Initial commit.

LICENSE

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+Copyright (c) 2015, Jacob Perron (Autonomy Lab, Simon Fraser University)
+All rights reserved.
+
+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 Autonomy Lab 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 HOLDER 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.

README.md

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+# create_autonomy
+
+[ROS](http://ros.org) driver for [iRobot Create]().
+
+* Documentation: TODO
+* ROS wiki page: http://wiki.ros.org/create_autonomy
+* Code API: TODO 
+* Author: [Jacob Perron](http://jacobperron.ca) ([Autonomy Lab](http://autonomylab.org), [Simon Fraser University](http://www.sfu.ca))

create_autonomy/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(create_autonomy)
+find_package(catkin REQUIRED)
+catkin_metapackage()

create_autonomy/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>create_autonomy</name>
+  <version>0.0.1</version>
+  <description>create_autonomy is a ROS driver for iRobot's Create, based on the libcreate C++ library</description>
+
+  <maintainer email="jperron@sfu.ca">Jacob Perron</maintainer>
+  <license>BSD</license>
+
+  <!--<url type="website">http://wiki.ros.org/create_autonomy</url> -->
+  <url type="repository">http://github.com/AutonomyLab/create_autonomy</url>
+
+  <author email="jperron@sfu.ca">Jacob Perron</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>create_driver</run_depend>
+  <!--<run_depend>create_tools</run_depend>-->
+
+  <export>
+    <metapackage/>
+  </export>
+</package>

create_driver/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(create_driver)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  nav_msgs
+  roscpp
+  std_msgs
+  tf
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED system thread)
+
+################################################
+## 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
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs#   nav_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a 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 libcreate create_driver
+  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp std_msgs tf
+  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+include(ExternalProject)
+ExternalProject_Add(libcreate
+  GIT_REPOSITORY https://github.com/AutonomyLab/libcreate.git
+  GIT_TAG master
+  PREFIX ${CATKIN_DEVEL_PREFIX}
+  CONFIGURE_COMMAND cmake . 
+  BUILD_COMMAND make
+  INSTALL_COMMAND echo "No install" 
+  #make install INSTALL_PREFIX=${CATKIN_DEVEL_PREFIX}/lib/create
+  BUILD_IN_SOURCE 1
+)
+
+set(libcreate_PATH "${CATKIN_DEVEL_PREFIX}/src/libcreate/")
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${libcreate_PATH}/include
+  include
+)
+
+link_directories(${libcreate_PATH})
+
+add_executable(create_driver src/create_driver.cpp)
+
+target_link_libraries(create_driver
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+  -lboost_system # Why need these two lines?
+  -lboost_thread
+  create
+)
+add_dependencies(create_driver libcreate)
+## Declare a C++ library
+# add_library(create_driver
+#   src/${PROJECT_NAME}/create_driver.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(create_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(create_driver_node src/create_driver_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(create_driver_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(create_driver_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 create_driver create_driver_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 ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_create_driver.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)

create_driver/include/create_driver/create_driver.h

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+#ifndef CREATE_AUTONOMY_CREATE_DRIVER_H
+#define CREATE_AUTONOMY_CREATE_DRIVER_H
+
+#include <ros/ros.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+#include "create/create.h"
+
+class CreateDriver {
+  private:
+    create::Create* robot;
+    nav_msgs::Odometry odom;
+    double loopHz;
+    std::string dev;
+    int baud;
+    static const double maxVelX = 0.5;
+    static const double maxAngularVel = 4.25;
+
+    void cmdVelCallback(const geometry_msgs::TwistConstPtr& msg);
+    bool update();
+    void publishOdom();
+
+  protected:
+    ros::NodeHandle nh;
+    ros::Subscriber cmdVelSub;
+    ros::Publisher odomPub;
+
+  public:
+    CreateDriver(ros::NodeHandle& nh_);
+    ~CreateDriver();
+    virtual void spin();
+    virtual void spinOnce();
+}; // class CreateDriver
+
+#endif // CREATE_AUTONOMY_CREATE_DRIVER_H

create_driver/launch/create.launch

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+<?xml version="1.0"?>
+<launch>
+  <node name="create_driver" pkg="create_driver" type="create_driver" output="screen">
+    <param name="~loop_hz" value="50" />
+  </node>
+</launch>

create_driver/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>create_driver</name>
+  <version>0.0.0</version>
+  <description>The create_driver package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="ank@todo.todo">ank</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/create_driver</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>