AutoRally · bgoldfai · Jul 28, 2016 · May 18, 2016 · May 18, 2016 · May 19, 2016
diff --git a/Doxyfile b/Doxyfile
@@ -628,7 +628,7 @@ INPUT_ENCODING         = UTF-8
 # *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py
 # *.f90 *.f *.for *.vhd *.vhdl
 
-FILE_PATTERNS          = *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py *.f90 *.f *.for *.vhd *.vhdl *.pde *.ino
+FILE_PATTERNS          = *.c *.cc *.cxx *.cpp *.c++ *.d *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm *.dox *.py *.f90 *.f *.for *.vhd *.vhdl *.pde *.ino *.msg *.srv
 
 # The RECURSIVE tag can be used to turn specify whether or not subdirectories
 # should be searched for input files as well. Possible values are YES and NO.

diff --git a/README.md b/README.md
@@ -4,9 +4,20 @@
 
 Software for the AutoRally research platform.
 
-AutoRally Platform Website: http://autorally.github.io
+[AutoRally Platform Website](http://autorally.github.io)
 
-AutoRally Research Website: http://rehg.org/autorally
+[AutoRally Youtube Channel](https://www.youtube.com/channel/UCSt0P1uqi4zU5RX2DZC_Qvg)
+
+Research Pages AutoRally is associated with:
+  * http://rehg.org/autorally
+  * http://dcsl.gatech.edu/research-muri-nascar.html
+  * http://acds-lab.gatech.edu/Research.html
+
+## Contributing
+
+We welcome bug fixes, ehancements, new features, and [feedback](https://github.com/AutoRally/autorally/issues)!
+
+Please submit pull requests to the [devel branch](https://github.com/AutoRally/autorally/pull/new/devel) that conform to the [ROS C++ Style Guide](http://wiki.ros.org/CppStyleGuide). We use Gitflow, so master branch is reserved for releases.
 
 ## Setup Instructions
 
@@ -21,26 +32,19 @@ AutoRally Research Website: http://rehg.org/autorally
 1. __Install [Ubuntu 14.04 64-bit](http://www.ubuntu.com)__
 2. __Install required packages__
 
-   ```sudo apt-get install git doxygen openssh-server libusb-dev```
+   ```sudo apt-get install git doxygen openssh-server libusb-dev texinfo```
 
    _Recommended Tools_
 
    The following tools are useful, but not necessary for this project.
    * feh
    * cutecom
    * cmake-curses-gui
-   * texinfo
    * coriander
    * synaptic
    * arduino
    * python-termcolor
 
-   _Compute Box Dependencies_
-
-   When installing software on an AutoRally compute box, include these dependencies as well:
-
-   ```sudo apt-get install lm-sensors acpi gpsd-clients```
-
 3. __[Install](http://www.ros.org/install/) ros-indigo-desktop-full__
 4. __Install gtsam__
 
@@ -58,10 +62,10 @@ AutoRally Research Website: http://rehg.org/autorally
 
 Clone the autorally and imu_3dm_gx4 repositories into a [catkin workspace](http://wiki.ros.org/catkin/workspaces). The suggested location is `~/catkin_ws/src/`, but any valid catkin worskspace source folder will work.
 
-```git clone https://github.com/AutoRally/imu_3dm_gx4.git```
-
 ```git clone https://github.com/AutoRally/autorally.git```
 
+```git clone https://github.com/AutoRally/imu_3dm_gx4.git```
+
 ### 3. Install AutoRally ROS Dependencies
 
 Within the catkin workspace folder, run this command to install the packages this project depends on.
@@ -72,7 +76,11 @@ Within the catkin workspace folder, run this command to install the packages thi
 
 To compile and install run `catkin_make` from the catkin workspace folder.
 
-Due to the additional requirement of ROS's distributed launch system, you must run `source autorally/autorally_util/setupEnvLocal.sh` before using any autorally components. For more information about how to set this system up for distributed launches on your vehicle platform, see the wiki.
+Due to the additional requirement of ROS's distributed launch system, you must run
+
+`source autorally/autorally_util/setupEnvLocal.sh`
+
+before using any AutoRally components. See the [wiki](https://github.com/AutoRally/autorally/wiki) for more information about how to set this system up for distributed launches on your vehicle platform.
 
 _Note:_ If you are unfamiliar with catkin, please know that you must run `source <catkin_ws>/devel/setup.sh` before ROS will be able to locate the autorally packages. This line can be added to your ~/.bashrc file.
 
