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initial commit of about 2 years old code

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Paul Petring
Paul Petring committed Mar 11, 2016
1 parent eb1dff4 commit e0d9aed7a48f1d4933c4472cfe14b8916cb59e6a
Showing with 9,317 additions and 0 deletions.
  1. +81 −0 .cmake/EigenConfig.cmake
  2. +81 −0 .cmake/FindEigen.cmake
  3. +1 −0 CMakeLists.txt
  4. +4 −0 amosero/CMakeLists.txt
  5. +64 −0 amosero/package.xml
  6. +1 −0 amosero/show_xacro.sh
  7. +2 −0 amosero/syncRobot.sh
  8. +6 −0 amosero/time.sh
  9. +166 −0 amosero_bringup/CMakeLists.txt
  10. +74 −0 amosero_bringup/arduino/motor_shield_v2.ino
  11. +29 −0 amosero_bringup/launch/gps.launch
  12. +6 −0 amosero_bringup/launch/imu.launch
  13. +5 −0 amosero_bringup/launch/joint_state_publisher.launch
  14. +16 −0 amosero_bringup/launch/odometry.launch
  15. +14 −0 amosero_bringup/launch/robot_pose_ekf.launch
  16. +4 −0 amosero_bringup/launch/robot_state_publisher.launch
  17. +4 −0 amosero_bringup/launch/tf_broadcast.launch
  18. +79 −0 amosero_bringup/launch/xtion.launch
  19. +72 −0 amosero_bringup/package.xml
  20. +167 −0 amosero_bringup/scripts/dc_tf_broadcast.py
  21. +106 −0 amosero_bringup/scripts/imu_calc.py
  22. +84 −0 amosero_bringup/scripts/joy_teleop.py
  23. +93 −0 amosero_bringup/scripts/odometry_publisher.py
  24. +285 −0 amosero_bringup/scripts/tf_broadcast.py
  25. +324 −0 amosero_bringup/scripts/tf_broadcast_transform (paul@defendtheplanet.net 2014-10-08-20-16-08).py
  26. +324 −0 amosero_bringup/scripts/tf_broadcast_transform.py
  27. +357 −0 ...ngup/scripts/tf_broadcast_transform_pre_cleanup (paul@defendtheplanet.net 2014-10-08-20-16-08).py
  28. +355 −0 amosero_bringup/scripts/tf_broadcast_transform_pre_cleanup.py
  29. +180 −0 amosero_description/CMakeLists.txt
  30. +10 −0 amosero_description/launch/display.launch
  31. +11 −0 amosero_description/launch/test.launch
  32. +26 −0 amosero_description/launch/xacrodisplay.launch
  33. +137 −0 amosero_description/meshes/sensors/asus_xtion_pro_live.dae
  34. BIN amosero_description/meshes/sensors/asus_xtion_pro_live.png
  35. +65 −0 amosero_description/package.xml
  36. +320 −0 amosero_description/robots/amosero.urdf.xacro
  37. +237 −0 amosero_description/robots/amosero_falseRotation.urdf.xacro
  38. +401 −0 amosero_description/urdf.rviz
  39. +121 −0 amosero_description/urdf/amosero.urdf
  40. +12 −0 amosero_description/urdf/amosero_library.urdf.xacro
  41. +9 −0 amosero_description/urdf/amosero_properties.urdf.xacro
  42. +57 −0 amosero_description/urdf/common_properties.urdf.xacro
  43. +109 −0 amosero_description/urdf/sensors/asus_xtion_pro.urdf.xacro
  44. +99 −0 amosero_description/urdf/sensors/kinect.urdf.xacro
  45. +54 −0 amosero_navigation/.cproject
  46. +3 −0 amosero_navigation/.gitignore
  47. +79 −0 amosero_navigation/.project
  48. +44 −0 amosero_navigation/CMakeLists.txt
  49. +8 −0 amosero_navigation/laser/costmap_common_params.yaml
  50. +18 −0 amosero_navigation/laser/laser_amcl_demo.launch
  51. +14 −0 amosero_navigation/laser/laser_gmapping_demo.launch
  52. +11 −0 amosero_navigation/laser/move_base_laser.launch
  53. +27 −0 amosero_navigation/launch/amcl_demo.launch
  54. +37 −0 amosero_navigation/launch/gmapping_demo.launch
  55. +48 −0 amosero_navigation/launch/includes/amcl.launch.xml
  56. +48 −0 amosero_navigation/launch/includes/gmapping.launch.xml
  57. +22 −0 amosero_navigation/launch/includes/move_base.launch.xml
  58. +11 −0 amosero_navigation/launch/includes/safety_controller.launch.xml
  59. +13 −0 amosero_navigation/launch/includes/velocity_smoother.launch.xml
  60. +11 −0 amosero_navigation/launch/view_blind_nav.launch
  61. +17 −0 amosero_navigation/launch/view_model (paul@defendtheplanet.net 2014-10-08-20-16-08).launch
  62. +46 −0 amosero_navigation/launch/view_model.launch
  63. +15 −0 amosero_navigation/launch/view_navigation.launch
  64. +8 −0 amosero_navigation/launch/view_robot.launch
  65. +5 −0 amosero_navigation/maps/WohnungPaul.pgm
  66. +7 −0 amosero_navigation/maps/WohnungPaul.yaml
  67. +5 −0 amosero_navigation/maps/firstSave.pgm
  68. +7 −0 amosero_navigation/maps/firstSave.yaml
  69. +36 −0 amosero_navigation/package.xml
  70. +39 −0 amosero_navigation/param/base_local_planner_params.yaml
  71. +17 −0 amosero_navigation/param/costmap_common_params.yaml
  72. +7 −0 amosero_navigation/param/global_costmap_params.yaml
  73. +11 −0 amosero_navigation/param/local_costmap_params.yaml
  74. +14 −0 amosero_navigation/param/move_base_params.yaml
  75. +284 −0 amosero_navigation/rviz/blind_nav.rviz
  76. +228 −0 amosero_navigation/rviz/model.rviz
  77. +435 −0 amosero_navigation/rviz/navigation.rviz
  78. +405 −0 amosero_navigation/rviz/navigation_app.rviz
  79. +425 −0 amosero_navigation/rviz/robot.rviz
  80. +46 −0 amosero_navigation/scripts/pointcloud (paul@defendtheplanet.net 2014-10-08-20-16-08).py
  81. +44 −0 amosero_navigation/scripts/pointcloud.py
  82. +41 −0 amosero_teleop/CMakeLists.txt
  83. +13 −0 amosero_teleop/launch/includes/velocity_smoother.launch.xml
  84. +5 −0 amosero_teleop/launch/keyboard_teleop.launch
  85. +18 −0 amosero_teleop/launch/logitech.launch
  86. +16 −0 amosero_teleop/launch/ps3_teleop.launch
  87. +20 −0 amosero_teleop/launch/xbox360_teleop.launch
  88. +22 −0 amosero_teleop/package.xml
  89. +84 −0 amosero_teleop/scripts/teleop_joystick.py
  90. +154 −0 amosero_teleop/scripts/teleop_keyboard.py
  91. +84 −0 amosero_teleop/scripts/teleop_ps3.py
  92. +84 −0 amosero_teleop/scripts/teleop_xbox.py
  93. +156 −0 amosero_viz/CMakeLists.txt
  94. +9 −0 amosero_viz/launch/view_model.launch
  95. +3 −0 amosero_viz/launch/view_robot.launch
  96. +53 −0 amosero_viz/package.xml
  97. +228 −0 amosero_viz/rviz/model.rviz
  98. +425 −0 amosero_viz/rviz/robot.rviz
  99. +164 −0 lsm9ds0_imu_9dof/CMakeLists.txt
  100. +270 −0 lsm9ds0_imu_9dof/arduino/LSM9DS0_SimpleCSV.ino
  101. +108 −0 lsm9ds0_imu_9dof/nodes/node.py
  102. +152 −0 lsm9ds0_imu_9dof/nodes/node_new.py
  103. +61 −0 lsm9ds0_imu_9dof/package.xml
@@ -0,0 +1,81 @@
# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
# find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
# EIGEN_FOUND - system has eigen lib with correct version
# EIGEN_INCLUDE_DIR - the eigen include directory
# EIGEN_VERSION - eigen version

# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.

if(NOT Eigen_FIND_VERSION)
if(NOT Eigen_FIND_VERSION_MAJOR)
set(Eigen_FIND_VERSION_MAJOR 2)
endif(NOT Eigen_FIND_VERSION_MAJOR)
if(NOT Eigen_FIND_VERSION_MINOR)
set(Eigen_FIND_VERSION_MINOR 91)
endif(NOT Eigen_FIND_VERSION_MINOR)
if(NOT Eigen_FIND_VERSION_PATCH)
set(Eigen_FIND_VERSION_PATCH 0)
endif(NOT Eigen_FIND_VERSION_PATCH)

set(Eigen_FIND_VERSION "${Eigen_FIND_VERSION_MAJOR}.${Eigen_FIND_VERSION_MINOR}.${Eigen_FIND_VERSION_PATCH}")
endif(NOT Eigen_FIND_VERSION)

macro(_eigen3_check_version)
file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")

set(EIGEN_VERSION ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
if(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
set(EIGEN_VERSION_OK FALSE)
else(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
set(EIGEN_VERSION_OK TRUE)
endif(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})

if(NOT EIGEN_VERSION_OK)

message(STATUS "Eigen version ${EIGEN_VERSION} found in ${EIGEN_INCLUDE_DIR}, "
"but at least version ${Eigen_FIND_VERSION} is required")
endif(NOT EIGEN_VERSION_OK)
endmacro(_eigen3_check_version)

if (EIGEN_INCLUDE_DIRS)

# in cache already
_eigen3_check_version()
set(EIGEN_FOUND ${EIGEN_VERSION_OK})

else ()

find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
PATHS
${CMAKE_INSTALL_PREFIX}/include
${KDE4_INCLUDE_DIR}
PATH_SUFFIXES eigen3 eigen
)

if(EIGEN_INCLUDE_DIR)
_eigen3_check_version()
endif(EIGEN_INCLUDE_DIR)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)

mark_as_advanced(EIGEN_INCLUDE_DIR)
SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR} CACHE PATH "The Eigen include path.")

