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Implementacja centralnego koordynatora

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commit 56901a1592ba6e582aa0537e08b4d8be99982be6 1 parent e1d875e
robot authored
Showing with 627 additions and 91 deletions.
  1. BIN  ballcollector_move/bin/go_to_selected_ball
  2. BIN  ballcollector_move/bin/move_robot_straight
  3. +6 −6 ballcollector_move/build/CMakeCache.txt
  4. +33 −33 ballcollector_move/build/CMakeFiles/CMakeDirectoryInformation.cmake
  5. +276 −0 ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/CXX.includecache
  6. +17 −0 ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/depend.internal
  7. +17 −0 ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/depend.make
  8. +1 −1  ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/flags.make
  9. +1 −1  ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/link.txt
  10. BIN  ballcollector_move/build/CMakeFiles/go_to_selected_ball.dir/src/go_to_selected_ball.o
  11. +1 −1  ballcollector_move/build/CMakeFiles/move_robot_straight.dir/flags.make
  12. +1 −1  ballcollector_move/build/CMakeFiles/move_robot_straight.dir/link.txt
  13. +1 −1  ballcollector_move/launch/go_to_ball.launch
  14. +38 −9 ballcollector_move/src/explore.cpp
  15. +64 −13 ballcollector_move/src/go_to_selected_ball.cpp
  16. +2 −0  scheduler/manifest.xml
  17. +167 −25 scheduler/src/scheduler.cpp
  18. +2 −0  sensors_processing/launch/full_ball.launch
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12 ballcollector_move/build/CMakeCache.txt
@@ -324,18 +324,18 @@ FIND_PACKAGE_MESSAGE_DETAILS_PythonInterp:INTERNAL=[/usr/bin/python2.6]
//ADVANCED property for variable: PYTHON_EXECUTABLE
PYTHON_EXECUTABLE-ADVANCED:INTERNAL=1
_rosbuild_EXPORTS:INTERNAL=
-_rosbuild_cached_flag_time:INTERNAL=1339600088.42
+_rosbuild_cached_flag_time:INTERNAL=1339676315.64
_roslang_LANGS:INTERNAL=rospy;roslisp;roscpp
_rospack_deps_manifests_invoke_result:INTERNAL=/opt/ros/electric/ros/core/rosbuild/manifest.xml;/opt/ros/electric/ros/core/roslang/manifest.xml;/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/manifest.xml;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_traits/manifest.xml;/opt/ros/electric/stacks/ros_comm/utilities/rostime/manifest.xml;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/manifest.xml;/opt/ros/electric/ros/tools/rospack/manifest.xml;/opt/ros/electric/ros/core/roslib/manifest.xml;/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosconsole/manifest.xml;/opt/ros/electric/stacks/ros_comm/messages/std_msgs/manifest.xml;/opt/ros/electric/stacks/ros_comm/messages/rosgraph_msgs/manifest.xml;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/manifest.xml;/opt/ros/electric/stacks/ros_comm/clients/rospy/manifest.xml;/opt/ros/electric/ros/tools/rosclean/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosgraph/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosparam/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosmaster/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosout/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/roslaunch/manifest.xml;/opt/ros/electric/ros/tools/rosunit/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rostest/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosbag/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosbagmigration/manifest.xml;/opt/ros/electric/stacks/common_msgs/geometry_msgs/manifest.xml;/opt/ros/electric/stacks/common_msgs/nav_msgs/manifest.xml;/opt/ros/electric/stacks/common_msgs/actionlib_msgs/manifest.xml;/opt/ros/electric/stacks/common/actionlib/manifest.xml;/opt/ros/electric/stacks/navigation/move_base_msgs/manifest.xml;/opt/ros/electric/stacks/common_msgs/sensor_msgs/manifest.xml;/opt/ros/electric/stacks/bullet/manifest.xml;/opt/ros/electric/stacks/geometry/angles/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosnode/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosmsg/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rostopic/manifest.xml;/opt/ros/electric/stacks/ros_comm/tools/rosservice/manifest.xml;/opt/ros/electric/stacks/ros_comm/utilities/roswtf/manifest.xml;/opt/ros/electric/stacks/ros_comm/utilities/message_filters/manifest.xml;/opt/ros/electric/stacks/geometry/tf/manifest.xml;/opt/ros/electric/stacks/eigen/manifest.xml;/opt/ros/electric/stacks/laser_pipeline/laser_geometry/manifest.xml;/opt/ros/electric/stacks/navigation/voxel_grid/manifest.xml;/opt/ros/electric/stacks/common_msgs/visualization_msgs/manifest.xml;/opt/ros/electric/stacks/common/yaml_cpp/manifest.xml;/opt/ros/electric/stacks/navigation/map_server/manifest.xml;/opt/ros/electric/stacks/perception_pcl/cminpack/manifest.xml;/opt/ros/electric/stacks/perception_pcl/flann/manifest.xml;/opt/ros/electric/stacks/perception_pcl/pcl/manifest.xml;/opt/ros/electric/stacks/pluginlib/manifest.xml;/opt/ros/electric/stacks/bond_core/bond/manifest.xml;/opt/ros/electric/stacks/bond_core/smclib/manifest.xml;/opt/ros/electric/stacks/bond_core/bondcpp/manifest.xml;/opt/ros/electric/stacks/nodelet_core/nodelet/manifest