +}; + +#endif diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/ParameterParser.h b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/ParameterParser.h new file mode 100755 index 0000000..9946bf3 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/ParameterParser.h @@ -0,0 +1,35 @@ +#ifndef _PARAM_PARSER_CLASS_ +#define _PARAM_PARSER_CLASS_ + +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "ti_mmwave_rospkg/mmWaveCLI.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace ti_mmwave_rospkg { + +class ParameterParser : public nodelet::Nodelet{ + + public: + + ParameterParser(); + void ParamsParser(ti_mmwave_rospkg::mmWaveCLI &srv, ros::NodeHandle &n); + void CalParams(ros::NodeHandle &nh); + + private: + + virtual void onInit(); + + ti_mmwave_rospkg::mmWaveCLI srv; + +}; +} +#endif diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWave.h b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWave.h old mode 100644 new mode 100755 similarity index 79% rename from autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWave.h rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWave.h index c91b7ae..9de3dba --- a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWave.h +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWave.h @@ -1,194 +1,190 @@ - -/* - * mmWave.h - * - * This file contains various defines used within this package. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ - - -#ifndef _TI_IWR14XX_ -#define _TI_IWR14XX_ - -#include -#include -#include -#include "serial/serial.h" -#include "ros/ros.h" -#include -#include - -enum MmwDemo_Output_TLV_Types -{ - MMWDEMO_OUTPUT_MSG_NULL = 0, - /*! @brief List of detected points */ - MMWDEMO_OUTPUT_MSG_DETECTED_POINTS, - - /*! @brief Range profile */ - MMWDEMO_OUTPUT_MSG_RANGE_PROFILE, - - /*! @brief Noise floor profile */ - MMWDEMO_OUTPUT_MSG_NOISE_PROFILE, - - /*! @brief Samples to calculate static azimuth heatmap */ - MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP, - - /*! @brief Range/Doppler detection matrix */ - MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP, - - /*! @brief Stats information */ - MMWDEMO_OUTPUT_MSG_STATS, - - /*! @brief List of detected points side information */ - MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO, - - MMWDEMO_OUTPUT_MSG_MAX -}; - -enum SorterState{ READ_HEADER, - CHECK_TLV_TYPE, - READ_OBJ_STRUCT, - READ_LOG_MAG_RANGE, - READ_NOISE, - READ_AZIMUTH, - READ_DOPPLER, - READ_STATS, - SWAP_BUFFERS, - READ_SIDE_INFO}; - -struct MmwDemo_output_message_header_t - { - /*! brief Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum */ - uint32_t version; - - /*! @brief Total packet length including header in Bytes */ - uint32_t totalPacketLen; - - /*! @brief platform type */ - uint32_t platform; - - /*! @brief Frame number */ - uint32_t frameNumber; - - /*! @brief Time in CPU cycles when the message was created. For XWR16xx: DSP CPU cycles, for XWR14xx: R4F CPU cycles */ - uint32_t timeCpuCycles; - - /*! @brief Number of detected objects */ - uint32_t numDetectedObj; - - /*! @brief Number of TLVs */ - uint32_t numTLVs; - - /*! @brief Sub-frame Number (not used with XWR14xx) */ - uint32_t subFrameNumber; - }; - -// Detected object structure for mmWave SDK 1.x and 2.x -struct MmwDemo_DetectedObj - { - uint16_t rangeIdx; /*!< @brief Range index */ - uint16_t dopplerIdx; /*!< @brief Dopler index */ - uint16_t peakVal; /*!< @brief Peak value */ - int16_t x; /*!< @brief x - coordinate in meters. Q format depends on the range resolution */ - int16_t y; /*!< @brief y - coordinate in meters. Q format depends on the range resolution */ - int16_t z; /*!< @brief z - coordinate in meters. Q format depends on the range resolution */ - }; - -// Detected object structures for mmWave SDK 3.x (DPIF_PointCloudCartesian_t and DPIF_PointCloudSideInfo_t) - -/** - * @brief - * Point cloud definition in Cartesian coordinate system - floating point format - * - */ -typedef struct DPIF_PointCloudCartesian_t -{ - /*! @brief x - coordinate in meters */ - float x; - - /*! @brief y - coordinate in meters */ - float y; - - /*! @brief z - coordinate in meters */ - float z; - - /*! @brief Doppler velocity estimate in m/s. Positive velocity means target - * is moving away from the sensor and negative velocity means target - * is moving towards the sensor. */ - float velocity; -}DPIF_PointCloudCartesian; - -/** - * @brief - * Point cloud side information such as SNR and noise level - * - */ -typedef struct DPIF_PointCloudSideInfo_t -{ - /*! @brief snr - CFAR cell to side noise ratio in dB expressed in 0.1 steps of dB */ - int16_t snr; - - /*! @brief y - CFAR noise level of the side of the detected cell in dB expressed in 0.1 steps of dB */ - int16_t noise; -}DPIF_PointCloudSideInfo; - - -struct mmwDataPacket{ - - MmwDemo_output_message_header_t header; - - uint16_t numObjOut; - - uint16_t xyzQFormat; // only used for SDK 1.x and 2.x - - MmwDemo_DetectedObj objOut; // only used for SDK 1.x and 2.x - - DPIF_PointCloudCartesian_t newObjOut; // used for SDK 3.x - DPIF_PointCloudSideInfo_t sideInfo; // used for SDK 3.x -}; - -const uint8_t magicWord[8] = {2, 1, 4, 3, 6, 5, 8, 7}; - -#endif - - - - - - - - - - + +/* + * mmWave.h + * + * This file contains various defines used within this package. + * + * + * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 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. + * + * Neither the name of Texas Instruments Incorporated 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 + * OWNER 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. + * +*/ + + +#ifndef _TI_IWR14XX_ +#define _TI_IWR14XX_ + +#include +#include +#include +#include "serial/serial.h" +#include "ros/ros.h" +#include +#include + +enum MmwDemo_Output_TLV_Types +{ + MMWDEMO_OUTPUT_MSG_NULL = 0, + /*! @brief List of detected points */ + MMWDEMO_OUTPUT_MSG_DETECTED_POINTS, + + /*! @brief Range profile */ + MMWDEMO_OUTPUT_MSG_RANGE_PROFILE, + + /*! @brief Noise floor profile */ + MMWDEMO_OUTPUT_MSG_NOISE_PROFILE, + + /*! @brief Samples to calculate static azimuth heatmap */ + MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP, + + /*! @brief Range/Doppler detection matrix */ + MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP, + + /*! @brief Stats information */ + MMWDEMO_OUTPUT_MSG_STATS, + + /*! @brief List of detected points side information */ + MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO, + + MMWDEMO_OUTPUT_MSG_MAX +}; + +enum SorterState{ READ_HEADER, + CHECK_TLV_TYPE, + READ_OBJ_STRUCT, + READ_LOG_MAG_RANGE, + READ_NOISE, + READ_AZIMUTH, + READ_DOPPLER, + READ_STATS, + SWAP_BUFFERS, + READ_SIDE_INFO}; + +struct MmwDemo_output_message_header_t + { + /*! brief Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum */ + uint32_t version; + + /*! @brief Total packet length including header in Bytes */ + uint32_t totalPacketLen; + + /*! @brief platform type */ + uint32_t platform; + + /*! @brief Frame number */ + uint32_t frameNumber; + + /*! @brief Time in CPU cycles when the message was created. For XWR16xx: DSP CPU cycles, for XWR14xx: R4F CPU cycles */ + uint32_t timeCpuCycles; + + /*! @brief Number of detected objects */ + uint32_t numDetectedObj; + + /*! @brief Number of TLVs */ + uint32_t numTLVs; + + /*! @brief Sub-frame Number (not used with XWR14xx) */ + uint32_t subFrameNumber; + }; + +// Detected object structure for mmWave SDK 1.x and 2.x +struct MmwDemo_DetectedObj + { + uint16_t rangeIdx; /*!< @brief Range index */ + uint16_t dopplerIdx; /*!< @brief Dopler index */ + uint16_t peakVal; /*!< @brief Peak value */ + int16_t x; /*!< @brief x - coordinate in meters. Q format depends on the range resolution */ + int16_t y; /*!< @brief y - coordinate in meters. Q format depends on the range resolution */ + int16_t z; /*!< @brief z - coordinate in meters. Q format depends on the range resolution */ + }; + +// Detected object structures for mmWave SDK 3.x (DPIF_PointCloudCartesian_t and DPIF_PointCloudSideInfo_t) + +/** +* @brief +* Point cloud definition in Cartesian coordinate system - floating point format +* +*/ +typedef struct DPIF_PointCloudCartesian_t +{ +/*! @brief x - coordinate in meters */ +float x; + +/*! @brief y - coordinate in meters */ +float y; + +/*! @brief z - coordinate in meters */ +float z; + +/*! @brief Doppler velocity estimate in m/s. Positive velocity means target +* is moving away from the sensor and negative velocity means target +* is moving towards the sensor. */ +float velocity; +}DPIF_PointCloudCartesian; + +/** +* @brief +* Point cloud side information such as SNR and noise level +* +*/ +typedef struct DPIF_PointCloudSideInfo_t +{ +/*! @brief snr - CFAR cell to side noise ratio in dB expressed in 0.1 steps of dB */ +int16_t snr; + +/*! @brief y - CFAR noise level of the side of the detected cell in dB expressed in 0.1 steps of dB */ +int16_t noise; +}DPIF_PointCloudSideInfo; + + +struct mmwDataPacket{ +MmwDemo_output_message_header_t header; +uint16_t numObjOut; +uint16_t xyzQFormat; // only used for SDK 1.x and 2.x +MmwDemo_DetectedObj objOut; // only used for SDK 1.x and 2.x + +DPIF_PointCloudCartesian_t newObjOut; // used for SDK 3.x +DPIF_PointCloudSideInfo_t sideInfo; // used for SDK 3.x +}; + +const uint8_t magicWord[8] = {2, 1, 4, 3, 6, 5, 8, 7}; + +#endif + + + + + + + + + + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp old mode 100644 new mode 100755 similarity index 97% rename from autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp index 6b21f10..9e845e9 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp @@ -1,83 +1,83 @@ -/* - * mmWaveCommSrv.hpp - * - * This file defines a ROS nodelet which will open up a serial port provided by the user - * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo - * User UART to be used for board configuration. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#ifndef MMWAVE_COMM_SRV_H -#define MMWAVE_COMM_SRV_H - -/*Include ROS specific headers*/ -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "serial/serial.h" -#include -#include - -/*Include standard C/C++ headers*/ -#include -#include -#include - -/*mmWave Driver Headers*/ -#include - -namespace ti_mmwave_rospkg -{ - -class mmWaveCommSrv : public nodelet::Nodelet -{ - public: - - mmWaveCommSrv(); - - private: - - virtual void onInit(); - - bool commSrv_cb(ti_mmwave_rospkg::mmWaveCLI::Request &req, ti_mmwave_rospkg::mmWaveCLI::Response &res); - - ros::ServiceServer commSrv; - - std::string mySerialPort; - - int myBaudRate; -}; //Class mmWaveCommSrv - -} //namespace ti_mmwave_rospkg - -#endif +/* + * mmWaveCommSrv.hpp + * + * This file defines a ROS nodelet which will open up a serial port provided by the user + * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo + * User UART to be used for board configuration. + * + * + * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 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. + * + * Neither the name of Texas Instruments Incorporated 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 + * OWNER 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. + * +*/ +#ifndef MMWAVE_COMM_SRV_H +#define MMWAVE_COMM_SRV_H + +/*Include ROS specific headers*/ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "serial/serial.h" +#include +#include + +/*Include standard C/C++ headers*/ +#include +#include +#include + +/*mmWave Driver Headers*/ +#include + +namespace ti_mmwave_rospkg +{ + +class mmWaveCommSrv : public nodelet::Nodelet +{ + public: + + mmWaveCommSrv(); + + private: + + virtual void onInit(); + + bool commSrv_cb(ti_mmwave_rospkg::mmWaveCLI::Request &req, ti_mmwave_rospkg::mmWaveCLI::Response &res); + + ros::ServiceServer commSrv; + + std::string mySerialPort; + + int myBaudRate; +}; //Class mmWaveCommSrv + +} //namespace ti_mmwave_rospkg + +#endif diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp old mode 100644 new mode 100755 similarity index 96% rename from autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp index fa57be9..4583d9a --- a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp @@ -1,80 +1,80 @@ -/* - * mmWaveDataHdl.hpp - * - * This file defines a ROS nodelet which will open up a serial port provided by the user - * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo - * Data UART to be used for board configuration. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#ifndef MMWAVE_DATA_HDL_H -#define MMWAVE_DATA_HDL_H - -/*Include ROS specific headers*/ -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "serial/serial.h" -#include -#include - -/*Include standard C/C++ headers*/ -#include -#include -#include - -/*mmWave Driver Headers*/ -#include "DataHandlerClass.h" - -namespace ti_mmwave_rospkg -{ - -class mmWaveDataHdl : public nodelet::Nodelet -{ - public: - - mmWaveDataHdl(); - - private: - - virtual void onInit(); - - //char* mySerialPort; - - //int myBaudRate; - -}; //Class mmWaveDataHdl - -} //namespace ti_mmwave_rospkg - -#endif +/* + * mmWaveDataHdl.hpp + * + * This file defines a ROS nodelet which will open up a serial port provided by the user + * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo + * Data UART to be used for board configuration. + * + * + * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ + * + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 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. + * + * Neither the name of Texas Instruments Incorporated 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 + * OWNER 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. + * +*/ +#ifndef MMWAVE_DATA_HDL_H +#define MMWAVE_DATA_HDL_H + +/*Include ROS specific headers*/ +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "serial/serial.h" +#include +#include + +/*Include standard C/C++ headers*/ +#include +#include +#include + +/*mmWave Driver Headers*/ +#include "DataHandlerClass.h" + +namespace ti_mmwave_rospkg +{ + +class mmWaveDataHdl : public nodelet::Nodelet +{ + public: + + mmWaveDataHdl(); + + private: + + virtual void onInit(); + + //char* mySerialPort; + + //int myBaudRate; + +}; //Class mmWaveDataHdl + +} //namespace ti_mmwave_rospkg + +#endif diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_all.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_all.launch new file mode 100755 index 0000000..db2d37b --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_all.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch new file mode 100644 index 0000000..b760dce --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch new file mode 100644 index 0000000..ecb1a92 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch new file mode 100644 index 0000000..e505b0f --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch new file mode 100644 index 0000000..a0af349 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/camera_overlay.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/camera_overlay.launch new file mode 100755 index 0000000..0bd6f95 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/camera_overlay.launch @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch similarity index 77% rename from autonomous_robotics_ros/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch index ef2fd9f..7897bae 100644 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch @@ -12,15 +12,19 @@ - + - + + + + + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/mmWave_nodelets.xml b/autonomous_robotics_ros/src/ti_mmwave_rospkg/mmWave_nodelets.xml old mode 100644 new mode 100755 similarity index 96% rename from autonomous_robotics_ros/ti_mmwave_rospkg/mmWave_nodelets.xml rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/mmWave_nodelets.xml index 477603c..4c4cdb1 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/mmWave_nodelets.xml +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/mmWave_nodelets.xml @@ -1,16 +1,16 @@ - - - - Command Service Nodelet - - - - - - Data Handler Nodelet - - - - serial - - + + + + Command Service Nodelet + + + + + + Data Handler Nodelet + + + + serial + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/msg/RadarScan.msg b/autonomous_robotics_ros/src/ti_mmwave_rospkg/msg/RadarScan.msg new file mode 100755 index 0000000..914516f --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/msg/RadarScan.msg @@ -0,0 +1,10 @@ +Header header +uint16 point_id +float32 x +float32 y +float32 z +float32 range +float32 velocity +uint16 doppler_bin +float32 bearing +float32 intensity diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/package.xml b/autonomous_robotics_ros/src/ti_mmwave_rospkg/package.xml old mode 100644 new mode 100755 similarity index 81% rename from autonomous_robotics_ros/ti_mmwave_rospkg/package.xml rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/package.xml index 80004da..567cc1c --- a/autonomous_robotics_ros/ti_mmwave_rospkg/package.xml +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/package.xml @@ -1,59 +1,59 @@ - - - ti_mmwave_rospkg - 1.5.0 - The ti_mmwave_rospkg package - - - - - maintainer - - - - - - BSD - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - nodelet - roscpp - serial - std_msgs - message_generation - nodelet - roscpp - serial - std_msgs - message_runtime - - - - - - - + + + ti_mmwave_rospkg + 3.3.0 + The ti_mmwave_rospkg package. Publish messages with doppler information. Multi-sensor and camera overlay support. Modified by Leo Zhang + + + + + Leo Zhang + + + + + + BSD + + + + + + https://github.com/radar-lab/ti_mmwave_rospkg --> + + + + + + Leo Zhang + + + + + + + + + + + + + + catkin + nodelet + roscpp + serial + std_msgs + message_generation + nodelet + roscpp + serial + std_msgs + message_runtime + + + + + + + diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/DataHandlerClass.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp old mode 100644 new mode 100755 similarity index 76% rename from autonomous_robotics_ros/ti_mmwave_rospkg/src/DataHandlerClass.cpp rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp index a181524..b9ad9b2 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/DataHandlerClass.cpp +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp @@ -1,842 +1,890 @@ -/* - * DataHandlerClass.cpp - * - * This is the implementation of the DataHandlerClass.h - * Three threads are spawned when start() is called. - * 1) readIncomingData() thread - * 2) sortIncomingData() thread - * 3) syncedBufferSwap() thread - * - * Together they implement a double-buffered read from the data serial port - * which sorts the data into the class's mmwDataPacket struct. