Melodic

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 |
@@ -30,7 +30,10 @@
 | **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 |
 
 
@@ -47,7 +50,7 @@ $ git clone 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=melodic -y
 ```
 
 3. 编译并刷新环境
@@ -65,6 +68,8 @@ $ source ~/catkin_ws/devel/setup.bash
 
 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**）。
 
+3. 如果本地是**Ubuntu18.04**,那么建议升级gazebo版本到9.10.方法类似下步骤.修改对应版本号为gazebo9.
+
   查看Gazebo版本方法
   ```sh
   $ gazebo -v   #确认7.0以上，推荐7.9

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()

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`

action_demo/action/Linewalk.action

@@ -0,0 +1,8 @@
+#goal definition
+int32 order
+---
+#result definition
+int32 finished
+---
+#feedback
+float32 processing

action_demo/package.xml

@@ -1,25 +1,25 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>action_demo</name>
   <version>0.0.0</version>
   <description>The action_demo package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="anchuanxu@todo.todo">anchuanxu</maintainer>
+  <maintainer email="an@todo.todo">an</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>BSD</license>
+  <license>TODO</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/actionlib_demo</url> -->
+  <!-- <url type="website">http://wiki.ros.org/action_demo</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
@@ -28,33 +28,46 @@
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
 
 
-  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
   <!-- Use build_depend for packages you need at compile time: -->
   <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_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 exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>genmsg</buildtool_depend>
   <build_depend>actionlib</build_depend>
   <build_depend>actionlib_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
-　<build_depend>genmsg</build_depend>
-　<build_depend>std_msgs</build_depend>
-  <run_depend>actionlib</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>genmsg</run_depend>
-　<run_depend>message_generation</run_depend>
-  <run_depend>std_msgs</run_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>actionlib</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->