DroidAITech · thinkexist1989 · Jul 15, 2019 · Jul 16, 2019 · Jul 16, 2019 · Jul 16, 2019
diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
@@ -0,0 +1,31 @@
+## Ubuntu 18.04 课程代码仓库升级CONTRIBUTORS 
+
+### 安传旭
+
+- 电信科学技术研究院
+- email: anchuanxu@126.com
+- github: [https://github.com/anchuanxu](https://github.com/anchuanxu)
+
+### 彭晓星
+
+- 北京理工大学
+- email: 1119832974@qq.com
+- github: [https://github.com/pengxiaoxing0906](https://github.com/pengxiaoxing0906)
+
+### 蓝煜东
+
+- 北京航空航天大学
+- email: lan1106628183@163.com
+- github: [https://github.com/staillyd](https://github.com/staillyd)
+
+### 陈家友
+
+- 电信科学技术研究院
+- email: 1132021192@qq.com
+- github: [https://github.com/chenjy9581](https://github.com/chenjy9581)
+
+##### Update :2019/7
+
+##### copyright
+
+![Logo](./joint_logo.png)
diff --git a/README.md b/README.md
@@ -21,7 +21,7 @@
 | **robot_sim_demo** | 机器人仿真程序，大部分示例会用到这个软件包 |
 | **topic_demo** | topic通信，自定义msg，包括C++和python两个版本实现 |
 | **service_demo** | service通信，自定义srv，分别以C++和python两种语言实现 |
-| **action_demo** | action通信，自定义action，C++和python两种语言实现 |
+| **action_demo** | action通信，自定义action，C++语言实现 |
 | **param_demo** | param操作，分别以C++和python两种语言实现 |
 | **msgs_demo** | 演示msg、srv、action文件的格式规范 |
 | **tf_demo** | tf相关API操作演示，tf示例包括C++和python两个版本 |
@@ -30,24 +30,27 @@
 | **urdf_demo** |  创建机器人urdf模型，在RViz中显示  |
 | **navigation_sim_demo** | 导航演示工具包，包括AMCL, Odometry Navigation等演示 |
 | **slam_sim_demo** | 同步定位与建图演示，包括Gmapping, Karto, Hector等SLAM演示 |
-| **robot_orbslam2_demo** | ORB_SLAM2的演示 |
+| **orbslam2_demo** | ORB_SLAM2的演示 |
+| **rtabmap_demo** | rtabmap的演示 |
+| **cartographer_demo** | cartographer安装演示包|
+| **dependlib** | ubuntu18所依赖的包(melodic不自带) |
 | **ros_academy_for_beginners** | Metapacakge示例，依赖了本仓库所有的pacakge |
 
 
 ---
 
-## 下载和编译
+## 下载编译和运行
 
 1. 克隆或下载ROS-Academy-for-Beginners教学包到工作空间的`/src`目录下，例如 `~/catkin_ws/src`
 ```sh
 $ cd ~/catkin_ws/src
-$ git clone https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
+$ git clone -b melodic https://github.com/DroidAITech/ROS-Academy-for-Beginners.git
 ```
 
 2. 安装教学包所需的依赖
 ```sh
 $ cd ~/catkin_ws
-$ rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
+$ rosdep install --from-paths src --ignore-src --rosdistro=noetic -y
 ```
 
 3. 编译并刷新环境
@@ -56,18 +59,16 @@ $ catkin_make
 $ source ~/catkin_ws/devel/setup.bash
 ```
 
-4. 运行示例
+4. 升级gazebo
 
----
-## 运行须知
+(1). 建议在**本地Ubuntu 20.04**下运行仿真程序。目前Gazebo模拟器的**兼容性**是一大问题，在虚拟机或配置较低的电脑上可能无法运行。**如果你的显卡是N卡，建议安装Ubuntu下的显卡驱动**。
 
-1. 建议在**本地Ubuntu 16.04**下运行仿真程序。目前Gazebo模拟器的**兼容性**是一大问题，在虚拟机或配置较低的电脑上可能无法运行。**如果你的显卡是N卡，建议安装Ubuntu下的显卡驱动**。
+(2). 运行Gazebo仿真程序`robot_sim_demo`前，请将Gazebo升级到9.x版本以上（**20.04下是11.x**）。
 
-2. 运行Gazebo仿真程序`robot_sim_demo`前，请将Gazebo升级到7.x版本以上（**推荐7.9版本**）。
 
   查看Gazebo版本方法
   ```sh
-  $ gazebo -v   #确认7.0以上，推荐7.9
+  $ gazebo -v   # Ubuntu 20.04下是gazebo 11.x
   ```
 
   升级方法
@@ -76,12 +77,48 @@ $ source ~/catkin_ws/devel/setup.bash
   $ sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
   $ wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
   $ sudo apt-get update
-  $ sudo apt-get install gazebo7
+  $ sudo apt-get install gazebo11
+  ```
+
+系统更新
+
+  ```sh
+  $ sudo apt-get update && upgrade #需要执行，否则环境启动可能存在问题
   ```
 