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ - - -#include -#include -#include -#include "pcl_ros/point_cloud.h" -#include "sensor_msgs/PointField.h" -#include "sensor_msgs/PointCloud2.h" -#include "sensor_msgs/point_cloud2_iterator.h" -#include -#include -#include - - -DataUARTHandler::DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) -{ - nodeHandle = nh; - DataUARTHandler_pub = nodeHandle->advertise< sensor_msgs::PointCloud2 >("RScan", 100); - maxAllowedElevationAngleDeg = 90; // Use max angle if none specified - maxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified -} - -/*Implementation of setUARTPort*/ -void DataUARTHandler::setUARTPort(char* mySerialPort) -{ - dataSerialPort = mySerialPort; -} - -/*Implementation of setBaudRate*/ -void DataUARTHandler::setBaudRate(int myBaudRate) -{ - dataBaudRate = myBaudRate; -} - -/*Implementation of setMaxAllowedElevationAngleDeg*/ -void DataUARTHandler::setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg) -{ - maxAllowedElevationAngleDeg = myMaxAllowedElevationAngleDeg; -} - -/*Implementation of setMaxAllowedAzimuthAngleDeg*/ -void DataUARTHandler::setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg) -{ - maxAllowedAzimuthAngleDeg = myMaxAllowedAzimuthAngleDeg; -} - -/*Implementation of readIncomingData*/ -void *DataUARTHandler::readIncomingData(void) -{ - - int firstPacketReady = 0; - uint8_t last8Bytes[8] = {0}; - - /*Open UART Port and error checking*/ - serial::Serial mySerialObject("", dataBaudRate, serial::Timeout::simpleTimeout(100)); - mySerialObject.setPort(dataSerialPort); - try - { - mySerialObject.open(); - } catch (std::exception &e1) { - ROS_INFO("DataUARTHandler Read Thread: Failed to open Data serial port with error: %s", e1.what()); - ROS_INFO("DataUARTHandler Read Thread: Waiting 20 seconds before trying again..."); - try - { - // Wait 20 seconds and try to open serial port again - ros::Duration(20).sleep(); - mySerialObject.open(); - } catch (std::exception &e2) { - ROS_ERROR("DataUARTHandler Read Thread: Failed second time to open Data serial port, error: %s", e1.what()); - ROS_ERROR("DataUARTHandler Read Thread: Port could not be opened. Port is \"%s\" and baud rate is %d", dataSerialPort, dataBaudRate); - pthread_exit(NULL); - } - } - - if(mySerialObject.isOpen()) - ROS_INFO("DataUARTHandler Read Thread: Port is open"); - else - ROS_ERROR("DataUARTHandler Read Thread: Port could not be opened"); - - /*Quick magicWord check to synchronize program with data Stream*/ - while(!isMagicWord(last8Bytes)) - { - - last8Bytes[0] = last8Bytes[1]; - last8Bytes[1] = last8Bytes[2]; - last8Bytes[2] = last8Bytes[3]; - last8Bytes[3] = last8Bytes[4]; - last8Bytes[4] = last8Bytes[5]; - last8Bytes[5] = last8Bytes[6]; - last8Bytes[6] = last8Bytes[7]; - mySerialObject.read(&last8Bytes[7], 1); - - } - - /*Lock nextBufp before entering main loop*/ - pthread_mutex_lock(&nextBufp_mutex); - - while(ros::ok()) - { - /*Start reading UART data and writing to buffer while also checking for magicWord*/ - last8Bytes[0] = last8Bytes[1]; - last8Bytes[1] = last8Bytes[2]; - last8Bytes[2] = last8Bytes[3]; - last8Bytes[3] = last8Bytes[4]; - last8Bytes[4] = last8Bytes[5]; - last8Bytes[5] = last8Bytes[6]; - last8Bytes[6] = last8Bytes[7]; - mySerialObject.read(&last8Bytes[7], 1); - - nextBufp->push_back( last8Bytes[7] ); //push byte onto buffer - - //ROS_INFO("DataUARTHandler Read Thread: last8bytes = %02x%02x %02x%02x %02x%02x %02x%02x", last8Bytes[7], last8Bytes[6], last8Bytes[5], last8Bytes[4], last8Bytes[3], last8Bytes[2], last8Bytes[1], last8Bytes[0]); - - /*If a magicWord is found wait for sorting to finish and switch buffers*/ - if( isMagicWord(last8Bytes) ) - { - //ROS_INFO("Found magic word"); - - /*Lock countSync Mutex while unlocking nextBufp so that the swap thread can use it*/ - pthread_mutex_lock(&countSync_mutex); - pthread_mutex_unlock(&nextBufp_mutex); - - /*increment countSync*/ - countSync++; - - /*If this is the first packet to be found, increment countSync again since Sort thread is not reading data yet*/ - if(firstPacketReady == 0) - { - countSync++; - firstPacketReady = 1; - } - - /*Signal Swap Thread to run if countSync has reached its max value*/ - if(countSync == COUNT_SYNC_MAX) - { - pthread_cond_signal(&countSync_max_cv); - } - - /*Wait for the Swap thread to finish swapping pointers and signal us to continue*/ - pthread_cond_wait(&read_go_cv, &countSync_mutex); - - /*Unlock countSync so that Swap Thread can use it*/ - pthread_mutex_unlock(&countSync_mutex); - pthread_mutex_lock(&nextBufp_mutex); - - nextBufp->clear(); - memset(last8Bytes, 0, sizeof(last8Bytes)); - - } - - } - - - mySerialObject.close(); - - pthread_exit(NULL); -} - - -int DataUARTHandler::isMagicWord(uint8_t last8Bytes[8]) -{ - int val = 0, i = 0, j = 0; - - for(i = 0; i < 8 ; i++) - { - - if( last8Bytes[i] == magicWord[i]) - { - j++; - } - - } - - if( j == 8) - { - val = 1; - } - - return val; -} - -void *DataUARTHandler::syncedBufferSwap(void) -{ - while(ros::ok()) - { - pthread_mutex_lock(&countSync_mutex); - - while(countSync < COUNT_SYNC_MAX) - { - pthread_cond_wait(&countSync_max_cv, &countSync_mutex); - - pthread_mutex_lock(¤tBufp_mutex); - pthread_mutex_lock(&nextBufp_mutex); - - std::vector* tempBufp = currentBufp; - - this->currentBufp = this->nextBufp; - - this->nextBufp = tempBufp; - - pthread_mutex_unlock(¤tBufp_mutex); - pthread_mutex_unlock(&nextBufp_mutex); - - countSync = 0; - - pthread_cond_signal(&sort_go_cv); - pthread_cond_signal(&read_go_cv); - - } - - pthread_mutex_unlock(&countSync_mutex); - - } - - pthread_exit(NULL); - -} - -void *DataUARTHandler::sortIncomingData( void ) -{ - MmwDemo_Output_TLV_Types tlvType = MMWDEMO_OUTPUT_MSG_NULL; - uint32_t tlvLen = 0; - uint32_t headerSize; - unsigned int currentDatap = 0; - SorterState sorterState = READ_HEADER; - int i = 0, tlvCount = 0, offset = 0; - int j = 0; - float maxElevationAngleRatioSquared; - float maxAzimuthAngleRatio; - - boost::shared_ptr> RScan(new pcl::PointCloud); - - //wait for first packet to arrive - pthread_mutex_lock(&countSync_mutex); - pthread_cond_wait(&sort_go_cv, &countSync_mutex); - pthread_mutex_unlock(&countSync_mutex); - - pthread_mutex_lock(¤tBufp_mutex); - - while(ros::ok()) - { - - switch(sorterState) - { - - case READ_HEADER: - - //init variables - mmwData.numObjOut = 0; - - //make sure packet has at least first three fields (12 bytes) before we read them (does not include magicWord since it was already removed) - if(currentBufp->size() < 12) - { - sorterState = SWAP_BUFFERS; - break; - } - - //get version (4 bytes) - memcpy( &mmwData.header.version, ¤tBufp->at(currentDatap), sizeof(mmwData.header.version)); - currentDatap += ( sizeof(mmwData.header.version) ); - - //get totalPacketLen (4 bytes) - memcpy( &mmwData.header.totalPacketLen, ¤tBufp->at(currentDatap), sizeof(mmwData.header.totalPacketLen)); - currentDatap += ( sizeof(mmwData.header.totalPacketLen) ); - - //get platform (4 bytes) - memcpy( &mmwData.header.platform, ¤tBufp->at(currentDatap), sizeof(mmwData.header.platform)); - currentDatap += ( sizeof(mmwData.header.platform) ); - - //if packet doesn't have correct header size (which is based on platform), throw it away - // (does not include magicWord since it was already removed) - if ((mmwData.header.platform & 0xFFFF) == 0x1443) // platform is xWR1443) - { - headerSize = 7 * 4; // xWR1443 SDK demo header does not have subFrameNumber field - } - else - { - headerSize = 8 * 4; // header includes subFrameNumber field - } - if(currentBufp->size() < headerSize) - { - sorterState = SWAP_BUFFERS; - break; - } - - //get frameNumber (4 bytes) - memcpy( &mmwData.header.frameNumber, ¤tBufp->at(currentDatap), sizeof(mmwData.header.frameNumber)); - currentDatap += ( sizeof(mmwData.header.frameNumber) ); - - //get timeCpuCycles (4 bytes) - memcpy( &mmwData.header.timeCpuCycles, ¤tBufp->at(currentDatap), sizeof(mmwData.header.timeCpuCycles)); - currentDatap += ( sizeof(mmwData.header.timeCpuCycles) ); - - //get numDetectedObj (4 bytes) - memcpy( &mmwData.header.numDetectedObj, ¤tBufp->at(currentDatap), sizeof(mmwData.header.numDetectedObj)); - currentDatap += ( sizeof(mmwData.header.numDetectedObj) ); - - //get numTLVs (4 bytes) - memcpy( &mmwData.header.numTLVs, ¤tBufp->at(currentDatap), sizeof(mmwData.header.numTLVs)); - currentDatap += ( sizeof(mmwData.header.numTLVs) ); - - //get subFrameNumber (4 bytes) (not used for XWR1443) - if ((mmwData.header.platform & 0xFFFF) == 0x1443) // platform is xWR1443) - { - // xWR1443 SDK demo header does not have subFrameNumber field - } - else - { - memcpy( &mmwData.header.subFrameNumber, ¤tBufp->at(currentDatap), sizeof(mmwData.header.subFrameNumber)); - currentDatap += ( sizeof(mmwData.header.subFrameNumber) ); - } - - //if packet lengths do not match, throw it away - if(mmwData.header.totalPacketLen == currentBufp->size() ) - { - sorterState = CHECK_TLV_TYPE; - } - else sorterState = SWAP_BUFFERS; - - break; - - case READ_OBJ_STRUCT: - - // CHECK_TLV_TYPE code has already read tlvType and tlvLen - - i = 0; - offset = 0; - - if (((mmwData.header.version >> 24) & 0xFF) < 3) // SDK version is older than 3.x - { - //get number of objects - memcpy( &mmwData.numObjOut, ¤tBufp->at(currentDatap), sizeof(mmwData.numObjOut)); - currentDatap += ( sizeof(mmwData.numObjOut) ); - - //get xyzQFormat - memcpy( &mmwData.xyzQFormat, ¤tBufp->at(currentDatap), sizeof(mmwData.xyzQFormat)); - currentDatap += ( sizeof(mmwData.xyzQFormat) ); - } - else // SDK version is at least 3.x - { - mmwData.numObjOut = mmwData.header.numDetectedObj; - } - - RScan->header.seq = 0; - //RScan->header.stamp = (uint32_t) mmwData.header.timeCpuCycles; - RScan->header.frame_id = "base_radar_link"; - RScan->height = 1; - RScan->width = mmwData.numObjOut; - RScan->is_dense = 1; - RScan->points.resize(RScan->width * RScan->height); - - // Calculate ratios for max desired elevation and azimuth angles - if ((maxAllowedElevationAngleDeg >= 0) && (maxAllowedElevationAngleDeg < 90)) - { - maxElevationAngleRatioSquared = tan(maxAllowedElevationAngleDeg * M_PI / 180.0); - maxElevationAngleRatioSquared = maxElevationAngleRatioSquared * maxElevationAngleRatioSquared; - } - else - { - maxElevationAngleRatioSquared = -1; - } - if ((maxAllowedAzimuthAngleDeg >= 0) && (maxAllowedAzimuthAngleDeg < 90)) - { - maxAzimuthAngleRatio = tan(maxAllowedAzimuthAngleDeg * M_PI / 180.0); - } - else - { - maxAzimuthAngleRatio = -1; - } - //ROS_INFO("maxElevationAngleRatioSquared = %f", maxElevationAngleRatioSquared); - //ROS_INFO("maxAzimuthAngleRatio = %f", maxAzimuthAngleRatio); - //ROS_INFO("mmwData.numObjOut before = %d", mmwData.numObjOut); - - - // Populate pointcloud - while( i < mmwData.numObjOut ) - { - - if (((mmwData.header.version >> 24) & 0xFF) < 3) // SDK version is older than 3.x - { - - //get object range index - memcpy( &mmwData.objOut.rangeIdx, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.rangeIdx)); - currentDatap += ( sizeof(mmwData.objOut.rangeIdx) ); - - //get object doppler index - memcpy( &mmwData.objOut.dopplerIdx, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.dopplerIdx)); - currentDatap += ( sizeof(mmwData.objOut.dopplerIdx) ); - - //get object peak intensity value - memcpy( &mmwData.objOut.peakVal, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.peakVal)); - currentDatap += ( sizeof(mmwData.objOut.peakVal) ); - - //get object x-coordinate - memcpy( &mmwData.objOut.x, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.x)); - currentDatap += ( sizeof(mmwData.objOut.x) ); - - //get object y-coordinate - memcpy( &mmwData.objOut.y, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.y)); - currentDatap += ( sizeof(mmwData.objOut.y) ); - - //get object z-coordinate - memcpy( &mmwData.objOut.z, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.z)); - currentDatap += ( sizeof(mmwData.objOut.z) ); - - //convert from Qformat to float(meters) - float temp[4]; - - temp[0] = (float) mmwData.objOut.x; - temp[1] = (float) mmwData.objOut.y; - temp[2] = (float) mmwData.objOut.z; - //temp[4] = //doppler - - for(int j = 0; j < 3; j++) - { - if(temp[j] > 32767) - temp[j] -= 65535; - - temp[j] = temp[j] / pow(2,mmwData.xyzQFormat); - } - - // Convert intensity to dB - temp[3] = 10 * log10(mmwData.objOut.peakVal + 1); // intensity - - // Map mmWave sensor coordinates to ROS coordinate system - RScan->points[i].x = temp[1]; // ROS standard coordinate system X-axis is forward which is the mmWave sensor Y-axis - RScan->points[i].y = -temp[0]; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis) - RScan->points[i].z = temp[2]; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis - RScan->points[i].intensity = temp[3]; - } - else // SDK version is 3.x+ - { - //get object x-coordinate (meters) - memcpy( &mmwData.newObjOut.x, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.x)); - currentDatap += ( sizeof(mmwData.newObjOut.x) ); - - //get object y-coordinate (meters) - memcpy( &mmwData.newObjOut.y, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.y)); - currentDatap += ( sizeof(mmwData.newObjOut.y) ); - - //get object z-coordinate (meters) - memcpy( &mmwData.newObjOut.z, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.z)); - currentDatap += ( sizeof(mmwData.newObjOut.z) ); - - //get object velocity (m/s) - memcpy( &mmwData.newObjOut.velocity, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.velocity)); - currentDatap += ( sizeof(mmwData.newObjOut.velocity) ); - - // Map mmWave sensor coordinates to ROS coordinate system - RScan->points[i].x = mmwData.newObjOut.y; // ROS standard coordinate system X-axis is forward which is the mmWave sensor Y-axis - RScan->points[i].y = -mmwData.newObjOut.x; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis) - RScan->points[i].z = mmwData.newObjOut.z; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis - - // For SDK 3.x, intensity is replaced by snr in sideInfo and is parsed in the READ_SIDE_INFO code - } - i++; - - } - - sorterState = CHECK_TLV_TYPE; - - break; - - case READ_SIDE_INFO: - - // Make sure we already received and parsed detected obj list (READ_OBJ_STRUCT) - if (mmwData.numObjOut > 0) - { - for (i = 0; i < mmwData.numObjOut; i++) - { - //get snr (unit is 0.1 steps of dB) - memcpy( &mmwData.sideInfo.snr, ¤tBufp->at(currentDatap), sizeof(mmwData.sideInfo.snr)); - currentDatap += ( sizeof(mmwData.sideInfo.snr) ); - - //get noise (unit is 0.1 steps of dB) - memcpy( &mmwData.sideInfo.noise, ¤tBufp->at(currentDatap), sizeof(mmwData.sideInfo.noise)); - currentDatap += ( sizeof(mmwData.sideInfo.noise) ); - - RScan->points[i].intensity = (float) mmwData.sideInfo.snr / 10.0; // Use snr for "intensity" field (divide by 10 since unit of snr is 0.1dB) - } - } - else // else just skip side info section if we have not already received and parsed detected obj list - { - i = 0; - - while (i++ < tlvLen - 1) - { - //ROS_INFO("DataUARTHandler Sort Thread : Parsing Side Info i=%d and tlvLen = %u", i, tlvLen); - } - - currentDatap += tlvLen; - } - - sorterState = CHECK_TLV_TYPE; - - break; - - case READ_LOG_MAG_RANGE: - { - - - sorterState = CHECK_TLV_TYPE; - } - - break; - - case READ_NOISE: - { - - i = 0; - - while (i++ < tlvLen - 1) - { - //ROS_INFO("DataUARTHandler Sort Thread : Parsing Noise Profile i=%d and tlvLen = %u", i, tlvLen); - } - - currentDatap += tlvLen; - - sorterState = CHECK_TLV_TYPE; - } - - break; - - case READ_AZIMUTH: - { - - i = 0; - - while (i++ < tlvLen - 1) - { - //ROS_INFO("DataUARTHandler Sort Thread : Parsing Azimuth Profile i=%d and tlvLen = %u", i, tlvLen); - } - - currentDatap += tlvLen; - - sorterState = CHECK_TLV_TYPE; - } - - break; - - case READ_DOPPLER: - { - - i = 0; - - while (i++ < tlvLen - 1) - { - //ROS_INFO("DataUARTHandler Sort Thread : Parsing Doppler Profile i=%d and tlvLen = %u", i, tlvLen); - } - - currentDatap += tlvLen; - - sorterState = CHECK_TLV_TYPE; - } - - break; - - case READ_STATS: - { - - i = 0; - - while (i++ < tlvLen - 1) - { - //ROS_INFO("DataUARTHandler Sort Thread : Parsing Stats Profile i=%d and tlvLen = %u", i, tlvLen); - } - - currentDatap += tlvLen; - - sorterState = CHECK_TLV_TYPE; - } - - break; - - case CHECK_TLV_TYPE: - - //ROS_INFO("DataUARTHandler Sort Thread : tlvCount = %d, numTLV = %d", tlvCount, mmwData.header.numTLVs); - - if(tlvCount++ >= mmwData.header.numTLVs) // Done parsing all received TLV sections - { - // Publish detected object pointcloud - if (mmwData.numObjOut > 0) - { - j = 0; - for (i = 0; i < mmwData.numObjOut; i++) - { - // Keep point if elevation and azimuth angles are less than specified max values - // (NOTE: The following calculations are done using ROS standard coordinate system axis definitions where X is forward and Y is left) - if (((maxElevationAngleRatioSquared == -1) || - (((RScan->points[i].z * RScan->points[i].z) / (RScan->points[i].x * RScan->points[i].x + - RScan->points[i].y * RScan->points[i].y) - ) < maxElevationAngleRatioSquared) - ) && - ((maxAzimuthAngleRatio == -1) || (fabs(RScan->points[i].y / RScan->points[i].x) < maxAzimuthAngleRatio)) && - (RScan->points[i].x != 0) - ) - { - //ROS_INFO("Kept point"); - // copy: points[i] => points[j] - memcpy( &RScan->points[j], &RScan->points[i], sizeof(RScan->points[i])); - j++; - } - - // Otherwise, remove the point - else - { - //ROS_INFO("Removed point"); - } - } - mmwData.numObjOut = j; // update number of objects as some points may have been removed - - // Resize point cloud since some points may have been removed - RScan->width = mmwData.numObjOut; - RScan->points.resize(RScan->width * RScan->height); - - //ROS_INFO("mmwData.numObjOut after = %d", mmwData.numObjOut); - //ROS_INFO("DataUARTHandler Sort Thread: number of obj = %d", mmwData.numObjOut ); - - DataUARTHandler_pub.publish(RScan); - } - - //ROS_INFO("DataUARTHandler Sort Thread : CHECK_TLV_TYPE state says tlvCount max was reached, going to switch buffer state"); - sorterState = SWAP_BUFFERS; - } - - else // More TLV sections to parse - { - //get tlvType (32 bits) & remove from queue - memcpy( &tlvType, ¤tBufp->at(currentDatap), sizeof(tlvType)); - currentDatap += ( sizeof(tlvType) ); - - //ROS_INFO("DataUARTHandler Sort Thread : sizeof(tlvType) = %d", sizeof(tlvType)); - - //get tlvLen (32 bits) & remove from queue - memcpy( &tlvLen, ¤tBufp->at(currentDatap), sizeof(tlvLen)); - currentDatap += ( sizeof(tlvLen) ); - - //ROS_INFO("DataUARTHandler Sort Thread : sizeof(tlvLen) = %d", sizeof(tlvLen)); - - //ROS_INFO("DataUARTHandler Sort Thread : tlvType = %d, tlvLen = %d", (int) tlvType, tlvLen); - - switch(tlvType) - { - case MMWDEMO_OUTPUT_MSG_NULL: - - break; - - case MMWDEMO_OUTPUT_MSG_DETECTED_POINTS: - //ROS_INFO("DataUARTHandler Sort Thread : Object TLV"); - sorterState = READ_OBJ_STRUCT; - break; - - case MMWDEMO_OUTPUT_MSG_RANGE_PROFILE: - //ROS_INFO("DataUARTHandler Sort Thread : Range TLV"); - sorterState = READ_LOG_MAG_RANGE; - break; - - case MMWDEMO_OUTPUT_MSG_NOISE_PROFILE: - //ROS_INFO("DataUARTHandler Sort Thread : Noise TLV"); - sorterState = READ_NOISE; - break; - - case MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP: - //ROS_INFO("DataUARTHandler Sort Thread : Azimuth Heat TLV"); - sorterState = READ_AZIMUTH; - break; - - case MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP: - //ROS_INFO("DataUARTHandler Sort Thread : R/D Heat TLV"); - sorterState = READ_DOPPLER; - break; - - case MMWDEMO_OUTPUT_MSG_STATS: - //ROS_INFO("DataUARTHandler Sort Thread : Stats TLV"); - sorterState = READ_STATS; - break; - - case MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO: - //ROS_INFO("DataUARTHandler Sort Thread : Side info TLV"); - sorterState = READ_SIDE_INFO; - break; - - case MMWDEMO_OUTPUT_MSG_MAX: - //ROS_INFO("DataUARTHandler Sort Thread : Header TLV"); - sorterState = READ_HEADER; - break; - - default: break; - } - } - - break; - - case SWAP_BUFFERS: - - pthread_mutex_lock(&countSync_mutex); - pthread_mutex_unlock(¤tBufp_mutex); - - countSync++; - - if(countSync == COUNT_SYNC_MAX) - { - pthread_cond_signal(&countSync_max_cv); - } - - pthread_cond_wait(&sort_go_cv, &countSync_mutex); - - pthread_mutex_unlock(&countSync_mutex); - pthread_mutex_lock(¤tBufp_mutex); - - currentDatap = 0; - tlvCount = 0; - - sorterState = READ_HEADER; - - break; - - - default: break; - } - } - - - pthread_exit(NULL); -} - -void DataUARTHandler::start(void) -{ - - pthread_t uartThread, sorterThread, swapThread; - - int iret1, iret2, iret3; - - pthread_mutex_init(&countSync_mutex, NULL); - pthread_mutex_init(&nextBufp_mutex, NULL); - pthread_mutex_init(¤tBufp_mutex, NULL); - pthread_cond_init(&countSync_max_cv, NULL); - pthread_cond_init(&read_go_cv, NULL); - pthread_cond_init(&sort_go_cv, NULL); - - countSync = 0; - - /* Create independent threads each of which will execute function */ - iret1 = pthread_create( &uartThread, NULL, this->readIncomingData_helper, this); - if(iret1) - { - ROS_INFO("Error - pthread_create() return code: %d\n",iret1); - ros::shutdown(); - } - - iret2 = pthread_create( &sorterThread, NULL, this->sortIncomingData_helper, this); - if(iret2) - { - ROS_INFO("Error - pthread_create() return code: %d\n",iret1); - ros::shutdown(); - } - - iret3 = pthread_create( &swapThread, NULL, this->syncedBufferSwap_helper, this); - if(iret3) - { - ROS_INFO("Error - pthread_create() return code: %d\n",iret1); - ros::shutdown(); - } - - ros::spin(); - - pthread_join(iret1, NULL); - ROS_INFO("DataUARTHandler Read Thread joined"); - pthread_join(iret2, NULL); - ROS_INFO("DataUARTHandler Sort Thread joined"); - pthread_join(iret3, NULL); - ROS_INFO("DataUARTHandler Swap Thread joined"); - - pthread_mutex_destroy(&countSync_mutex); - pthread_mutex_destroy(&nextBufp_mutex); - pthread_mutex_destroy(¤tBufp_mutex); - pthread_cond_destroy(&countSync_max_cv); - pthread_cond_destroy(&read_go_cv); - pthread_cond_destroy(&sort_go_cv); - - -} - -void* DataUARTHandler::readIncomingData_helper(void *context) -{ - return (static_cast(context)->readIncomingData()); -} - -void* DataUARTHandler::sortIncomingData_helper(void *context) -{ - return (static_cast(context)->sortIncomingData()); -} - -void* DataUARTHandler::syncedBufferSwap_helper(void *context) -{ - return (static_cast(context)->syncedBufferSwap()); -} +/* +* @file DataHandlerClass.cpp +* +* @brief +* Handles and publishes incoming data from the sensor and . +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include + +DataUARTHandler::DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) { + DataUARTHandler_pub = nh->advertise("/ti_mmwave/radar_scan_pcl", 100); + radar_scan_pub = nh->advertise("/ti_mmwave/radar_scan", 100); + marker_pub = nh->advertise("/ti_mmwave/radar_scan_markers", 100); + maxAllowedElevationAngleDeg = 90; // Use max angle if none specified + maxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified + + // Wait for parameters + while(!nh->hasParam("/ti_mmwave/doppler_vel_resolution")){} + + nh->getParam("/ti_mmwave/numAdcSamples", nr); + nh->getParam("/ti_mmwave/numLoops", nd); + nh->getParam("/ti_mmwave/num_TX", ntx); + nh->getParam("/ti_mmwave/f_s", fs); + nh->getParam("/ti_mmwave/f_c", fc); + nh->getParam("/ti_mmwave/BW", BW); + nh->getParam("/ti_mmwave/PRI", PRI); + nh->getParam("/ti_mmwave/t_fr", tfr); + nh->getParam("/ti_mmwave/max_range", max_range); + nh->getParam("/ti_mmwave/range_resolution", vrange); + nh->getParam("/ti_mmwave/max_doppler_vel", max_vel); + nh->getParam("/ti_mmwave/doppler_vel_resolution", vvel); + + ROS_INFO("\n\n==============================\nList of parameters\n==============================\nNumber of range samples: %d\nNumber of chirps: %d\nf_s: %.3f MHz\nf_c: %.3f GHz\nBandwidth: %.3f MHz\nPRI: %.3f us\nFrame time: %.3f ms\nMax range: %.3f m\nRange resolution: %.3f m\nMax Doppler: +-%.3f m/s\nDoppler resolution: %.3f m/s\n==============================\n", \ + nr, nd, fs/1e6, fc/1e9, BW/1e6, PRI*1e6, tfr*1e3, max_range, vrange, max_vel/2, vvel); +} + +void DataUARTHandler::setFrameID(char* myFrameID) +{ + frameID = myFrameID; +} + +/*Implementation of setUARTPort*/ +void DataUARTHandler::setUARTPort(char* mySerialPort) +{ + dataSerialPort = mySerialPort; +} + +/*Implementation of setBaudRate*/ +void DataUARTHandler::setBaudRate(int myBaudRate) +{ + dataBaudRate = myBaudRate; +} + +/*Implementation of setMaxAllowedElevationAngleDeg*/ +void DataUARTHandler::setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg) +{ + maxAllowedElevationAngleDeg = myMaxAllowedElevationAngleDeg; +} + +/*Implementation of setMaxAllowedAzimuthAngleDeg*/ +void DataUARTHandler::setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg) +{ + maxAllowedAzimuthAngleDeg = myMaxAllowedAzimuthAngleDeg; +} + +/*Implementation of readIncomingData*/ +void *DataUARTHandler::readIncomingData(void) +{ + + int firstPacketReady = 0; + uint8_t last8Bytes[8] = {0}; + + /*Open UART Port and error checking*/ + serial::Serial mySerialObject("", dataBaudRate, serial::Timeout::simpleTimeout(100)); + mySerialObject.setPort(dataSerialPort); + try + { + mySerialObject.open(); + } catch (std::exception &e1) { + ROS_INFO("DataUARTHandler Read Thread: Failed to open Data serial port with error: %s", e1.what()); + ROS_INFO("DataUARTHandler Read Thread: Waiting 20 seconds before trying again..."); + try + { + // Wait 20 seconds and try to open serial port again + ros::Duration(20).sleep(); + mySerialObject.open(); + } catch (std::exception &e2) { + ROS_ERROR("DataUARTHandler Read Thread: Failed second time to open Data serial port, error: %s", e1.what()); + ROS_ERROR("DataUARTHandler Read Thread: Port could not be opened. Port is \"%s\" and baud rate is %d", dataSerialPort, dataBaudRate); + pthread_exit(NULL); + } + } + + if(mySerialObject.isOpen()) + ROS_INFO("DataUARTHandler Read Thread: Port is open"); + else + ROS_ERROR("DataUARTHandler Read Thread: Port could not be opened"); + + /*Quick magicWord check to synchronize program with data Stream*/ + while(!isMagicWord(last8Bytes)) + { + + last8Bytes[0] = last8Bytes[1]; + last8Bytes[1] = last8Bytes[2]; + last8Bytes[2] = last8Bytes[3]; + last8Bytes[3] = last8Bytes[4]; + last8Bytes[4] = last8Bytes[5]; + last8Bytes[5] = last8Bytes[6]; + last8Bytes[6] = last8Bytes[7]; + mySerialObject.read(&last8Bytes[7], 1); + + } + + /*Lock nextBufp before entering main loop*/ + pthread_mutex_lock(&nextBufp_mutex); + + while(ros::ok()) + { + /*Start reading UART data and writing to buffer while also checking for magicWord*/ + last8Bytes[0] = last8Bytes[1]; + last8Bytes[1] = last8Bytes[2]; + last8Bytes[2] = last8Bytes[3]; + last8Bytes[3] = last8Bytes[4]; + last8Bytes[4] = last8Bytes[5]; + last8Bytes[5] = last8Bytes[6]; + last8Bytes[6] = last8Bytes[7]; + mySerialObject.read(&last8Bytes[7], 1); + + nextBufp->push_back( last8Bytes[7] ); //push byte onto buffer + + //ROS_INFO("DataUARTHandler Read Thread: last8bytes = %02x%02x %02x%02x %02x%02x %02x%02x", last8Bytes[7], last8Bytes[6], last8Bytes[5], last8Bytes[4], last8Bytes[3], last8Bytes[2], last8Bytes[1], last8Bytes[0]); + + /*If a magicWord is found wait for sorting to finish and switch buffers*/ + if( isMagicWord(last8Bytes) ) + { + //ROS_INFO("Found magic word"); + + /*Lock countSync Mutex while unlocking nextBufp so that the swap thread can use it*/ + pthread_mutex_lock(&countSync_mutex); + pthread_mutex_unlock(&nextBufp_mutex); + + /*increment countSync*/ + countSync++; + + /*If this is the first packet to be found, increment countSync again since Sort thread is not reading data yet*/ + if(firstPacketReady == 0) + { + countSync++; + firstPacketReady = 1; + } + + /*Signal Swap Thread to run if countSync has reached its max value*/ + if(countSync == COUNT_SYNC_MAX) + { + pthread_cond_signal(&countSync_max_cv); + } + + /*Wait for the Swap thread to finish swapping pointers and signal us to continue*/ + pthread_cond_wait(&read_go_cv, &countSync_mutex); + + /*Unlock countSync so that Swap Thread can use it*/ + pthread_mutex_unlock(&countSync_mutex); + pthread_mutex_lock(&nextBufp_mutex); + + nextBufp->clear(); + memset(last8Bytes, 0, sizeof(last8Bytes)); + + } + + } + + + mySerialObject.close(); + + pthread_exit(NULL); +} + + +int DataUARTHandler::isMagicWord(uint8_t last8Bytes[8]) +{ + int val = 0, i = 0, j = 0; + + for(i = 0; i < 8 ; i++) + { + + if( last8Bytes[i] == magicWord[i]) + { + j++; + } + + } + + if( j == 8) + { + val = 1; + } + + return val; +} + +void *DataUARTHandler::syncedBufferSwap(void) +{ + while(ros::ok()) + { + pthread_mutex_lock(&countSync_mutex); + + while(countSync < COUNT_SYNC_MAX) + { + pthread_cond_wait(&countSync_max_cv, &countSync_mutex); + + pthread_mutex_lock(¤tBufp_mutex); + pthread_mutex_lock(&nextBufp_mutex); + + std::vector* tempBufp = currentBufp; + + this->currentBufp = this->nextBufp; + + this->nextBufp = tempBufp; + + pthread_mutex_unlock(¤tBufp_mutex); + pthread_mutex_unlock(&nextBufp_mutex); + + countSync = 0; + + pthread_cond_signal(&sort_go_cv); + pthread_cond_signal(&read_go_cv); + + } + + pthread_mutex_unlock(&countSync_mutex); + + } + + pthread_exit(NULL); + +} + +void *DataUARTHandler::sortIncomingData( void ) +{ + MmwDemo_Output_TLV_Types tlvType = MMWDEMO_OUTPUT_MSG_NULL; + uint32_t tlvLen = 0; + uint32_t headerSize; + unsigned int currentDatap = 0; + SorterState sorterState = READ_HEADER; + int i = 0, tlvCount = 0, offset = 0; + int j = 0; + float maxElevationAngleRatioSquared; + float maxAzimuthAngleRatio; + + boost::shared_ptr> RScan(new pcl::PointCloud); + ti_mmwave_rospkg::RadarScan radarscan; + + //wait for first packet to arrive + pthread_mutex_lock(&countSync_mutex); + pthread_cond_wait(&sort_go_cv, &countSync_mutex); + pthread_mutex_unlock(&countSync_mutex); + + pthread_mutex_lock(¤tBufp_mutex); + + while(ros::ok()) + { + + switch(sorterState) + { + + case READ_HEADER: + + //init variables + mmwData.numObjOut = 0; + + //make sure packet has at least first three fields (12 bytes) before we read them (does not include magicWord since it was already removed) + if(currentBufp->size() < 12) + { + sorterState = SWAP_BUFFERS; + break; + } + + //get version (4 bytes) + memcpy( &mmwData.header.version, ¤tBufp->at(currentDatap), sizeof(mmwData.header.version)); + currentDatap += ( sizeof(mmwData.header.version) ); + + //get totalPacketLen (4 bytes) + memcpy( &mmwData.header.totalPacketLen, ¤tBufp->at(currentDatap), sizeof(mmwData.header.totalPacketLen)); + currentDatap += ( sizeof(mmwData.header.totalPacketLen) ); + + //get platform (4 bytes) + memcpy( &mmwData.header.platform, ¤tBufp->at(currentDatap), sizeof(mmwData.header.platform)); + currentDatap += ( sizeof(mmwData.header.platform) ); + + //if packet doesn't have correct header size (which is based on platform), throw it away + // (does not include magicWord since it was already removed) + if ((mmwData.header.platform & 0xFFFF) == 0x1443) // platform is xWR1443) + { + headerSize = 7 * 4; // xWR1443 SDK demo header does not have subFrameNumber field + } + else + { + headerSize = 8 * 4; // header includes subFrameNumber field + } + if(currentBufp->size() < headerSize) { + sorterState = SWAP_BUFFERS; + break; + } + + //get frameNumber (4 bytes) + memcpy( &mmwData.header.frameNumber, ¤tBufp->at(currentDatap), sizeof(mmwData.header.frameNumber)); + currentDatap += ( sizeof(mmwData.header.frameNumber) ); + + //get timeCpuCycles (4 bytes) + memcpy( &mmwData.header.timeCpuCycles, ¤tBufp->at(currentDatap), sizeof(mmwData.header.timeCpuCycles)); + currentDatap += ( sizeof(mmwData.header.timeCpuCycles) ); + + //get numDetectedObj (4 bytes) + memcpy( &mmwData.header.numDetectedObj, ¤tBufp->at(currentDatap), sizeof(mmwData.header.numDetectedObj)); + currentDatap += ( sizeof(mmwData.header.numDetectedObj) ); + + //get numTLVs (4 bytes) + memcpy( &mmwData.header.numTLVs, ¤tBufp->at(currentDatap), sizeof(mmwData.header.numTLVs)); + currentDatap += ( sizeof(mmwData.header.numTLVs) ); + + //get subFrameNumber (4 bytes) (not used for XWR1443) + if((mmwData.header.platform & 0xFFFF) != 0x1443) { + memcpy( &mmwData.header.subFrameNumber, ¤tBufp->at(currentDatap), sizeof(mmwData.header.subFrameNumber)); + currentDatap += ( sizeof(mmwData.header.subFrameNumber) ); + } + + //if packet lengths do not match, throw it away + if(mmwData.header.totalPacketLen == currentBufp->size() ) + { + sorterState = CHECK_TLV_TYPE; + } + else sorterState = SWAP_BUFFERS; + + break; + + case READ_OBJ_STRUCT: + + // CHECK_TLV_TYPE code has already read tlvType and tlvLen + + i = 0; + offset = 0; + + if (((mmwData.header.version >> 24) & 0xFF) < 3) // SDK version is older than 3.x + { + //get number of objects + memcpy( &mmwData.numObjOut, ¤tBufp->at(currentDatap), sizeof(mmwData.numObjOut)); + currentDatap += ( sizeof(mmwData.numObjOut) ); + + //get xyzQFormat + memcpy( &mmwData.xyzQFormat, ¤tBufp->at(currentDatap), sizeof(mmwData.xyzQFormat)); + currentDatap += ( sizeof(mmwData.xyzQFormat) ); + } + else // SDK version is at least 3.x + { + mmwData.numObjOut = mmwData.header.numDetectedObj; + } + + // RScan->header.seq = 0; + // RScan->header.stamp = (uint64_t)(ros::Time::now()); + // RScan->header.stamp = (uint32_t) mmwData.header.timeCpuCycles; + RScan->header.frame_id = frameID; + RScan->height = 1; + RScan->width = mmwData.numObjOut; + RScan->is_dense = 1; + RScan->points.resize(RScan->width * RScan->height); + + // Calculate ratios for max desired elevation and azimuth angles + if ((maxAllowedElevationAngleDeg >= 0) && (maxAllowedElevationAngleDeg < 90)) { + maxElevationAngleRatioSquared = tan(maxAllowedElevationAngleDeg * M_PI / 180.0); + maxElevationAngleRatioSquared = maxElevationAngleRatioSquared * maxElevationAngleRatioSquared; + } else maxElevationAngleRatioSquared = -1; + if ((maxAllowedAzimuthAngleDeg >= 0) && (maxAllowedAzimuthAngleDeg < 90)) maxAzimuthAngleRatio = tan(maxAllowedAzimuthAngleDeg * M_PI / 180.0); + else maxAzimuthAngleRatio = -1; + + //ROS_INFO("maxElevationAngleRatioSquared = %f", maxElevationAngleRatioSquared); + //ROS_INFO("maxAzimuthAngleRatio = %f", maxAzimuthAngleRatio); + //ROS_INFO("mmwData.numObjOut before = %d", mmwData.numObjOut); + + // Populate pointcloud + while( i < mmwData.numObjOut ) { + if (((mmwData.header.version >> 24) & 0xFF) < 3) { // SDK version is older than 3.x + //get object range index + memcpy( &mmwData.objOut.rangeIdx, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.rangeIdx)); + currentDatap += ( sizeof(mmwData.objOut.rangeIdx) ); + + //get object doppler index + memcpy( &mmwData.objOut.dopplerIdx, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.dopplerIdx)); + currentDatap += ( sizeof(mmwData.objOut.dopplerIdx) ); + + //get object peak intensity value + memcpy( &mmwData.objOut.peakVal, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.peakVal)); + currentDatap += ( sizeof(mmwData.objOut.peakVal) ); + + //get object x-coordinate + memcpy( &mmwData.objOut.x, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.x)); + currentDatap += ( sizeof(mmwData.objOut.x) ); + + //get object y-coordinate + memcpy( &mmwData.objOut.y, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.y)); + currentDatap += ( sizeof(mmwData.objOut.y) ); + + //get object z-coordinate + memcpy( &mmwData.objOut.z, ¤tBufp->at(currentDatap), sizeof(mmwData.objOut.z)); + currentDatap += ( sizeof(mmwData.objOut.z) ); + + float temp[7]; + + temp[0] = (float) mmwData.objOut.x; + temp[1] = (float) mmwData.objOut.y; + temp[2] = (float) mmwData.objOut.z; + temp[3] = (float) mmwData.objOut.dopplerIdx; + + for (int j = 0; j < 4; j++) { + if (temp[j] > 32767) temp[j] -= 65536; + if (j < 3) temp[j] = temp[j] / pow(2 , mmwData.xyzQFormat); + } + + temp[7] = temp[3] * vvel; + + temp[4] = (float) mmwData.objOut.rangeIdx * vrange; + temp[5] = 10 * log10(mmwData.objOut.peakVal + 1); // intensity + temp[6] = std::atan2(-temp[0], temp[1]) / M_PI * 180; + + uint16_t tmp = (uint16_t)(temp[3] + nd / 2); + + // Map mmWave sensor coordinates to ROS coordinate system + RScan->points[i].x = temp[1]; // ROS standard coordinate system X-axis is forward which is the mmWave sensor Y-axis + RScan->points[i].y = -temp[0]; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis) + RScan->points[i].z = temp[2]; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis + RScan->points[i].intensity = temp[5]; + + radarscan.header.frame_id = frameID; + radarscan.header.stamp = ros::Time::now(); + + radarscan.point_id = i; + radarscan.x = temp[1]; + radarscan.y = -temp[0]; + radarscan.z = temp[2]; + radarscan.range = temp[4]; + radarscan.velocity = temp[7]; + radarscan.doppler_bin = tmp; + radarscan.bearing = temp[6]; + radarscan.intensity = temp[5]; + } else { // SDK version is 3.x+ + //get object x-coordinate (meters) + memcpy( &mmwData.newObjOut.x, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.x)); + currentDatap += ( sizeof(mmwData.newObjOut.x) ); + + //get object y-coordinate (meters) + memcpy( &mmwData.newObjOut.y, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.y)); + currentDatap += ( sizeof(mmwData.newObjOut.y) ); + + //get object z-coordinate (meters) + memcpy( &mmwData.newObjOut.z, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.z)); + currentDatap += ( sizeof(mmwData.newObjOut.z) ); + + //get object velocity (m/s) + memcpy( &mmwData.newObjOut.velocity, ¤tBufp->at(currentDatap), sizeof(mmwData.newObjOut.velocity)); + currentDatap += ( sizeof(mmwData.newObjOut.velocity) ); + + // Map mmWave sensor coordinates to ROS coordinate system + RScan->points[i].x = mmwData.newObjOut.y; // ROS standard coordinate system X-axis is forward which is the mmWave sensor Y-axis + RScan->points[i].y = -mmwData.newObjOut.x; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis) + RScan->points[i].z = mmwData.newObjOut.z; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis + + radarscan.header.frame_id = frameID; + radarscan.header.stamp = ros::Time::now(); + + radarscan.point_id = i; + radarscan.x = mmwData.newObjOut.y; + radarscan.y = -mmwData.newObjOut.x; + radarscan.z = mmwData.newObjOut.z; + // radarscan.range = temp[4]; + radarscan.velocity = mmwData.newObjOut.velocity; + // radarscan.doppler_bin = tmp; + // radarscan.bearing = temp[6]; + // radarscan.intensity = temp[5]; + + + // For SDK 3.x, intensity is replaced by snr in sideInfo and is parsed in the READ_SIDE_INFO code + } + + if (((maxElevationAngleRatioSquared == -1) || + (((RScan->points[i].z * RScan->points[i].z) / (RScan->points[i].x * RScan->points[i].x + + RScan->points[i].y * RScan->points[i].y) + ) < maxElevationAngleRatioSquared) + ) && + ((maxAzimuthAngleRatio == -1) || (fabs(RScan->points[i].y / RScan->points[i].x) < maxAzimuthAngleRatio)) && + (RScan->points[i].x != 0) + ) + { + radar_scan_pub.publish(radarscan); + } + i++; + } + + sorterState = CHECK_TLV_TYPE; + + break; + + case READ_SIDE_INFO: + + // Make sure we already received and parsed detected obj list (READ_OBJ_STRUCT) + if (mmwData.numObjOut > 0) + { + for (i = 0; i < mmwData.numObjOut; i++) + { + //get snr (unit is 0.1 steps of dB) + memcpy( &mmwData.sideInfo.snr, ¤tBufp->at(currentDatap), sizeof(mmwData.sideInfo.snr)); + currentDatap += ( sizeof(mmwData.sideInfo.snr) ); + + //get noise (unit is 0.1 steps of dB) + memcpy( &mmwData.sideInfo.noise, ¤tBufp->at(currentDatap), sizeof(mmwData.sideInfo.noise)); + currentDatap += ( sizeof(mmwData.sideInfo.noise) ); + + RScan->points[i].intensity = (float) mmwData.sideInfo.snr / 10.0; // Use snr for "intensity" field (divide by 10 since unit of snr is 0.1dB) + } + } + else // else just skip side info section if we have not already received and parsed detected obj list + { + i = 0; + + while (i++ < tlvLen - 1) + { + //ROS_INFO("DataUARTHandler Sort Thread : Parsing Side Info i=%d and tlvLen = %u", i, tlvLen); + } + + currentDatap += tlvLen; + } + + sorterState = CHECK_TLV_TYPE; + + break; + + case READ_LOG_MAG_RANGE: + { + + + sorterState = CHECK_TLV_TYPE; + } + + break; + + case READ_NOISE: + { + + i = 0; + + while (i++ < tlvLen - 1) + { + //ROS_INFO("DataUARTHandler Sort Thread : Parsing Noise Profile i=%d and tlvLen = %u", i, tlvLen); + } + + currentDatap += tlvLen; + + sorterState = CHECK_TLV_TYPE; + } + + break; + + case READ_AZIMUTH: + { + + i = 0; + + while (i++ < tlvLen - 1) + { + //ROS_INFO("DataUARTHandler Sort Thread : Parsing Azimuth Profile i=%d and tlvLen = %u", i, tlvLen); + } + + currentDatap += tlvLen; + + sorterState = CHECK_TLV_TYPE; + } + + break; + + case READ_DOPPLER: + { + + i = 0; + + while (i++ < tlvLen - 1) + { + //ROS_INFO("DataUARTHandler Sort Thread : Parsing Doppler Profile i=%d and tlvLen = %u", i, tlvLen); + } + + currentDatap += tlvLen; + + sorterState = CHECK_TLV_TYPE; + } + + break; + + case READ_STATS: + { + + i = 0; + + while (i++ < tlvLen - 1) + { + //ROS_INFO("DataUARTHandler Sort Thread : Parsing Stats Profile i=%d and tlvLen = %u", i, tlvLen); + } + + currentDatap += tlvLen; + + sorterState = CHECK_TLV_TYPE; + } + + break; + + case CHECK_TLV_TYPE: + + //ROS_INFO("DataUARTHandler Sort Thread : tlvCount = %d, numTLV = %d", tlvCount, mmwData.header.numTLVs); + + if(tlvCount++ >= mmwData.header.numTLVs) // Done parsing all received TLV sections + { + // Publish detected object pointcloud + if (mmwData.numObjOut > 0) + { + j = 0; + for (i = 0; i < mmwData.numObjOut; i++) + { + // Keep point if elevation and azimuth angles are less than specified max values + // (NOTE: The following calculations are done using ROS standard coordinate system axis definitions where X is forward and Y is left) + if (((maxElevationAngleRatioSquared == -1) || + (((RScan->points[i].z * RScan->points[i].z) / (RScan->points[i].x * RScan->points[i].x + + RScan->points[i].y * RScan->points[i].y) + ) < maxElevationAngleRatioSquared) + ) && + ((maxAzimuthAngleRatio == -1) || (fabs(RScan->points[i].y / RScan->points[i].x) < maxAzimuthAngleRatio)) && + (RScan->points[i].x != 0) + ) + { + //ROS_INFO("Kept point"); + // copy: points[i] => points[j] + memcpy( &RScan->points[j], &RScan->points[i], sizeof(RScan->points[i])); + j++; + } + } + mmwData.numObjOut = j; // update number of objects as some points may have been removed + + // Resize point cloud since some points may have been removed + RScan->width = mmwData.numObjOut; + RScan->points.resize(RScan->width * RScan->height); + + //ROS_INFO("mmwData.numObjOut after = %d", mmwData.numObjOut); + //ROS_INFO("DataUARTHandler Sort Thread: number of obj = %d", mmwData.numObjOut ); + + DataUARTHandler_pub.publish(RScan); + } + + //ROS_INFO("DataUARTHandler Sort Thread : CHECK_TLV_TYPE state says tlvCount max was reached, going to switch buffer state"); + sorterState = SWAP_BUFFERS; + } + + else // More TLV sections to parse + { + //get tlvType (32 bits) & remove from queue + memcpy( &tlvType, ¤tBufp->at(currentDatap), sizeof(tlvType)); + currentDatap += ( sizeof(tlvType) ); + + //ROS_INFO("DataUARTHandler Sort Thread : sizeof(tlvType) = %d", sizeof(tlvType)); + + //get tlvLen (32 bits) & remove from queue + memcpy( &tlvLen, ¤tBufp->at(currentDatap), sizeof(tlvLen)); + currentDatap += ( sizeof(tlvLen) ); + + //ROS_INFO("DataUARTHandler Sort Thread : sizeof(tlvLen) = %d", sizeof(tlvLen)); + + //ROS_INFO("DataUARTHandler Sort Thread : tlvType = %d, tlvLen = %d", (int) tlvType, tlvLen); + + switch(tlvType) + { + case MMWDEMO_OUTPUT_MSG_NULL: + + break; + + case MMWDEMO_OUTPUT_MSG_DETECTED_POINTS: + //ROS_INFO("DataUARTHandler Sort Thread : Object TLV"); + sorterState = READ_OBJ_STRUCT; + break; + + case MMWDEMO_OUTPUT_MSG_RANGE_PROFILE: + //ROS_INFO("DataUARTHandler Sort Thread : Range TLV"); + sorterState = READ_LOG_MAG_RANGE; + break; + + case MMWDEMO_OUTPUT_MSG_NOISE_PROFILE: + //ROS_INFO("DataUARTHandler Sort Thread : Noise TLV"); + sorterState = READ_NOISE; + break; + + case MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP: + //ROS_INFO("DataUARTHandler Sort Thread : Azimuth Heat TLV"); + sorterState = READ_AZIMUTH; + break; + + case MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP: + //ROS_INFO("DataUARTHandler Sort Thread : R/D Heat TLV"); + sorterState = READ_DOPPLER; + break; + + case MMWDEMO_OUTPUT_MSG_STATS: + //ROS_INFO("DataUARTHandler Sort Thread : Stats TLV"); + sorterState = READ_STATS; + break; + + case MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO: + //ROS_INFO("DataUARTHandler Sort Thread : Side info TLV"); + sorterState = READ_SIDE_INFO; + break; + + case MMWDEMO_OUTPUT_MSG_MAX: + //ROS_INFO("DataUARTHandler Sort Thread : Header TLV"); + sorterState = READ_HEADER; + break; + + default: break; + } + } + + break; + + case SWAP_BUFFERS: + + pthread_mutex_lock(&countSync_mutex); + pthread_mutex_unlock(¤tBufp_mutex); + + countSync++; + + if(countSync == COUNT_SYNC_MAX) + { + pthread_cond_signal(&countSync_max_cv); + } + + pthread_cond_wait(&sort_go_cv, &countSync_mutex); + + pthread_mutex_unlock(&countSync_mutex); + pthread_mutex_lock(¤tBufp_mutex); + + currentDatap = 0; + tlvCount = 0; + + sorterState = READ_HEADER; + + break; + + + default: break; + } + } + + + pthread_exit(NULL); +} + +void DataUARTHandler::start(void) +{ + + pthread_t uartThread, sorterThread, swapThread; + + int iret1, iret2, iret3; + + pthread_mutex_init(&countSync_mutex, NULL); + pthread_mutex_init(&nextBufp_mutex, NULL); + pthread_mutex_init(¤tBufp_mutex, NULL); + pthread_cond_init(&countSync_max_cv, NULL); + pthread_cond_init(&read_go_cv, NULL); + pthread_cond_init(&sort_go_cv, NULL); + + countSync = 0; + + /* Create independent threads each of which will execute function */ + iret1 = pthread_create( &uartThread, NULL, this->readIncomingData_helper, this); + if(iret1) + { + ROS_INFO("Error - pthread_create() return code: %d\n",iret1); + ros::shutdown(); + } + + iret2 = pthread_create( &sorterThread, NULL, this->sortIncomingData_helper, this); + if(iret2) + { + ROS_INFO("Error - pthread_create() return code: %d\n",iret1); + ros::shutdown(); + } + + iret3 = pthread_create( &swapThread, NULL, this->syncedBufferSwap_helper, this); + if(iret3) + { + ROS_INFO("Error - pthread_create() return code: %d\n",iret1); + ros::shutdown(); + } + + ros::spin(); + + pthread_join(iret1, NULL); + ROS_INFO("DataUARTHandler Read Thread joined"); + pthread_join(iret2, NULL); + ROS_INFO("DataUARTHandler Sort Thread joined"); + pthread_join(iret3, NULL); + ROS_INFO("DataUARTHandler Swap Thread joined"); + + pthread_mutex_destroy(&countSync_mutex); + pthread_mutex_destroy(&nextBufp_mutex); + pthread_mutex_destroy(¤tBufp_mutex); + pthread_cond_destroy(&countSync_max_cv); + pthread_cond_destroy(&read_go_cv); + pthread_cond_destroy(&sort_go_cv); + + +} + +void* DataUARTHandler::readIncomingData_helper(void *context) +{ + return (static_cast(context)->readIncomingData()); +} + +void* DataUARTHandler::sortIncomingData_helper(void *context) +{ + return (static_cast(context)->sortIncomingData()); +} + +void* DataUARTHandler::syncedBufferSwap_helper(void *context) +{ + return (static_cast(context)->syncedBufferSwap()); +} + +void DataUARTHandler::visualize(const ti_mmwave_rospkg::RadarScan &msg){ + visualization_msgs::Marker marker; + + marker.header.frame_id = frameID; + marker.header.stamp = ros::Time::now(); + marker.id = msg.point_id; + marker.type = visualization_msgs::Marker::SPHERE; + marker.lifetime = ros::Duration(tfr); + marker.action = marker.ADD; + + marker.pose.position.x = msg.x; + marker.pose.position.y = msg.y; + marker.pose.position.z = 0; + + marker.pose.orientation.x = 0; + marker.pose.orientation.y = 0; + marker.pose.orientation.z = 0; + marker.pose.orientation.w = 0; + + marker.scale.x = .03; + marker.scale.y = .03; + marker.scale.z = .03; + + marker.color.a = 1; + marker.color.r = (int) 255 * msg.intensity; + marker.color.g = (int) 255 * msg.intensity; + marker.color.b = 1; + + marker_pub.publish(marker); +} \ No newline at end of file diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/ParameterParser.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/ParameterParser.cpp new file mode 100755 index 0000000..978a026 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/ParameterParser.cpp @@ -0,0 +1,155 @@ +/* +* @file ParameterParser.cpp +* +* @brief +* Calculates parameters from QuickConfig. +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include "ParameterParser.h" + +namespace ti_mmwave_rospkg { + +PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::ParameterParser, nodelet::Nodelet); + +ParameterParser::ParameterParser() {} + +void ParameterParser::onInit() {} + +void ParameterParser::ParamsParser(ti_mmwave_rospkg::mmWaveCLI &srv, ros::NodeHandle &nh) { + + // ROS_ERROR("%s",srv.request.comm.c_str()); + // ROS_ERROR("%s",srv.response.resp.c_str()); + std::vector v; + std::string s = srv.request.comm.c_str(); + std::istringstream ss(s); + std::string token; + std::string req; + int i = 0; + while (std::getline(ss, token, ' ')) { + v.push_back(token); + if (i > 0) { + if (!req.compare("profileCfg")) { + switch (i) { + case 2: + nh.setParam("/ti_mmwave/startFreq", std::stof(token)); break; + case 3: + nh.setParam("/ti_mmwave/idleTime", std::stof(token)); break; + case 4: + nh.setParam("/ti_mmwave/adcStartTime", std::stof(token)); break; + case 5: + nh.setParam("/ti_mmwave/rampEndTime", std::stof(token)); break; + case 8: + nh.setParam("/ti_mmwave/freqSlopeConst", std::stof(token)); break; + case 10: + nh.setParam("/ti_mmwave/numAdcSamples", std::stoi(token)); break; + case 11: + nh.setParam("/ti_mmwave/digOutSampleRate", std::stof(token)); break; + case 14: + nh.setParam("/ti_mmwave/rxGain", std::stof(token)); break; + } + } else if (!req.compare("frameCfg")) { + switch (i) { + case 1: + nh.setParam("/ti_mmwave/chirpStartIdx", std::stoi(token)); break; + case 2: + nh.setParam("/ti_mmwave/chirpEndIdx", std::stoi(token)); break; + case 3: + nh.setParam("/ti_mmwave/numLoops", std::stoi(token)); break; + case 4: + nh.setParam("/ti_mmwave/numFrames", std::stoi(token)); break; + case 5: + nh.setParam("/ti_mmwave/framePeriodicity", std::stof(token)); break; + } + } + } else req = token; + i++; + } + } + +void ParameterParser::CalParams(ros::NodeHandle &nh) { + float c0 = 299792458; + int chirpStartIdx; + int chirpEndIdx; + int numLoops; + float framePeriodicity; + float startFreq; + float idleTime; + float adcStartTime; + float rampEndTime; + float digOutSampleRate; + float freqSlopeConst; + float numAdcSamples; + + nh.getParam("/ti_mmwave/startFreq", startFreq); + nh.getParam("/ti_mmwave/idleTime", idleTime); + nh.getParam("/ti_mmwave/adcStartTime", adcStartTime); + nh.getParam("/ti_mmwave/rampEndTime", rampEndTime); + nh.getParam("/ti_mmwave/digOutSampleRate", digOutSampleRate); + nh.getParam("/ti_mmwave/freqSlopeConst", freqSlopeConst); + nh.getParam("/ti_mmwave/numAdcSamples", numAdcSamples); + + nh.getParam("/ti_mmwave/chirpStartIdx", chirpStartIdx); + nh.getParam("/ti_mmwave/chirpEndIdx", chirpEndIdx); + nh.getParam("/ti_mmwave/numLoops", numLoops); + nh.getParam("/ti_mmwave/framePeriodicity", framePeriodicity); + + int ntx = chirpEndIdx - chirpStartIdx + 1; + int nd = numLoops; + int nr = numAdcSamples; + float tfr = framePeriodicity * 1e-3; + float fs = digOutSampleRate * 1e3; + float kf = freqSlopeConst * 1e12; + float adc_duration = nr / fs; + float BW = adc_duration * kf; + float PRI = (idleTime + rampEndTime) * 1e-6; + float fc = startFreq * 1e9 + kf * (adcStartTime * 1e-6 + adc_duration / 2); + + float vrange = c0 / (2 * BW); + float max_range = nr * vrange; + float max_vel = c0 / (2 * fc * PRI) / ntx; + float vvel = max_vel / nd; + + nh.setParam("/ti_mmwave/num_TX", ntx); + nh.setParam("/ti_mmwave/f_s", fs); + nh.setParam("/ti_mmwave/f_c", fc); + nh.setParam("/ti_mmwave/BW", BW); + nh.setParam("/ti_mmwave/PRI", PRI); + nh.setParam("/ti_mmwave/t_fr", tfr); + nh.setParam("/ti_mmwave/max_range", max_range); + nh.setParam("/ti_mmwave/range_resolution", vrange); + nh.setParam("/ti_mmwave/max_doppler_vel", max_vel); + nh.setParam("/ti_mmwave/doppler_vel_resolution", vvel); +} + +} \ No newline at end of file diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp new file mode 100755 index 0000000..11ae675 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp @@ -0,0 +1,113 @@ +/* +* @file mmWaveCommSrv.cpp +* +* @brief +* Communication service responsible for sending CLI commands to sensor. +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include "mmWaveCommSrv.hpp" + +namespace ti_mmwave_rospkg +{ + +PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveCommSrv, nodelet::Nodelet); + +mmWaveCommSrv::mmWaveCommSrv() {} + +void mmWaveCommSrv::onInit() +{ + ros::NodeHandle private_nh = getPrivateNodeHandle(); + ros::NodeHandle private_nh2("~"); // follow namespace for multiple sensors + + private_nh2.getParam("command_port", mySerialPort); + + private_nh2.getParam("command_rate", myBaudRate); + + ROS_INFO("mmWaveCommSrv: command_port = %s", mySerialPort.c_str()); + ROS_INFO("mmWaveCommSrv: command_rate = %d", myBaudRate); + + commSrv = private_nh.advertiseService("/mmWaveCLI", &mmWaveCommSrv::commSrv_cb, this); + + NODELET_DEBUG("mmWaveCommsrv: Finished onInit function"); +} + + +bool mmWaveCommSrv::commSrv_cb(mmWaveCLI::Request &req , mmWaveCLI::Response &res) { + NODELET_DEBUG("mmWaveCommSrv: Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate); + + /*Open Serial port and error check*/ + serial::Serial mySerialObject("", myBaudRate, serial::Timeout::simpleTimeout(1000)); + mySerialObject.setPort(mySerialPort.c_str()); + try { + mySerialObject.open(); + } catch (std::exception &e1) { + ROS_INFO("mmWaveCommSrv: Failed to open User serial port with error: %s", e1.what()); + ROS_INFO("mmWaveCommSrv: Waiting 20 seconds before trying again..."); + try { + // Wait 20 seconds and try to open serial port again + ros::Duration(20).sleep(); + mySerialObject.open(); + } catch (std::exception &e2) { + ROS_ERROR("mmWaveCommSrv: Failed second time to open User serial port, error: %s", e1.what()); + NODELET_ERROR("mmWaveCommSrv: Port could not be opened. Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate); + return false; + } + } + + /*Read any previous pending response(s)*/ + while (mySerialObject.available() > 0) + { + mySerialObject.readline(res.resp, 1024, ":/>"); + ROS_INFO("mmWaveCommSrv: Received (previous) response from sensor: '%s'", res.resp.c_str()); + res.resp = ""; + } + + /*Send out command received from the client*/ + ROS_INFO("mmWaveCommSrv: Sending command to sensor: '%s'", req.comm.c_str()); + req.comm.append("\n"); + int bytesSent = mySerialObject.write(req.comm.c_str()); + + /*Read output from mmwDemo*/ + mySerialObject.readline(res.resp, 1024, ":/>"); + ROS_INFO("mmWaveCommSrv: Received response from sensor: '%s'", res.resp.c_str()); + + mySerialObject.close(); + + return true; +} + +} + + + diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp new file mode 100755 index 0000000..3f23eae --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp @@ -0,0 +1,89 @@ +/* +* @file mmWaveDataHdl.cpp +* +* @brief +* Creates the data handler node and sets parameters. +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include "mmWaveDataHdl.hpp" +#include "DataHandlerClass.h" + +namespace ti_mmwave_rospkg +{ + +PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveDataHdl, nodelet::Nodelet); + +mmWaveDataHdl::mmWaveDataHdl() {} + +void mmWaveDataHdl::onInit() +{ + ros::NodeHandle private_nh("~"); + + std::string mySerialPort; + std::string myFrameID; + int myBaudRate; + int myMaxAllowedElevationAngleDeg; + int myMaxAllowedAzimuthAngleDeg; + + private_nh.getParam("data_port", mySerialPort); + + private_nh.getParam("data_rate", myBaudRate); + + private_nh.getParam("frame_id", myFrameID); + + if (!(private_nh.getParam("max_allowed_elevation_angle_deg", myMaxAllowedElevationAngleDeg))) { + myMaxAllowedElevationAngleDeg = 90; // Use max angle if none specified + } + + if (!(private_nh.getParam("max_allowed_azimuth_angle_deg", myMaxAllowedAzimuthAngleDeg))) { + myMaxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified + } + + ROS_INFO("mmWaveDataHdl: data_port = %s", mySerialPort.c_str()); + ROS_INFO("mmWaveDataHdl: data_rate = %d", myBaudRate); + ROS_INFO("mmWaveDataHdl: max_allowed_elevation_angle_deg = %d", myMaxAllowedElevationAngleDeg); + ROS_INFO("mmWaveDataHdl: max_allowed_azimuth_angle_deg = %d", myMaxAllowedAzimuthAngleDeg); + + DataUARTHandler DataHandler(&private_nh); + DataHandler.setFrameID( (char*) myFrameID.c_str() ); + DataHandler.setUARTPort( (char*) mySerialPort.c_str() ); + DataHandler.setBaudRate( myBaudRate ); + DataHandler.setMaxAllowedElevationAngleDeg( myMaxAllowedElevationAngleDeg ); + DataHandler.setMaxAllowedAzimuthAngleDeg( myMaxAllowedAzimuthAngleDeg ); + DataHandler.start(); + + NODELET_DEBUG("mmWaveDataHdl: Finished onInit function"); +} + +} \ No newline at end of file diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveLoader.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveLoader.cpp new file mode 100755 index 0000000..fcb80e4 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveLoader.cpp @@ -0,0 +1,60 @@ +/* +* @file mmWaveLoader.cpp +* +* @brief +* Creates the mmWave Manager node. +* +* \par +* NOTE: +* (C) Copyright 2019 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include "ros/ros.h" +#include "nodelet/loader.h" + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "mmWave_Manager"); + + nodelet::Loader manager(true); + + nodelet::M_string remap(ros::names::getRemappings()); + + nodelet::V_string nargv; + + manager.load("mmWaveCommSrv", "ti_mmwave_rospkg/mmWaveCommSrv", remap, nargv); + + manager.load("mmWaveDataHdl", "ti_mmwave_rospkg/mmWaveDataHdl", remap, nargv); + + ros::spin(); + + return 0; +} diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp new file mode 100755 index 0000000..7bdf3b9 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp @@ -0,0 +1,99 @@ +/* +* @file mmWaveQuickConfig.cpp +* +* @brief +* Reads the cfg file and calls service to send commands. +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ +#include "ros/ros.h" +#include "ti_mmwave_rospkg/mmWaveCLI.h" +#include +#include +#include +#include +#include "ParameterParser.h" + +int main(int argc, char **argv) { + ros::init(argc, argv, "mmWaveQuickConfig"); + ros::NodeHandle nh; + ti_mmwave_rospkg::mmWaveCLI srv; + if (argc != 2) { + ROS_INFO("mmWaveQuickConfig: usage: mmWaveQuickConfig /file_directory/params.cfg"); + return 1; + } else + ROS_INFO("mmWaveQuickConfig: Configuring mmWave device using config file: %s", argv[1]); + + ros::ServiceClient client = nh.serviceClient("/mmWaveCLI"); + std::ifstream myParams; + ti_mmwave_rospkg::ParameterParser parser; + //wait for service to become available + ros::service::waitForService("/mmWaveCLI", 10000); + + //wait 0.5 secs to avoid multi-sensor conflicts + ros::Duration(0.5).sleep(); + + myParams.open(argv[1]); + + if (myParams.is_open()) { + while( std::getline(myParams, srv.request.comm)) { + // Remove Windows carriage-return if present + srv.request.comm.erase(std::remove(srv.request.comm.begin(), srv.request.comm.end(), '\r'), srv.request.comm.end()); + // Ignore comment lines (first non-space char is '%') or blank lines + if (!(std::regex_match(srv.request.comm, std::regex("^\\s*%.*")) || std::regex_match(srv.request.comm, std::regex("^\\s*")))) { + // ROS_INFO("mmWaveQuickConfig: Sending command: '%s'", srv.request.comm.c_str() ); + if (client.call(srv)) { + if (std::regex_search(srv.response.resp, std::regex("Done"))) { + // ROS_INFO("mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')"); + parser.ParamsParser(srv, nh); + } else { + ROS_ERROR("mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')"); + ROS_ERROR("mmWaveQuickConfig: Response: '%s'", srv.response.resp.c_str() ); + return 1; + } + } else { + ROS_ERROR("mmWaveQuickConfig: Failed to call service mmWaveCLI"); + ROS_ERROR("%s", srv.request.comm.c_str() ); + return 1; + } + } + } + parser.CalParams(nh); + myParams.close(); + } else { + ROS_ERROR("mmWaveQuickConfig: Failed to open File %s", argv[1]); + return 1; + } + ROS_INFO("mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: %s", argv[1]); + return 0; +} \ No newline at end of file diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/srv/mmWaveCLI.srv b/autonomous_robotics_ros/src/ti_mmwave_rospkg/srv/mmWaveCLI.srv old mode 100644 new mode 100755 similarity index 90% rename from autonomous_robotics_ros/ti_mmwave_rospkg/srv/mmWaveCLI.srv rename to autonomous_robotics_ros/src/ti_mmwave_rospkg/srv/mmWaveCLI.srv index 2aa1e1d..9b3b637 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/srv/mmWaveCLI.srv +++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/srv/mmWaveCLI.srv @@ -1,3 +1,3 @@ -string comm ---- -string resp +string comm +--- +string resp diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/CMakeLists.txt b/autonomous_robotics_ros/src/ti_safety_bubble/CMakeLists.txt new file mode 100644 index 0000000..6d5128a --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/CMakeLists.txt @@ -0,0 +1,211 @@ +cmake_minimum_required(VERSION 3.0.2) +project(ti_safety_bubble) + +## 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 + rospy + std_msgs + message_generation + geometry_msgs +) + +## 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 + Num.msg + ) + +## Generate services in the 'srv' folder + add_service_files( + FILES + AddTwoInts.