@@ -87,3 +95,11 @@ To view code documentation open `autorally/doc/html/index.html` in a web browser
 To test that your setup process was successful, run the AutoRally simulator with the following command. If you have a USB gamepad, plug it in to your computer before launching this simulator. You will be able to drive the virtual platform around using this gamepad.
 
 ```roslaunch autorally_gazebo autoRallyTrackGazeboSim.launch```
+
+## What's Next
+
+Check out the [wiki](https://github.com/AutoRally/autorally/wiki) for:
+* Instructions to configure a physical AutoRally platform
+* Tutorials for released controllers (waypoint follower, constant speed controller)
+* Tutorial to use your own controller with the AutoRally platform
+* Information about how to run the included state estimator
diff --git a/autorally_control/CMakeLists.txt b/autorally_control/CMakeLists.txt
@@ -16,7 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 find_package(Boost 1.49.0 REQUIRED)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 set(BUILD_FLAGS "-std=c++11 -Wuninitialized")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${BUILD_FLAGS}")
@@ -29,7 +29,7 @@ catkin_package(
   INCLUDE_DIRS include
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${Eigen_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR} ${Eigen3_INCLUDE_DIRS})
 
 add_subdirectory(src/ConstantSpeedController)
 add_subdirectory(src/joystick)

diff --git a/autorally_control/launch/constantSpeedController.launch b/autorally_control/launch/constantSpeedController.launch
@@ -1,7 +1,7 @@
 <launch>
   <include file="$(find autorally_core)/launch/hardware.machine" />
 
-  <node pkg="nodelet" type="nodelet" name="ConstantSpeedControllerB" args="load control/ConstantSpeedController autorally_core_manager" output="screen">
+  <node pkg="nodelet" type="nodelet" name="ConstantSpeedController" args="load autorally_control/ConstantSpeedController autorally_core_manager" output="screen"  machine="autorally-master">
 
     <rosparam param="throttleCalibration" command="load" file="$(env AR_CONFIG_PATH)/throttlePositionCalibration.yaml" />
     <param name="speedCommander" value="OCS" />
@@ -12,7 +12,6 @@
     <param name="accelerationRate" value="0.0" />
     <param name="KI" value="0.001" />
     <param name="IMax" value="0.2" />
-    <remap from="/safeSpeed" to="/targetSpeed" />
 
   </node>
 

diff --git a/autorally_control/launch/gpsWaypoint.launch b/autorally_control/launch/gpsWaypoint.launch
diff --git a/autorally_control/launch/joystickController.launch b/autorally_control/launch/joystickController.launch
@@ -1,28 +1,26 @@
 <launch>
   <include file="$(find autorally_core)/launch/hardware.machine" />
 
-  <node name="joy_node" pkg="joy" type="joy_node" output="screen" machine="muri-ocs">
+  <node name="joy_node" pkg="joy" type="joy_node" output="screen" machine="autorally-ocs">
     <param name="dev" value="/dev/input/js0" />
-    <param name="deadzone" value="0.02" />
+    <param name="deadzone" value="0.01" />
     <param name="autorepeat_rate" value="10" />
     <param name="coalesce_interval" value="0.01" />
   </node>
 
-  <node name="joystickController" pkg="autorally_control" type="joystickController" output="screen" machine="muri-ocs">
+  <node name="joystickController" pkg="autorally_control" type="joystickController" output="screen" machine="autorally-ocs">
     <param name="throttleDamping" value="1.0" />
     <param name="steeringDamping" value="1.0" />
     <param name="throttleAxis" value="1" />
     <param name="steeringAxis" value="3" />
+    <rosparam param="runstopToggleButtons">[0, 1, 2, 3]</rosparam>
     <param name="safeSpeedIncButton" value="0" />
     <param name="safeSpeedDecButton" value="3" />
     <param name="safeSpeedZeroButton1" value="1" />
     <param name="safeSpeedZeroButton2" value="2" />
     <param name="throttleEnableButton" value="4" />
     <param name="steeringEnableButton" value="5" />
 
-    <param name="throttleBrakePaired" value="True" />
-    <param name="frontBrake" value="True" />
-
     <param name="brakeAxis" value="2" />
     <remap from="/safeSpeed" to="/targetSpeed" />
   </node>

diff --git a/autorally_control/launch/recordWpts.launch b/autorally_control/launch/recordWpts.launch
@@ -1,9 +1,9 @@
 <launch>
   <include file="$(find autorally_core)/launch/hardware.machine" />
 
-  <node pkg="autorally_control" type="GenerateWaypoints" name="WaypointGen" output="screen">
+  <node pkg="autorally_control" type="GenerateWaypoints" name="WaypointGen" output="screen" machine="autorally-master">
     <param name="WaypointDistance" value="0.5" />
-    <param name="WaypointFile" value="$(find autorally_core)/waypoints" />
+    <param name="WaypointFile" value="$(find autorally_control)/launch/waypoints" />
     <remap from="/WaypointGen/gps" to="/pose_estimate"/>
   </node>
 

diff --git a/autorally_control/launch/waypointFollower.launch b/autorally_control/launch/waypointFollower.launch
@@ -0,0 +1,14 @@
+<launch>
+  <include file="$(find autorally_core)/launch/hardware.machine" />
+
+  <node name="waypointFollower" pkg="autorally_control" type="gpsWaypoint" output="screen" machine="autorally-master">
+    <param name="WaypointFile" value="$(find autorally_control)/launch/waypoints"/>
+    <param name="WaypointRadius" value="1.0"/>
+    <param name="HeadingP" value="2.5"/>
+    <remap from="/waypointFollower/Speeds" to="/wheelSpeeds"/>
+    <remap from="/waypointFollower/Odom" to="/pose_estimate"/>
+    <remap from="/waypointFollower/Pose" to="/imu_data"/>
+    <remap from="/waypointFollower/imageMask" to="/imageMask"/>
+    <remap from="/waypointFollower/servoCommand" to="/waypointFollower/servoCommand"/>
+  </node>
+</launch>
diff --git a/autorally_control/launch/waypoints b/autorally_control/launch/waypoints
@@ -0,0 +1,111 @@
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diff --git a/autorally_control/nodelet_plugins.xml b/autorally_control/nodelet_plugins.xml
@@ -22,10 +22,3 @@
   </class>
 </library>
 
-<library path="lib/libConstantSpeedControllerB">
-  <class name="autorally_control/ConstantSpeedControllerB" type="autorally_control::ConstantSpeedControllerB" base_class_type="nodelet::Nodelet">
-    <description>
-    Drive robot at a constant speed using wheel speed data
-    </description>
-  </class>
-</library>