-3. 确保所有依赖都已安装，如`gazebo_ros`, `gmapping`, `slam_karto`, `amcl`。
+(3). 确保所有依赖都已安装，如`gazebo_ros`, `gmapping`, `slam_karto`, `amcl`。
+
+5. 启动仿真环境
+
+```
+roslaunch robot_sim_demo robot_spawn.launch
+```
+
+6. 启动Slam导航示例
+
+第一步，新开终端，首先启动仿真环境
+
+```
+roslaunch robot_sim_demo robot_spawn.launch
+```
+
+第二步，新开终端，启动slam
+
+```
+roslaunch slam_sim_demo gampping_demo.launch
+```
 
+第三步，新开终端，启动navigation
 
+```
+roslaunch navigation_sim_demo navigation_demo.launch 
+```
+
+第四步，新开终端，启动rviz
+
+```
+roslaunch navigation_sim_demo view_navigation.launch 
+```
 
 ---
 ## Copyright

diff --git a/action_demo/CMakeLists.txt b/action_demo/CMakeLists.txt
@@ -10,14 +10,15 @@ project(action_demo)
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   actionlib_msgs
-  genmsg
+  geometry_msgs
   message_generation
   roscpp
   rospy
+  std_msgs
 )
 
 ## System dependencies are found with CMake's conventions
-find_package(Boost REQUIRED COMPONENTS system)
+# find_package(Boost REQUIRED COMPONENTS system)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -35,10 +36,10 @@ find_package(Boost REQUIRED COMPONENTS system)
 ##   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
+##   * 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 run_depend tag for "message_runtime"
+##     * 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 ...)
@@ -48,6 +49,18 @@ find_package(Boost REQUIRED COMPONENTS system)
 ##     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 ...)
+add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+    DIRECTORY action
+    FILES Linewalk.action
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES actionlib_msgs   geometry_msgs   std_msgs
+)
 
 ## Generate messages in the 'msg' folder
 # add_message_files(
@@ -64,18 +77,17 @@ find_package(Boost REQUIRED COMPONENTS system)
 # )
 
 ## Generate actions in the 'action' folder
-add_action_files(
-DIRECTORY action FILES DoDishes.action
+# add_action_files(
 #   FILES
 #   Action1.action
 #   Action2.action
-)
+# )
 
 ## Generate added messages and services with any dependencies listed here
- generate_messages(
-   DEPENDENCIES
-   actionlib_msgs
-)
+# generate_messages(
+#   DEPENDENCIES
+#   actionlib_msgs#   geometry_msgs#   std_msgs
+# )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -84,7 +96,7 @@ DIRECTORY action FILES DoDishes.action
 ## 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"
+##   * 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 ...)
@@ -102,14 +114,14 @@ DIRECTORY action FILES DoDishes.action
 ###################################
 ## 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
+## 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 actionlib_demo
- CATKIN_DEPENDS actionlib actionlib_msgs genmsg message_generation roscpp rospy std_msgs
+#  LIBRARIES action_test
+  CATKIN_DEPENDS actionlib_msgs
 #  DEPENDS system_lib
 )
 
@@ -120,20 +132,8 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-include
+# include
   ${catkin_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-)
-add_executable(dishes_Server src/dishes_Server.cpp)
-
-target_link_libraries(
-  dishes_Server
-  ${catkin_LIBRARIES}
-)
-
-add_dependencies(
- dishes_Server
-  ${action_demo_EXPORTED_TARGETS}
 )
 
 ## Declare a C++ library
@@ -166,18 +166,6 @@ add_dependencies(
 #   ${catkin_LIBRARIES}
 # )
 
-add_executable(dishes_Client src/dishes_Client.cpp)
-
-target_link_libraries(
-  dishes_Client
-  ${catkin_LIBRARIES}
-)
-
-add_dependencies(
-  dishes_Client
-  ${action_demo_EXPORTED_TARGETS}
-)
-
 #############
 ## Install ##
 #############
@@ -218,7 +206,7 @@ add_dependencies(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_actionlib_demo.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_action_demo.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

diff --git a/action_demo/README.md b/action_demo/README.md
@@ -0,0 +1,13 @@
+# action_demo
+
+### introduce
+
+本demo在课程仿真场景下,演示一个简单的action通讯.运行action之后,会看到xbot在场景中简单的"折返跑".同时,终端打印实时进度,反馈通信进程状态.
+
+### run
+
+1.  打开一个终端:`$ roslaunch robot_sim_demo robot_spawn.launch`
+
+2. 打开一个新终端:`$ rosrun action_test linewalk_server.py`
+
+3. 打开一个新终端 :`$ rosrun action_test linewalk_client.py`
diff --git a/action_demo/action/DoDishes.action b/action_demo/action/DoDishes.action
diff --git a/action_demo/action/Linewalk.action b/action_demo/action/Linewalk.action
@@ -0,0 +1,8 @@
+#goal definition
+int32 order
+---
+#result definition
+int32 finished
+---
+#feedback
+float32 processing