endif()
@@ -0,0 +1,81 @@
# - Try to find Eigen3 lib
#
# This module supports requiring a minimum version, e.g. you can do
# find_package(Eigen3 3.1.2)
# to require version 3.1.2 or newer of Eigen3.
#
# Once done this will define
#
# EIGEN_FOUND - system has eigen lib with correct version
# EIGEN_INCLUDE_DIR - the eigen include directory
# EIGEN_VERSION - eigen version

# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
# Redistribution and use is allowed according to the terms of the 2-clause BSD license.

if(NOT Eigen_FIND_VERSION)
if(NOT Eigen_FIND_VERSION_MAJOR)
set(Eigen_FIND_VERSION_MAJOR 2)
endif(NOT Eigen_FIND_VERSION_MAJOR)
if(NOT Eigen_FIND_VERSION_MINOR)
set(Eigen_FIND_VERSION_MINOR 91)
endif(NOT Eigen_FIND_VERSION_MINOR)
if(NOT Eigen_FIND_VERSION_PATCH)
set(Eigen_FIND_VERSION_PATCH 0)
endif(NOT Eigen_FIND_VERSION_PATCH)

set(Eigen_FIND_VERSION "${Eigen_FIND_VERSION_MAJOR}.${Eigen_FIND_VERSION_MINOR}.${Eigen_FIND_VERSION_PATCH}")
endif(NOT Eigen_FIND_VERSION)

macro(_eigen3_check_version)
file(READ "${EIGEN_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)

string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
set(EIGEN_WORLD_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
set(EIGEN_MAJOR_VERSION "${CMAKE_MATCH_1}")
string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
set(EIGEN_MINOR_VERSION "${CMAKE_MATCH_1}")

set(EIGEN_VERSION ${EIGEN_WORLD_VERSION}.${EIGEN_MAJOR_VERSION}.${EIGEN_MINOR_VERSION})
if(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
set(EIGEN_VERSION_OK FALSE)
else(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})
set(EIGEN_VERSION_OK TRUE)
endif(${EIGEN_VERSION} VERSION_LESS ${Eigen_FIND_VERSION})

if(NOT EIGEN_VERSION_OK)

message(STATUS "Eigen version ${EIGEN_VERSION} found in ${EIGEN_INCLUDE_DIR}, "
"but at least version ${Eigen_FIND_VERSION} is required")
endif(NOT EIGEN_VERSION_OK)
endmacro(_eigen3_check_version)

if (EIGEN_INCLUDE_DIRS)

# in cache already
_eigen3_check_version()
set(EIGEN_FOUND ${EIGEN_VERSION_OK})

else ()

find_path(EIGEN_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
PATHS
${CMAKE_INSTALL_PREFIX}/include
${KDE4_INCLUDE_DIR}
PATH_SUFFIXES eigen3 eigen
)

if(EIGEN_INCLUDE_DIR)
_eigen3_check_version()
endif(EIGEN_INCLUDE_DIR)

include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(Eigen DEFAULT_MSG EIGEN_INCLUDE_DIR EIGEN_VERSION_OK)

mark_as_advanced(EIGEN_INCLUDE_DIR)
SET(EIGEN_INCLUDE_DIRS ${EIGEN_INCLUDE_DIR} CACHE PATH "The Eigen include path.")

endif()
@@ -0,0 +1,4 @@
cmake_minimum_required(VERSION 2.8.3)
project(amosero)
find_package(catkin REQUIRED)
catkin_metapackage()
@@ -0,0 +1,64 @@
<?xml version="1.0"?>
<package>
<name>amosero</name>
<version>1.0.0</version>
<description>The amosero package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="paul@defendtheplanet.net">Paul Petring</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>GPLv3</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://defendtheplanet.net</url>


<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<author email="paul@defendtheplanet.net">Paul Petring</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>

<run_depend>amosero_description</run_depend>
<run_depend>amosero_bringup</run_depend>
<run_depend>amosero_viz</run_depend>
<run_depend>amosero_teleop</run_depend>
<run_depend>amosero_navigation</run_depend>
<run_depend>lsm9ds0_imu_9dof</run_depend>
<run_depend>openni2_camera</run_depend>
<run_depend>robot_state_publisher</run_depend>
<!-- <run_depend>gmapping</run_depend>
-->



<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<metapackage/>
<!-- Other tools can request additional information be placed here -->

</export>
</package>
@@ -0,0 +1 @@
roslaunch amosero_description xacrodisplay.launch model:=/home/cronk/catkin_ws/src/amosero_description/robots/amosero.urdf.xacro
@@ -0,0 +1,2 @@
#this scripts syncs the robot with the current catkin workspace source
rsync --progress -r catkin_ws/src/ linaro@10.10.10.100:/home/linaro/catkin_ws/src/
@@ -0,0 +1,6 @@
#during timimng issues this script synchronise the time periodically
while true
do
sudo ntpdate ntp.ubuntu.com
sleep 3
done
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