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 + ) + +################################################ +## 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 beginner_tutorials +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib + CATKIN_DEPENDS message_runtime +) + +########### +## 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/${PROJECT_NAME}/beginner_tutorials.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/beginner_tutorials_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_beginner_tutorials.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) + +add_executable(odomListener src/odomListener.cpp) +target_link_libraries(odomListener ${catkin_LIBRARIES}) +add_dependencies(odomListener ti_safety_bubble_generate_messages_cpp) diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/launch/controller.launch b/autonomous_robotics_ros/src/ti_safety_bubble/launch/controller.launch new file mode 100644 index 0000000..199df8f --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/launch/controller.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/msg/Num.msg b/autonomous_robotics_ros/src/ti_safety_bubble/msg/Num.msg new file mode 100644 index 0000000..9806981 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/msg/Num.msg @@ -0,0 +1 @@ +int64 num diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/package.xml b/autonomous_robotics_ros/src/ti_safety_bubble/package.xml new file mode 100644 index 0000000..140d1fa --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/package.xml @@ -0,0 +1,77 @@ + + + ti_safety_bubble + 0.0.0 + The beginner_tutorials package + + + + + sabeeh + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + message_generation + message_runtime + + nav_msgs + nav_msgs + + geometry_msgs + geometry_msgs + + + + + + + + diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/src/odomListener.cpp b/autonomous_robotics_ros/src/ti_safety_bubble/src/odomListener.cpp new file mode 100644 index 0000000..bda4582 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/src/odomListener.cpp @@ -0,0 +1,211 @@ +/* +* @file odomListener.cpp +* +* @brief +* Subscribes to the global obstacle layers's costmap and footprint nodes, +* publishes velocities based on the . +* +* \par +* NOTE: +* (C) Copyright 2020 Texas Instruments, Inc. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* +* 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. +* +* Neither the name of Texas Instruments Incorporated 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 +* OWNER 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. +*/ + +#include +#include "ros/ros.h" +#include "std_msgs/String.h" +#include "std_srvs/Empty.h" +#include "nav_msgs/OccupancyGrid.h" +#include "geometry_msgs/PolygonStamped.h" +#include "geometry_msgs/Point32.h" +#include "geometry_msgs/Twist.h" + +double robotX, robotY; +nav_msgs::OccupancyGrid gMsg; + +/** + * This callback receives the robot's polygon and calculates the center. + * The center point will be used to calculate distances to objects. + */ +void footprintCallback(const geometry_msgs::PolygonStamped::ConstPtr& msg) +{ + //ROS_INFO("I heard: [%s]", msg->data.c_str()); + //ROS_INFO("[%3.3f], [%3.3f]", msg->pose.pose.position.x,msg->pose.pose.position.y); + //geometry_msgs::Point32 p + double x, y; + int s = (int) msg->polygon.points.size(); + if (s == 0) + return; + x = 0.0; + y = 0.0; + for (int i = 0; i < s; i++) + { + x += msg->polygon.points[i].x; + y += msg->polygon.points[i].y; + } + robotX = x / (double) s; + robotY = y / (double) s; +} + +/** + * This callback saves the global costmap to the gMsg variable. + */ +void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg) +{ + gMsg = *msg; +} + +/** + * Calculates the distance between p1 and p2. + */ +double calculateDistance(double p1x, double p1y, double p2x, double p2y) +{ + return sqrt(pow(p1x - p2x, 2) + pow(p1y - p2y, 2)); +} + + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "odomListener"); + + ros::NodeHandle n; + ros::NodeHandle n2("~"); + + ros::Subscriber footprintSub = n.subscribe("/move_base/global_costmap/footprint", 10, footprintCallback); + ros::Subscriber mapSub = n.subscribe("/move_base/global_costmap/costmap", 10, mapCallback); + + ros::ServiceClient client = n.serviceClient("/move_base/clear_costmaps"); + std_srvs::Empty srv; + + ros::Publisher vel_pub = n.advertise("mobile_base/commands/velocity", 1); + ros::Publisher slowzone_pub = n.advertise("/ti_base/slowzone", 1); + ros::Publisher stopzone_pub = n.advertise("/ti_base/stopzone", 1); + + double outerLimit = 1.5; //radius in meters + double innerLimit = 1.0; //radius in meters + double mapsClearTime = 7.5; //seconds + + n2.getParam("slow_radius", outerLimit); + n2.getParam("stop_radius", innerLimit); + n2.getParam("clear_costmap_period_secs", mapsClearTime); + + + double rate = 20; + ros::Rate loop_rate(rate); + int counter = 0; + bool stopFlag = false; + bool slowFlag = false; + while (ros::ok()) + { + if (gMsg.info.width != 0) { + double tempRobotX = robotX; + double tempRobotY = robotY; + stopFlag = false; + slowFlag = false; + + // create polygons for zones + geometry_msgs::PolygonStamped slowzone; + geometry_msgs::PolygonStamped stopzone; + slowzone.header.frame_id = "slowzone"; + stopzone.header.frame_id = "stopzone"; + int numPoints = 12; // number of points for polygon + for (int i = 0; i < numPoints; ++i) { + double angle = i * ( 360.0 / (double) numPoints) * M_PI / 180.0; + geometry_msgs::Point32 slow_point, stop_point; + slow_point.z = 0.0; + stop_point.z = 0.0; + slow_point.x = cos(angle) * outerLimit; + slow_point.y = sin(angle) * outerLimit; + stop_point.x = cos(angle) * innerLimit; + stop_point.y = sin(angle) * innerLimit; + slowzone.polygon.points.push_back(slow_point); + stopzone.polygon.points.push_back(stop_point); + } + slowzone_pub.publish(slowzone); + stopzone_pub.publish(stopzone); + + // calculate distance to objects + for (int i = 0; i < gMsg.info.height; i++) + { + for (int j = 0; j < gMsg.info.width; j++) + { + int ind = (i * gMsg.info.width) + j; + // grid spaces with probability of 80 or higher will have distance calculated + if (gMsg.data[ind] >= 80) + { + double px = (i * gMsg.info.resolution) + gMsg.info.origin.position.x; + double py = (j * gMsg.info.resolution) + gMsg.info.origin.position.y; + double dist = calculateDistance(tempRobotX, tempRobotY, py, px); + if (outerLimit > dist && dist > innerLimit) + { + slowFlag = true; + } else if (innerLimit >= dist) + { + stopFlag = true; + } + } + } + } + // publish velocity command + geometry_msgs::Twist vel; + // hard-coded angular velocity to offset turtlebot2 from straying to the left + vel.angular.z = -0.0075; + if (stopFlag) { + ROS_INFO("STOP"); + vel.linear.x = 0.0; + vel.angular.z = 0.0; + } else if (slowFlag) { + ROS_INFO("SLOW"); + vel.linear.x = 0.1; + } else { + ROS_INFO("FULL"); + vel.linear.x = 0.2; + } + vel_pub.publish(vel); + } + + // calls move_base service to clear costmaps + counter += 1; + if (counter > (int) (rate * mapsClearTime)) { + if (client.call(srv)) + { + ROS_INFO("maps cleared"); + } else { + ROS_INFO("can't call service"); + } + counter = 0; + } + ros::spinOnce(); + loop_rate.sleep(); + } + + return 0; +} diff --git a/autonomous_robotics_ros/src/ti_safety_bubble/srv/AddTwoInts.srv b/autonomous_robotics_ros/src/ti_safety_bubble/srv/AddTwoInts.srv new file mode 100644 index 0000000..3a68808 --- /dev/null +++ b/autonomous_robotics_ros/src/ti_safety_bubble/srv/AddTwoInts.srv @@ -0,0 +1,4 @@ +int64 a +int64 b +--- +int64 sum diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot/README.md old mode 100644 new mode 100755 similarity index 96% rename from autonomous_robotics_ros/turtlebot/turtlebot/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot/README.md index 46d5685..aba877f --- a/autonomous_robotics_ros/turtlebot/turtlebot/README.md +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot/README.md @@ -1,11 +1,11 @@ -turtlebot -========= - -The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org) and th TI mmWave EVMs. - -ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot) - - - - -![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png) +turtlebot +========= + +The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org) and th TI mmWave EVMs. + +ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot) + + + + +![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png) diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/setup_create.sh b/autonomous_robotics_ros/src/turtlebot/turtlebot/setup_create.sh old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/setup_create.sh rename to autonomous_robotics_ros/src/turtlebot/turtlebot/setup_create.sh diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/setup_kobuki.sh b/autonomous_robotics_ros/src/turtlebot/turtlebot/setup_kobuki.sh old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/setup_kobuki.sh rename to autonomous_robotics_ros/src/turtlebot/turtlebot/setup_kobuki.sh diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.pydevproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/.pydevproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/CMakeLists.txt 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autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/3dsensor/radar.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/3dsensor/radar.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/capabilities.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/description.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/bumper2pc.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/mobile_base.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/kobuki/safety_controller.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/mobile_base.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/netbook.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml new file mode 100755 index 0000000..798e803 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_quad_sensor.launch.xml @@ -0,0 +1,82 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch new file mode 100755 index 0000000..3ccb4e8 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch new file mode 100755 index 0000000..ab71660 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/minimal.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch old mode 100644 new mode 100755 similarity index 99% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/minimal.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch index ce26ebd..f65342c --- a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/minimal.launch +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch @@ -10,12 +10,14 @@ + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/smoother.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/capability_providers.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/kobuki/diagnostics.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/mux.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/preferred_rapp.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/zeroconf.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/scripts/turtlebot_addr.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/.pydevproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/interfaces/TurtleBotBringup.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/diagnostics.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/differential_mobile_base.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/diagnostics.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/placeholder.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/robot_state_publisher.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot2_bringup.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/launch/turtlebot_bringup.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/robot_state_publisher.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot2_bringup.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_capabilities/providers/turtlebot_bringup.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/README.md old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/README.md diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/0_xtion_pro.jpg 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b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/sensor_pole.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro.jpg diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_camera.jpg diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/sensors/xtion_pro_stack.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae old mode 100644 new mode 100755 similarity index 99% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/circles/68-02403-125_Spacer.dae rename to 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autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/plate_top.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_bottom.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_kinect.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_middle.dae diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/meshes/stacks/hexagons/pole_top.dae old mode 100644 new mode 100755 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autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/robots/kobuki_hexagons_radar.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/scripts/calc_inertia.m diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/test.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/test/test_urdf.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/common_properties.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/sensors/radar.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/circles.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/stacks/hexagons.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_common_library.urdf.xacro 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autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_description/urdf/turtlebot_properties.urdf.xacro diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/README.md old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/README.md diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/includes/velocity_smoother.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/keyboard_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/logitech.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/ps3_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/launch/xbox360_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/package.xml old mode 100644 new mode 100755 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autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/scripts/turtlebot_teleop_key diff --git a/autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_teleop/src/turtlebot_joy.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/Graveyard/follower/follower_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/.pydevproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/FindFiducial.action diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/action/TurtlebotMove.action diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/include/turtlebot_actions/detect_calibration_pattern.h diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_fiducial_test.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/client_move_test.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/includes/velocity_smoother.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_find_fudicial.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/launch/server_turtlebot_move.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_fiducial.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/scripts/test_move.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/detect_calibration_pattern.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/find_fiducial_pose.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_actions/src/turtlebot_move_action_server.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_apps/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_apps/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/.pydevproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/launch/calibrate.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/msg/ScanAngle.msg diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/calibrate.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_calibration/src/turtlebot_calibration/scan_to_angle.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/.project diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/CHANGELOG.rst old 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autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/cfg/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/cfg/Follower.cfg diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/follower.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/safety_controller.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/launch/includes/velocity_smoother.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/param/mux.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/plugins/nodelets.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/scripts/switch.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_follower/src/follower.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CHANGELOG.rst diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/CMakeLists.txt diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/env-hooks/25.turtlebot-navigation.sh.em diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/costmap_common_params.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_amcl_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/laser_gmapping_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/laser/move_base_laser.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/amcl_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/gmapping_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/graveyard/graveyard_bump_navi_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/amcl.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/amcl/radar_amcl.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/astra_gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/asus_xtion_pro_offset_gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/kinect_gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/gmapping/r200_gmapping.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml old mode 100644 new mode 100755 similarity index 61% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml index c983c22..f4a7dd6 --- a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base.launch.xml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_quad_sensor.launch.xml @@ -13,14 +13,14 @@ - - - - - - - - + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml new file mode 100755 index 0000000..55e62b5 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/move_base_single_sensor.launch.xml @@ -0,0 +1,38 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/safety_controller.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/launch/includes/velocity_smoother.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.pgm diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/maps/willow-2010-02-18-0.10.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/package.xml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml new file mode 100755 index 0000000..2e05f4c --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/costmap_common_params.yaml @@ -0,0 +1,69 @@ +max_obstacle_height: 1 # assume something like an arm is mounted on top of the robot + +# Obstacle Cost Shaping (http://wiki.ros.org/costmap_2d/hydro/inflation) +robot_radius: 0.18 # distance a circular robot should be clear of the obstacle (kobuki: 0.18) +# footprint: [[x0, y0], [x1, y1], ... [xn, yn]] # if the robot is not circular + +map_type: voxel + +obstacle_layer: + enabled: true + max_obstacle_height: 2 + origin_z: 0.0 + z_resolution: 0.015 + z_voxels: 16 + unknown_threshold: 15 + mark_threshold: 2 + combination_method: 1 + track_unknown_space: true #true needed for disabling global path planning through unknown space + obstacle_range: 4.0 + raytrace_range: 3.0 + publish_voxel_map: true + observation_sources: scan0 scan1 scan2 scan3 bump + scan0: + data_type: PointCloud2 + topic: cloud_in + marking: true + clearing: true + min_obstacle_height: 0.0 + max_obstacle_height: 2 + scan1: + data_type: PointCloud2 + topic: cloud_in + marking: true + clearing: true + min_obstacle_height: 0.0 + max_obstacle_height: 2 + scan2: + data_type: PointCloud2 + topic: cloud_in + marking: true + clearing: true + min_obstacle_height: 0.0 + max_obstacle_height: 2 + scan3: + data_type: PointCloud2 + topic: cloud_in + marking: true + clearing: true + min_obstacle_height: 0.0 + max_obstacle_height: 2 + bump: + data_type: PointCloud2 + topic: mobile_base/sensors/bumper_pointcloud + marking: true + clearing: false + min_obstacle_height: 0.0 + max_obstacle_height: 0.15 + # for debugging only, let's you see the entire voxel grid + +#cost_scaling_factor and inflation_radius were now moved to the inflation_layer ns +inflation_layer: + enabled: true + cost_scaling_factor: 8.0 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 0.22 # max. distance from an obstacle at which costs are incurred for planning paths. + +static_layer: + enabled: true + + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/dummy.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dummy.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/dummy.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dummy.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/dwa_local_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dwa_local_planner_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/dwa_local_planner_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/dwa_local_planner_params.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/global_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml old mode 100644 new mode 100755 similarity index 57% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/global_costmap_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml index af7d166..897c55b --- a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/global_costmap_params.yaml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_costmap_params.yaml @@ -1,16 +1,18 @@ global_costmap: global_frame: /map robot_base_frame: /base_footprint - update_frequency: 15 + update_frequency: 25 publish_frequency: 5 - static_map: false - rolling_window: true - width: 10.0 + static_map: true + rolling_window: false + width: 20.0 height: 10.0 - resolution: 0.02 - transform_tolerance: 10 + always_send_full_costmap: true + origin_x: -5.0 + origin_y: -5.0 + resolution: 0.10 + transform_tolerance: 5 plugins: - - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_planner_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/global_planner_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/global_planner_params.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/local_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml old mode 100644 new mode 100755 similarity index 85% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/local_costmap_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml index 45ba0ee..aee5b05 --- a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/local_costmap_params.yaml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/local_costmap_params.yaml @@ -10,7 +10,6 @@ local_costmap: resolution: 0.02 transform_tolerance: 1 plugins: - - {name: static_layer, type: "costmap_2d::StaticLayer"} - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/move_base_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/move_base_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/move_base_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/move_base_params.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/navfn_global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/navfn_global_planner_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/navfn_global_planner_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/navfn_global_planner_params.yaml diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml new file mode 100755 index 0000000..bf0b6d1 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/quad_sensor/radar_costmap_params.yaml @@ -0,0 +1,25 @@ +local_costmap: + obstacle_layer: + scan0: + topic: xyzi_filt_out_0 + scan1: + topic: xyzi_filt_out_1 + scan2: + topic: xyzi_filt_out_2 + scan3: + topic: xyzi_filt_out_3 +global_costmap: + obstacle_layer: + scan0: + topic: xyzi_filt_out_0 + scan1: + topic: xyzi_filt_out_1 + scan2: + topic: xyzi_filt_out_2 + scan3: + topic: xyzi_filt_out_3 + inflation_layer: + cost_scaling_factor: 9.8 # exponential rate at which the obstacle cost drops off (default: 10) + inflation_radius: 0.37 # max. distance from an obstacle at which costs are incurred for planning paths. + + diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/costmap_common_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml old mode 100644 new mode 100755 similarity index 93% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/costmap_common_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml index c2008e6..abc5a80 --- a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/costmap_common_params.yaml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/costmap_common_params.yaml @@ -8,7 +8,7 @@ map_type: voxel obstacle_layer: enabled: true - max_obstacle_height: 1 + max_obstacle_height: 2 origin_z: 0.0 z_resolution: 0.015 z_voxels: 16 @@ -16,7 +16,7 @@ obstacle_layer: mark_threshold: 2 combination_method: 1 track_unknown_space: true #true needed for disabling global path planning through unknown space - obstacle_range: 1.0 + obstacle_range: 4.0 raytrace_range: 3.0 publish_voxel_map: true observation_sources: scan bump @@ -24,9 +24,9 @@ obstacle_layer: data_type: PointCloud2 topic: cloud_in marking: true - clearing: false + clearing: true min_obstacle_height: 0.0 - max_obstacle_height: 1 + max_obstacle_height: 2 bump: data_type: PointCloud2 topic: mobile_base/sensors/bumper_pointcloud diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml new file mode 100755 index 0000000..89f2356 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dummy.yaml @@ -0,0 +1 @@ +#A dummy file loaded when no custom param file is given diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml new file mode 100755 index 0000000..4fb4669 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/dwa_local_planner_params.yaml @@ -0,0 +1,57 @@ +DWAPlannerROS: + +# Robot Configuration Parameters - Kobuki + max_vel_x: 0.2 # 0.55 + min_vel_x: 0.0 + + max_vel_y: 0.0 # diff drive robot + min_vel_y: 0.0 # diff drive robot + + max_trans_vel: 0.5 # choose slightly less than the base's capability + min_trans_vel: 0.1 # this is the min trans velocity when there is negligible rotational velocity + trans_stopped_vel: 0.05 + + # Warning! + # do not set min_trans_vel to 0.0 otherwise dwa will always think translational velocities + # are non-negligible and small in place rotational velocities will be created. + + max_rot_vel: 2.0 # choose slightly less than the base's capability + min_rot_vel: 0.4 # this is the min angular velocity when there is negligible translational velocity + rot_stopped_vel: 0.4 + + acc_lim_x: 2.0 # maximum is theoretically 2.0, but we + acc_lim_theta: 2.0 + acc_lim_y: 0.0 # diff drive robot + +# Goal Tolerance Parameters + yaw_goal_tolerance: 0.40 # 0.05 + xy_goal_tolerance: 0.17 # 0.10 + latch_xy_goal_tolerance: true + +# Forward Simulation Parameters + sim_time: 1.7 # 1.7 + vx_samples: 3 # 3 + vy_samples: 0 # diff drive robot, there is only one sample + vtheta_samples: 20 # 20 + +# Trajectory Scoring Parameters + path_distance_bias: 32.0 # 32.0 - weighting for how much it should stick to the global path plan + goal_distance_bias: 0.01 # 24.0 - weighting for how much it should attempt to reach its goal + occdist_scale: 0.01 # 0.01 - weighting for how much the controller should avoid obstacles + forward_point_distance: 0.12 # 0.325 - how far along to place an additional scoring point + stop_time_buffer: 0.2 # 0.2 - amount of time a robot must stop in before colliding for a valid traj. + scaling_speed: 0.25 # 0.25 - absolute velocity at which to start scaling the robot's footprint + max_scaling_factor: 0.2 # 0.2 - how much to scale the robot's footprint when at speed. + +# Oscillation Prevention Parameters + oscillation_reset_dist: 0.00 # 0.02 - how far to travel before resetting oscillation flags + oscillation_reset_angle: 0.0 # 0.2 - how far to rotate before resetting oscillation flags + +# Debugging + publish_traj_pc : true + publish_cost_grid_pc: true + global_frame_id: odom + + +# Differential-drive robot configuration - necessary? + holonomic_robot: false diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml new file mode 100755 index 0000000..897c55b --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_costmap_params.yaml @@ -0,0 +1,18 @@ +global_costmap: + global_frame: /map + robot_base_frame: /base_footprint + update_frequency: 25 + publish_frequency: 5 + static_map: true + rolling_window: false + width: 20.0 + height: 10.0 + always_send_full_costmap: true + origin_x: -5.0 + origin_y: -5.0 + resolution: 0.10 + transform_tolerance: 5 + plugins: + - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml new file mode 100755 index 0000000..72a7a23 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/global_planner_params.yaml @@ -0,0 +1,20 @@ + +GlobalPlanner: # Also see: http://wiki.ros.org/global_planner + old_navfn_behavior: false # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false + use_quadratic: true # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true + use_dijkstra: true # Use dijkstra's algorithm. Otherwise, A*, default true + use_grid_path: false # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false + + allow_unknown: true # Allow planner to plan through unknown space, default true + #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work + planner_window_x: 0.0 # default 0.0 + planner_window_y: 0.0 # default 0.0 + default_tolerance: 0.0 # If goal in obstacle, plan to the closest point in radius default_tolerance, default 0.0 + + publish_scale: 100 # Scale by which the published potential gets multiplied, default 100 + planner_costmap_publish_frequency: 0.0 # default 0.0 + + lethal_cost: 253 # default 253 + neutral_cost: 66 # default 50 + cost_factor: 3.0 # Factor to multiply each cost from costmap by, default 3.0 + publish_potential: true # Publish Potential Costmap (this is not like the navfn pointcloud2 potential), default true diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml new file mode 100755 index 0000000..aee5b05 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/local_costmap_params.yaml @@ -0,0 +1,15 @@ +local_costmap: + global_frame: /odom + robot_base_frame: /base_footprint + update_frequency: 20 + publish_frequency: 10 + static_map: false + rolling_window: true + width: 4.0 + height: 4.0 + resolution: 0.02 + transform_tolerance: 1 + plugins: + - {name: obstacle_layer, type: "costmap_2d::VoxelLayer"} + - {name: inflation_layer, type: "costmap_2d::InflationLayer"} + diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml new file mode 100755 index 0000000..4bd08a3 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/move_base_params.yaml @@ -0,0 +1,66 @@ +# Move base node parameters. For full documentation of the parameters in this file, please see +# +# http://www.ros.org/wiki/move_base +# +shutdown_costmaps: false + +controller_frequency: 5.0 +controller_patience: 3.0 + + +planner_frequency: 1.0 +planner_patience: 5.0 + +oscillation_timeout: 0.0 +oscillation_distance: 0.2 + +# local planner - default is trajectory rollout +base_local_planner: "dwa_local_planner/DWAPlannerROS" + +base_global_planner: "navfn/NavfnROS" #alternatives: global_planner/GlobalPlanner, carrot_planner/CarrotPlanner + + +#We plan to integrate recovery behaviors for turtlebot but currently those belong to gopher and still have to be adapted. +## recovery behaviors; we avoid spinning, but we need a fall-back replanning +recovery_behavior_enabled: true + +#conservative_reset_dist: 0.1 + +conservative_reset: + layer_names: + - obstacle_layer + +aggressive_reset: + layer_names: + - obstacle_layer + +recovery_behaviors: + #- name: 'super_conservative_reset1' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + #- name: 'conservative_reset1' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + #- name: 'aggressive_reset1' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'clearing_rotation1' + type: 'rotate_recovery/RotateRecovery' + #- name: 'super_conservative_reset2' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + #- name: 'conservative_reset2' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + #- name: 'aggressive_reset2' + #type: 'clear_costmap_recovery/ClearCostmapRecovery' + - name: 'clearing_rotation2' + type: 'rotate_recovery/RotateRecovery' + +#super_conservative_reset1: + #reset_distance: 3.0 +#conservative_reset1: + #reset_distance: 1.5 +#aggressive_reset1: + #reset_distance: 0.0 +#super_conservative_reset2: + #reset_distance: 3.0 +#conservative_reset2: + #reset_distance: 1.5 +#aggressive_reset2: + #reset_distance: 0.0 diff --git a/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml new file mode 100755 index 0000000..a0b6bea --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/navfn_global_planner_params.yaml @@ -0,0 +1,10 @@ + +NavfnROS: + visualize_potential: false #Publish potential for rviz as pointcloud2, not really helpful, default false + allow_unknown: false #Specifies whether or not to allow navfn to create plans that traverse unknown space, default true + #Needs to have track_unknown_space: true in the obstacle / voxel layer (in costmap_commons_param) to work + planner_window_x: 0.0 #Specifies the x size of an optional window to restrict the planner to, default 0.0 + planner_window_y: 0.0 #Specifies the y size of an optional window to restrict the planner to, default 0.0 + + default_tolerance: 0.0 #If the goal is in an obstacle, the planer will plan to the nearest point in the radius of default_tolerance, default 0.0 + #The area is always searched, so could be slow for big values diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/radar_costmap_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml old mode 100644 new mode 100755 similarity index 99% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/radar_costmap_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml index f1e0d95..ba6b32d --- a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/param/radar_costmap_params.yaml +++ b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/param/single_sensor/radar_costmap_params.yaml @@ -2,7 +2,6 @@ local_costmap: obstacle_layer: scan: topic: xyzi_filt_out - global_costmap: obstacle_layer: scan: diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_navigation/src/laser_footprint_filter.cpp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.project old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/.project rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/.project diff --git 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a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/auto_docking/auto_docking_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/follower/follower_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/make_a_map/make_a_map_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_manager/map_manager_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/map_nav/map_nav_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/panorama/panorama_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/ps3_teleop/ps3_teleop.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/teleop_bubble_icon.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/video_teleop/video_teleop.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/custom_params.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/waypoint_nav/waypoint_nav.rapp old mode 100644 new 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b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.interface diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp b/autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp rename to autonomous_robotics_ros/src/turtlebot/turtlebot_apps/turtlebot_rapps/rapps/xbox360_teleop/xbox360_teleop.rapp diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_interactions/README.md b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/README.md old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_interactions/README.md rename to autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/README.md diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject rename to autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.cproject diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore rename to autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.gitignore diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_interactions/turtlebot_dashboard/.project b/autonomous_robotics_ros/src/turtlebot/turtlebot_interactions/turtlebot_dashboard/.project old mode 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autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/env-hooks/25.turtlebot-gazebo.sh.em diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/amcl_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/gmapping_demo.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/create.launch.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_gazebo/launch/includes/kobuki.launch.xml old mode 100644 new mode 100755 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autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/turtlebot_in_stdr.launch rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/launch/turtlebot_in_stdr.launch diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/frieburg.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/hospital_section.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/mines.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/robocup.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/simple_rooms.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.png diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/maps/sparse_obstacles.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/nodes/tf_connector.py diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/package.xml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/robot/turtlebot.yaml diff --git a/autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz b/autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz rename to autonomous_robotics_ros/src/turtlebot/turtlebot_simulator/turtlebot_stdr/rviz/robot_navigation.rviz diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/CMakeLists.txt b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/CMakeLists.txt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/CMakeLists.txt rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/CMakeLists.txt diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz new file mode 100755 index 0000000..cf63d49 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation.rviz @@ -0,0 +1,420 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 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 + base_radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + 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 + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: 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: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_0 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_1 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 170; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_3 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 170; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/slowzone + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 0; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/stopzone + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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 + Topic: /initialpose + - 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: 9.80425835 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.759797156 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1415 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1056 + Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz new file mode 100755 index 0000000..82b208e --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/bubble_navigation_2.rviz @@ -0,0 +1,285 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 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 + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - 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: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_0 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_1 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 170; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_3 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 170; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/slowzone + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 0; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/stopzone + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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 + Topic: /initialpose + - 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: 9.80425835 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.759797156 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1415 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation.rviz new file mode 100755 index 0000000..cf63d49 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation.rviz @@ -0,0 +1,420 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 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 + base_radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_back_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + caster_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + cliff_sensor_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + cliff_sensor_right_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gyro_link: + Alpha: 1 + Show Axes: false + Show Trail: false + plate_bottom_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_middle_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + plate_top_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_4_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_bottom_5_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_middle_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_0_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_1_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_2_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pole_top_3_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_left_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + wheel_right_link: + 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 + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: true + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: 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: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_0 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_1 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 170; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_3 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 170; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/slowzone + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 0; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/stopzone + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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 + Topic: /initialpose + - 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: 9.80425835 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.759797156 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1415 + Saved: ~ +Window Geometry: + Displays: + collapsed: true + Height: 1056 + Hide Left Dock: true + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000062a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation_2.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation_2.rviz new file mode 100755 index 0000000..82b208e --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/bubble_navigation_2.rviz @@ -0,0 +1,285 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + Splitter Ratio: 0.5 + Tree Height: 775 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: "" +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.0299999993 + 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: 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 + Name: RobotModel + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Class: rviz/Polygon + Color: 25; 255; 0 + Enabled: true + Name: Polygon + Topic: /move_base/global_costmap/footprint + Unreliable: false + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: costmap + Draw Behind: false + Enabled: false + Name: Map + Topic: /move_base/global_costmap/costmap + Unreliable: false + Use Timestamp: false + Value: false + - 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: 255; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_0 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 0; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_1 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 85; 0; 255 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_2 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + 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: 255; 170; 0 + Color Transformer: FlatColor + Decay Time: 0.25 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 32.9000015 + Min Color: 0; 0; 0 + Min Intensity: 11.3999996 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.0399999991 + Style: Spheres + Topic: /xyzi_filt_out_3 + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 170; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/slowzone + Unreliable: false + Value: true + - Alpha: 1 + Class: rviz/Polygon + Color: 255; 0; 0 + Enabled: true + Name: Polygon + Topic: /ti_base/stopzone + Unreliable: false + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + 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 + Topic: /initialpose + - 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: 9.80425835 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 0.759797156 + Target Frame: + Value: Orbit (rviz) + Yaw: 3.1415 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1056 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1855 + X: 65 + Y: 24 diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch new file mode 100755 index 0000000..f212063 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_limit_filters_bubble.launch @@ -0,0 +1,183 @@ + + + + + + + + + + filter_field_name: x + filter_limit_min: 0.1 + filter_limit_max: 4 + filter_limit_negative: False + + + + + + + + filter_field_name: y + filter_limit_min: -3 + filter_limit_max: 3 + filter_limit_negative: False + + + + + + + + filter_field_name: z + filter_limit_min: -0.4 + filter_limit_max: 0.10 + filter_limit_negative: False + + + + + + + + filter_field_name: intensity + filter_limit_min: 8 + filter_limit_max: 100 + filter_limit_negative: False + + + + + + + + filter_field_name: x + filter_limit_min: 0.1 + filter_limit_max: 4 + filter_limit_negative: False + + + + + + + + filter_field_name: y + filter_limit_min: -3 + filter_limit_max: 3 + filter_limit_negative: False + + + + + + + + filter_field_name: z + filter_limit_min: -0.4 + filter_limit_max: 0.10 + filter_limit_negative: False + + + + + + + + filter_field_name: intensity + filter_limit_min: 8 + filter_limit_max: 100 + filter_limit_negative: False + + + + + + + + filter_field_name: x + filter_limit_min: 0.1 + filter_limit_max: 4 + filter_limit_negative: False + + + + + + + + filter_field_name: y + filter_limit_min: -3 + filter_limit_max: 3 + filter_limit_negative: False + + + + + + + + filter_field_name: z + filter_limit_min: -0.4 + filter_limit_max: 0.10 + filter_limit_negative: False + + + + + + + + filter_field_name: intensity + filter_limit_min: 8 + filter_limit_max: 100 + filter_limit_negative: False + + + + + + + + filter_field_name: x + filter_limit_min: 0.1 + filter_limit_max: 4 + filter_limit_negative: False + + + + + + + + filter_field_name: y + filter_limit_min: -3 + filter_limit_max: 3 + filter_limit_negative: False + + + + + + + + filter_field_name: z + filter_limit_min: -0.4 + filter_limit_max: 0.10 + filter_limit_negative: False + + + + + + + + filter_field_name: intensity + filter_limit_min: 8 + filter_limit_max: 100 + filter_limit_negative: False + + + diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_navigation_quad.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_navigation_quad.launch new file mode 100755 index 0000000..9a0a9ce --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/quad_sensor/radar_navigation_quad.launch @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch new file mode 100755 index 0000000..f578220 --- /dev/null +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/bubble_navigation_single.launch @@ -0,0 +1,34 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_6ft_border.bt b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_6ft_border.bt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_6ft_border.bt rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_6ft_border.bt diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_6ft_border_large.bt b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_6ft_border_large.bt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_6ft_border_large.bt rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_6ft_border_large.bt diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_8ft_border.bt b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_8ft_border.bt old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/map_4ft_by_8ft_border.bt rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/map_4ft_by_8ft_border.bt diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/mapping_visualization.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/mapping_visualization.rviz old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/mapping_visualization.rviz rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/mapping_visualization.rviz diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/navigation_visualization.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/navigation_visualization.rviz old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/navigation_visualization.rviz rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/navigation_visualization.rviz diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/navigation_visualization_2.rviz b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/navigation_visualization_2.rviz old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/navigation_visualization_2.rviz rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/navigation_visualization_2.rviz diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_limit_filters.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_limit_filters.launch old mode 100644 new mode 100755 similarity index 96% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_limit_filters.launch rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_limit_filters.launch index 300ae36..0ffd07a --- a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_limit_filters.launch +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_limit_filters.launch @@ -6,7 +6,7 @@ - + filter_field_name: x diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_mapping.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_mapping.launch old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_mapping.launch rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_mapping.launch diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_navigation.launch b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch old mode 100644 new mode 100755 similarity index 87% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_navigation.launch rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch index e327ea7..5af70fd --- a/autonomous_robotics_ros/turtlebot_mmwave_launchers/launch/radar_navigation.launch +++ b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_navigation.launch @@ -4,7 +4,7 @@ - + @@ -17,8 +17,8 @@ - - + + diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/package.xml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/package.xml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/package.xml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/package.xml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_a.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_a.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_a.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_a.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_b.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_b.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_b.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_b.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_c.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_c.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_l_c.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_l_c.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_a.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_a.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_a.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_a.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_b.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_b.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_b.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_b.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_c.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_c.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/goal_r_c.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/goal_r_c.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_a.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_a.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_a.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_a.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_b.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_b.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_b.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_b.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_c.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_c.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_l_c.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_l_c.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_a.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_a.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_a.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_a.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_b.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_b.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_b.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_b.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_c.yaml b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_c.yaml old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/init_pose_r_c.yaml rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/init_pose_r_c.yaml diff --git a/autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/start_nav.sh b/autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/start_nav.sh old mode 100644 new mode 100755 similarity index 100% rename from autonomous_robotics_ros/turtlebot_mmwave_launchers/scripts/start_nav.sh rename to autonomous_robotics_ros/src/turtlebot_mmwave_launchers/scripts/start_nav.sh diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d_gui_settings.PNG b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d_gui_settings.PNG deleted file mode 100644 index 09e0769..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d_gui_settings.PNG and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d_gui_settings.PNG b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d_gui_settings.PNG deleted file mode 100644 index 7db88e8..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d_gui_settings.PNG and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d.cfg b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d.cfg deleted file mode 100644 index ef24cea..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d.cfg +++ /dev/null @@ -1,46 +0,0 @@ -% *************************************************************** -% Created for SDK ver:02.00 -% Created using Visualizer ver:2.0.0.0 -% Frequency:77 -% Platform:xWR16xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 -% Range Resolution(m):0.044 -% Maximum unambiguous Range(m):9.08 -% Maximum Radial Velocity(m/s):5.06 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):9 -% Doppler Detection Threshold (dB):9 -% Range Peak Grouping:disabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 3 0 -adcCfg 2 1 -adcbufCfg -1 0 0 1 0 -profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 2 -frameCfg 0 1 16 0 33.333 1 0 -lowPower 0 1 -guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 0 8 4 4 0 3072 -cfarCfg -1 1 0 4 2 3 0 3072 -peakGrouping -1 1 0 1 1 255 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -extendedMaxVelocity -1 0 -bpmCfg -1 0 0 1 -lvdsStreamCfg -1 0 0 0 -nearFieldCfg -1 0 0 0 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 5 123 0 -CQSigImgMonitor 0 127 4 -analogMonitor 1 1 -sensorStart \ No newline at end of file diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings.PNG b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings.PNG deleted file mode 100644 index a9d4e0f..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings.PNG and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings_sdk_1_2.PNG b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings_sdk_1_2.PNG deleted file mode 100644 index 0a66cd8..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_gui_settings_sdk_1_2.PNG and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_sdk_1_2.cfg b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_sdk_1_2.cfg deleted file mode 100644 index c728df8..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1642_2d_sdk_1_2.cfg +++ /dev/null @@ -1,45 +0,0 @@ -% *************************************************************** -% Created for SDK ver:01.02 -% Created using Visualizer ver:1.2.0.0 -% Frequency:77 -% Platform:xWR16xx -% Scene Classifier:best_range_res -% Azimuth Resolution(deg):15 -% Range Resolution(m):0.044 -% Maximum unambiguous Range(m):9.08 -% Maximum Radial Velocity(m/s):5.06 -% Radial velocity resolution(m/s):0.64 -% Frame Duration(msec):33.333 -% Range Detection Threshold (dB):9 -% Doppler Detection Threshold (dB):9 -% Range Peak Grouping:disabled -% Doppler Peak Grouping:enabled -% Static clutter removal:disabled -% *************************************************************** -sensorStop -flushCfg -dfeDataOutputMode 1 -channelCfg 15 3 0 -adcCfg 2 1 -adcbufCfg -1 0 0 1 0 -profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30 -chirpCfg 0 0 0 0 0 0 0 1 -chirpCfg 1 1 0 0 0 0 0 2 -frameCfg 0 1 16 0 33.333 1 0 -guiMonitor -1 1 0 0 0 0 0 -cfarCfg -1 0 0 8 4 4 0 3072 -cfarCfg -1 1 0 4 2 3 0 3072 -peakGrouping -1 1 0 1 1 255 -multiObjBeamForming -1 1 0.5 -clutterRemoval -1 0 -calibDcRangeSig -1 0 -5 8 256 -extendedMaxVelocity -1 0 -bpmCfg -1 0 0 1 -lvdsStreamCfg -1 0 0 0 -nearFieldCfg -1 0 0 0 -compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 -measureRangeBiasAndRxChanPhase 0 1.5 0.2 -CQRxSatMonitor 0 3 5 123 0 -CQSigImgMonitor 0 127 4 -analogMonitor 1 1 -sensorStart \ No newline at end of file diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d_gui_settings.PNG b/autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d_gui_settings.PNG deleted file mode 100644 index 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518548a..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/docs/TI_mmWave_ROS_Driver_Setup_Guide.pdf and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/docs/TI_mmWave_ROS_Driver_manifest.pdf b/autonomous_robotics_ros/ti_mmwave_rospkg/docs/TI_mmWave_ROS_Driver_manifest.pdf deleted file mode 100644 index 6de6036..0000000 Binary files a/autonomous_robotics_ros/ti_mmwave_rospkg/docs/TI_mmWave_ROS_Driver_manifest.pdf and /dev/null differ diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataFmt.hpp b/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataFmt.hpp deleted file mode 100644 index 1d866bc..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataFmt.hpp +++ /dev/null @@ -1,79 +0,0 @@ -/* - * mmWaveDataFmt.hpp - * - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#ifndef MMWAVE_DATA_FMT_H -#define MMWAVE_DATA_FMT_H - -/*Include ROS specific headers*/ -#include "ros/ros.h" -#include "std_msgs/String.h" -#include "serial/serial.h" -#include -#include - -/*Include standard C/C++ headers*/ -#include -#include -#include - -namespace ti_mmwave_rospkg -{ - -class mmWaveDataFmt : public nodelet::Nodelet -{ - public: - - mmWaveDataFmt(); - - private: - - virtual void onInit(); - - //laserscan publisher - ros::Publisher ; - - //pcl publisher - ros::Publisher ; - - //radar message subscriber - ros::Subscriber ; - -}; //Class mmWaveDataFmt - -} //namespace ti_mmwave_rospkg - -#endif diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_elev.rviz b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_elev.rviz deleted file mode 100644 index 61e9478..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_elev.rviz +++ /dev/null @@ -1,145 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Grid1 - - /Grid1/Offset1 - - /PointCloud21 - - /PointCloud21/Autocompute Value Bounds1 - Splitter Ratio: 0.5 - Tree Height: 565 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - - /Current View1/Focal Point1 - 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: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 5 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 37.8426056 - Min Color: 0; 0; 255 - Min Intensity: 3.01029992 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0299999993 - Style: Spheres - Topic: /mmWaveDataHdl/RScan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - 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: - Class: rviz/Orbit - Distance: 7.18657684 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 2 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 0.599798262 - Target Frame: - Value: Orbit (rviz) - Yaw: 0 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1200 - X: 183 - Y: 63 diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_intensity.rviz b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_intensity.rviz deleted file mode 100644 index 868fe69..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/radar_det_obj_color_by_intensity.rviz +++ /dev/null @@ -1,145 +0,0 @@ -Panels: - - Class: rviz/Displays - Help Height: 78 - Name: Displays - Property Tree Widget: - Expanded: - - /Grid1 - - /Grid1/Offset1 - - /PointCloud21 - - /PointCloud21/Autocompute Value Bounds1 - Splitter Ratio: 0.5 - Tree Height: 565 - - Class: rviz/Selection - Name: Selection - - Class: rviz/Tool Properties - Expanded: - - /2D Pose Estimate1 - - /2D Nav Goal1 - - /Publish Point1 - Name: Tool Properties - Splitter Ratio: 0.588679016 - - Class: rviz/Views - Expanded: - - /Current View1 - - /Current View1/Focal Point1 - 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: 0.0299999993 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 5 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 0.5 - Min Value: -0.5 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz/PointCloud2 - Color: 255; 255; 255 - Color Transformer: Intensity - Decay Time: 0.25 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 34.3759193 - Min Color: 0; 0; 255 - Min Intensity: 6.02059984 - Name: PointCloud2 - Position Transformer: XYZ - Queue Size: 10 - Selectable: true - Size (Pixels): 3 - Size (m): 0.0299999993 - Style: Spheres - Topic: /mmWaveDataHdl/RScan - Unreliable: false - Use Fixed Frame: true - Use rainbow: false - Value: true - Enabled: true - Global Options: - Background Color: 48; 48; 48 - 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: - Class: rviz/Orbit - Distance: 7.18657684 - Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 2 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.0500000007 - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.00999999978 - Pitch: 1.56979632 - Target Frame: - Value: Orbit (rviz) - Yaw: 0.000380992889 - Saved: ~ -Window Geometry: - Displays: - collapsed: false - Height: 846 - Hide Left Dock: false - Hide Right Dock: true - QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002abfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000041000002ab000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000340000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 - Selection: - collapsed: false - Time: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: true - Width: 1200 - X: 183 - Y: 63 diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_2d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_2d.launch deleted file mode 100644 index 8a133ee..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_2d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_3d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_3d.launch deleted file mode 100644 index e6d248b..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1443_3d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1642_2d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1642_2d.launch deleted file mode 100644 index 854bd06..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1642_2d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1843_3d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1843_3d.launch deleted file mode 100644 index 826cdfc..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_1843_3d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843AOP_3d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843AOP_3d.launch deleted file mode 100644 index 8704842..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843AOP_3d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_2d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_2d.launch deleted file mode 100644 index 621ced3..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_2d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_3d.launch b/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_3d.launch deleted file mode 100644 index f7e27f1..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/launch/rviz_6843_3d.launch +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp b/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp deleted file mode 100644 index 6dbd6d6..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp +++ /dev/null @@ -1,115 +0,0 @@ -/* - * mmWaveCommSrv.cpp - * Description: This file implements a ROS nodelet which will open up a serial port provided by the user - * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo - * User UART to be used for board configuration. - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#include "mmWaveCommSrv.hpp" - -namespace ti_mmwave_rospkg -{ - -PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveCommSrv, nodelet::Nodelet); - -mmWaveCommSrv::mmWaveCommSrv() {} - -void mmWaveCommSrv::onInit() -{ - ros::NodeHandle private_nh = getPrivateNodeHandle(); - - private_nh.getParam("/mmWave_Manager/command_port", mySerialPort); - - private_nh.getParam("/mmWave_Manager/command_rate", myBaudRate); - - ROS_INFO("mmWaveCommSrv: command_port = %s", mySerialPort.c_str()); - ROS_INFO("mmWaveCommSrv: command_rate = %d", myBaudRate); - - commSrv = private_nh.advertiseService("mmWaveCLI", &mmWaveCommSrv::commSrv_cb, this); - - NODELET_DEBUG("mmWaveCommsrv: Finished onInit function"); -} - - -bool mmWaveCommSrv::commSrv_cb(mmWaveCLI::Request &req , mmWaveCLI::Response &res) -{ - NODELET_DEBUG("mmWaveCommSrv: Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate); - - /*Open Serial port and error check*/ - serial::Serial mySerialObject("", myBaudRate, serial::Timeout::simpleTimeout(1000)); - mySerialObject.setPort(mySerialPort.c_str()); - try - { - mySerialObject.open(); - } catch (std::exception &e1) { - ROS_INFO("mmWaveCommSrv: Failed to open User serial port with error: %s", e1.what()); - ROS_INFO("mmWaveCommSrv: Waiting 20 seconds before trying again..."); - try - { - // Wait 20 seconds and try to open serial port again - ros::Duration(20).sleep(); - mySerialObject.open(); - } catch (std::exception &e2) { - ROS_ERROR("mmWaveCommSrv: Failed second time to open User serial port, error: %s", e1.what()); - NODELET_ERROR("mmWaveCommSrv: Port could not be opened. Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate); - return false; - } - } - - /*Read any previous pending response(s)*/ - while (mySerialObject.available() > 0) - { - mySerialObject.readline(res.resp, 1024, ":/>"); - ROS_INFO("mmWaveCommSrv: Received (previous) response from sensor: '%s'", res.resp.c_str()); - res.resp = ""; - } - - /*Send out command received from the client*/ - ROS_INFO("mmWaveCommSrv: Sending command to sensor: '%s'", req.comm.c_str()); - req.comm.append("\n"); - int bytesSent = mySerialObject.write(req.comm.c_str()); - - /*Read output from mmwDemo*/ - mySerialObject.readline(res.resp, 1024, ":/>"); - ROS_INFO("mmWaveCommSrv: Received response from sensor: '%s'", res.resp.c_str()); - - mySerialObject.close(); - - return true; -} - -} - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataFmt.cpp b/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataFmt.cpp deleted file mode 100644 index 1ae3113..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataFmt.cpp +++ /dev/null @@ -1,64 +0,0 @@ -/* - * mmWaveDataFmt.cpp - * Description: - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#include "mmWaveDataFmt.hpp" - -namespace ti_mmwave_rospkg -{ - -PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveDataFmt, nodelet::Nodelet); - -mmWaveDataFmt::mmWaveDataFmt() {} - -void mmWaveDataFmt::onInit() -{ - ros::NodeHandle private_nh = getPrivateNodeHandle(); -} - -//TODO: callback for radar message -void mmWaveDataFmt::something_here() -{ - -} - -//TODO: callback for type -void mmWaveDataFmt::something_else_here() -{ - -} - -} - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp b/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp deleted file mode 100644 index c150f75..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp +++ /dev/null @@ -1,91 +0,0 @@ -/* - * mmWaveDataHdl.cpp - * - * Description:This file implements a ROS nodelet which will open up a serial port provided by the user - * at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo - * Data UART to be used for board configuration. - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#include "mmWaveDataHdl.hpp" -#include "DataHandlerClass.h" - -namespace ti_mmwave_rospkg -{ - -PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveDataHdl, nodelet::Nodelet); - -mmWaveDataHdl::mmWaveDataHdl() {} - -void mmWaveDataHdl::onInit() -{ - ros::NodeHandle private_nh = getPrivateNodeHandle(); - - std::string mySerialPort; - int myBaudRate; - int myMaxAllowedElevationAngleDeg; - int myMaxAllowedAzimuthAngleDeg; - - private_nh.getParam("/mmWave_Manager/data_port", mySerialPort); - - private_nh.getParam("/mmWave_Manager/data_rate", myBaudRate); - - if (!(private_nh.getParam("/mmWave_Manager/max_allowed_elevation_angle_deg", myMaxAllowedElevationAngleDeg))) - { - myMaxAllowedElevationAngleDeg = 90; // Use max angle if none specified - } - - if (!(private_nh.getParam("/mmWave_Manager/max_allowed_azimuth_angle_deg", myMaxAllowedAzimuthAngleDeg))) - { - myMaxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified - } - - ROS_INFO("mmWaveDataHdl: data_port = %s", mySerialPort.c_str()); - ROS_INFO("mmWaveDataHdl: data_rate = %d", myBaudRate); - ROS_INFO("mmWaveDataHdl: max_allowed_elevation_angle_deg = %d", myMaxAllowedElevationAngleDeg); - ROS_INFO("mmWaveDataHdl: max_allowed_azimuth_angle_deg = %d", myMaxAllowedAzimuthAngleDeg); - - DataUARTHandler DataHandler(&private_nh); - DataHandler.setUARTPort( (char*) mySerialPort.c_str() ); - DataHandler.setBaudRate( myBaudRate ); - DataHandler.setMaxAllowedElevationAngleDeg( myMaxAllowedElevationAngleDeg ); - DataHandler.setMaxAllowedAzimuthAngleDeg( myMaxAllowedAzimuthAngleDeg ); - DataHandler.start(); - - NODELET_DEBUG("mmWaveDataHdl: Finished onInit function"); -} - -} - - - diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveLoader.cpp b/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveLoader.cpp deleted file mode 100644 index d08392c..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveLoader.cpp +++ /dev/null @@ -1,66 +0,0 @@ -/* - * mmWaveLoader.cpp - * - * - * This file implements a ROS node which will load the mmWaveDataHdl and mmWaveCommSrv nodelets at runtime. - * Use the following command to start this node: - * - * rosrun ti_mmwave_rospkg ti_mmwave_rospkg _data_port:=/dev/ttyACM1 _data_rate:=921600 _command_port:=/dev/ttyACM0 _command_rate:=115200 - * - * And replace the ports with the proper name on your system. - * - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ -#include "ros/ros.h" -#include "nodelet/loader.h" - -int main(int argc, char **argv) -{ - - ros::init(argc, argv, "mmWave_Manager"); - - nodelet::Loader manager(true); - - nodelet::M_string remap(ros::names::getRemappings()); - - nodelet::V_string nargv; - - manager.load("mmWaveCommSrv", "ti_mmwave_rospkg/mmWaveCommSrv", remap, nargv); - - manager.load("mmWaveDataHdl", "ti_mmwave_rospkg/mmWaveDataHdl", remap, nargv); - - ros::spin(); - - return 0; - } diff --git a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp b/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp deleted file mode 100644 index 4af9a93..0000000 --- a/autonomous_robotics_ros/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp +++ /dev/null @@ -1,134 +0,0 @@ -/* - * mmWaveQuickConfig.cpp - * - * This file will load a .txt file specified at the command line - * and parse it, sending each line to the mmWaveCLI service as a command. - * Examples configurations are provided under the cfg folder. - * - * Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/ - * - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * - * 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. - * - * Neither the name of Texas Instruments Incorporated 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 - * OWNER 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. - * -*/ - -#include "ros/ros.h" -#include "ti_mmwave_rospkg/mmWaveCLI.h" -#include -#include -#include -#include - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "mmWaveQuickConfig"); - if (argc != 2) - { - ROS_INFO("mmWaveQuickConfig: usage: mmWaveQuickConfig /file_directory/params.cfg"); - return 1; - } - else - { - ROS_INFO("mmWaveQuickConfig: Configuring mmWave device using config file: %s", argv[1]); - } - - ros::NodeHandle n; - ros::ServiceClient client = n.serviceClient("/mmWaveCommSrv/mmWaveCLI"); - ti_mmwave_rospkg::mmWaveCLI srv; - std::ifstream myParams; - - //wait for service to become available - ros::service::waitForService("/mmWaveCommSrv/mmWaveCLI", 100000); - - myParams.open(argv[1]); - - if( myParams.is_open() ) - { - while( std::getline(myParams, srv.request.comm) ) - { - // Remove Windows carriage-return if present - srv.request.comm.erase(std::remove(srv.request.comm.begin(), srv.request.comm.end(), '\r'), srv.request.comm.end()); - - // Ignore comment lines (first non-space char is '%') or blank lines - if (std::regex_match(srv.request.comm, std::regex("^\\s*%.*") ) || - std::regex_match(srv.request.comm, std::regex("^\\s*") )) - { - ROS_INFO("mmWaveQuickConfig: Ignored blank or comment line: '%s'", srv.request.comm.c_str() ); - } - - // Send commands to mmWave sensor - else - { - ROS_INFO("mmWaveQuickConfig: Sending command: '%s'", srv.request.comm.c_str() ); - int numTries = 0; - - // Try each command twice if first time fails (in case serial port connection had initial error) - while (numTries < 2) - { - if( client.call(srv) ) - { - if (std::regex_search(srv.response.resp, std::regex("Done") )) - { - ROS_INFO("mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')"); - break; - } - else if (numTries == 0) - { - ROS_INFO("mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')"); - ROS_INFO("mmWaveQuickConfig: Response: '%s'", srv.response.resp.c_str() ); - } - else - { - ROS_ERROR("mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')"); - ROS_ERROR("mmWaveQuickConfig: Response: '%s'", srv.response.resp.c_str() ); - return 1; - } - } - else - { - ROS_ERROR("mmWaveQuickConfig: Failed to call service mmWaveCLI"); - ROS_ERROR("%s", srv.request.comm.c_str() ); - return 1; - } - numTries++; - } - } - } - - myParams.close(); - } - else - { - ROS_ERROR("mmWaveQuickConfig: Failed to open File %s", argv[1]); - return 1; - } - - ROS_INFO("mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: %s", argv[1]); - return 0; -}