.xml;/opt/ros/electric/stacks/nodelet_core/nodelet_topic_tools/manifest.xml;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/manifest.xml;/opt/ros/electric/stacks/perception_pcl/pcl_ros/manifest.xml;/opt/ros/electric/stacks/navigation/costmap_2d/manifest.xml;/opt/ros/electric/stacks/navigation/nav_core/manifest.xml;/opt/ros/electric/stacks/navigation/navfn/manifest.xml;/opt/ros/electric/stacks/vision_opencv/opencv2/manifest.xml;/opt/ros/electric/stacks/vision_opencv/cv_bridge/manifest.xml;/opt/ros/electric/stacks/image_common/image_transport/manifest.xml;/opt/ros/electric/stacks/ecl_tools/ecl_license/manifest.xml;/opt/ros/electric/stacks/ecl_tools/ecl_build/manifest.xml;/opt/ros/electric/stacks/ecl_lite/ecl_config/manifest.xml;/opt/ros/electric/stacks/ecl_lite/ecl_errors/manifest.xml;/opt/ros/electric/stacks/ecl_core/ecl_exceptions/manifest.xml;/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/manifest.xml;/opt/ros/electric/stacks/ecl_core/ecl_time/manifest.xml;/opt/ros/electric/stacks/ecl_core/ecl_ipc/manifest.xml;/opt/ros/electric/stacks/vision_opencv/image_geometry/manifest.xml;/home/robot/ros/elektron_ballcollector/sensors_processing/manifest.xml;/home/robot/ros/elektron_ballcollector/scheduler/manifest.xml
_rospack_msgsrv_gen_invoke_result:INTERNAL=/opt/ros/electric/stacks/ros_comm/messages/std_msgs/msg_gen/generated;/opt/ros/electric/stacks/ros_comm/messages/rosgraph_msgs/msg_gen/generated;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/msg_gen/generated;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/srv_gen/generated;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/srv_gen/generated;/opt/ros/electric/stacks/common_msgs/geometry_msgs/msg_gen/generated;/opt/ros/electric/stacks/common_msgs/nav_msgs/msg_gen/generated;/opt/ros/electric/stacks/common_msgs/nav_msgs/srv_gen/generated;/opt/ros/electric/stacks/common_msgs/actionlib_msgs/msg_gen/generated;/opt/ros/electric/stacks/common/actionlib/msg_gen/generated;/opt/ros/electric/stacks/navigation/move_base_msgs/msg_gen/generated;/opt/ros/electric/stacks/common_msgs/sensor_msgs/msg_gen/generated;/opt/ros/electric/stacks/common_msgs/sensor_msgs/srv_gen/generated;/opt/ros/electric/stacks/geometry/tf/msg_gen/generated;/opt/ros/electric/stacks/geometry/tf/srv_gen/generated;/opt/ros/electric/stacks/common_msgs/visualization_msgs/msg_gen/generated;/opt/ros/electric/stacks/perception_pcl/pcl/msg_gen/generated;/opt/ros/electric/stacks/bond_core/bond/msg_gen/generated;/opt/ros/electric/stacks/nodelet_core/nodelet/srv_gen/generated;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/msg_gen/generated;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/srv_gen/generated;/opt/ros/electric/stacks/navigation/costmap_2d/msg_gen/generated;/opt/ros/electric/stacks/navigation/navfn/srv_gen/generated;/home/robot/ros/elektron_ballcollector/scheduler/msg_gen/generated
ballcollector_move_CFLAGS_OTHER:INTERNAL=-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX
ballcollector_move_INCLUDEDIR:INTERNAL=
-ballcollector_move_INCLUDE_DIRS:INTERNAL=/opt/ros/electric/stacks/vision_opencv/cv_bridge/include;/opt/ros/electric/stacks/image_common/image_transport/include;/opt/ros/electric/stacks/ecl_core/ecl_ipc/include;/opt/ros/electric/stacks/ecl_core/ecl_time/include;/opt/ros/electric/stacks/ecl_core/ecl_exceptions/include;/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/include;/opt/ros/electric/stacks/ecl_lite/ecl_errors/include;/opt/ros/electric/stacks/ecl_lite/ecl_config/include;/opt/ros/electric/stacks/navigation/move_base_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/navigation/navfn/include;/opt/ros/electric/stacks/navigation/navfn/cfg/cpp;/opt/ros/electric/stacks/navigation/navfn/srv_gen/cpp/include;/opt/ros/electric/stacks/navigation/costmap_2d/cfg/cpp;/opt/ros/electric/stacks/navigation/costmap_2d/include;/opt/ros/electric/stacks/navigation/costmap_2d/msg_gen/cpp/include;/opt/ros/electric/stacks/laser_pipeline/laser_geometry/include;/opt/ros/electric/stacks/navigation/voxel_grid/include;/opt/ros/electric/stacks/navigation/map_server/include;/usr/include/yaml-cpp;/opt/ros/electric/stacks/navigation/nav_core/include;/opt/ros/electric/stacks/common_msgs/visualization_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/perception_pcl/pcl_ros/include;/opt/ros/electric/stacks/perception_pcl/pcl_ros/cfg/cpp;/opt/ros/electric/stacks/common_msgs/nav_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/nav_msgs/srv_gen/cpp/include;/opt/ros/electric/stacks/nodelet_core/nodelet_topic_tools/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/msg/cpp;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/srv/cpp;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/msg_gen/cpp/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/srv_gen/cpp/include;/opt/ros/electric/stacks/geometry/tf/include;/opt/ros/electric/stacks/geometry/tf/msg_gen/cpp/include;/opt/ros/electric/stacks/geometry/tf/srv_gen/cpp/include;/opt/ros/electric/stacks/bullet/include;/opt/ros/electric/stacks/geometry/angles/include;/opt/ros/electric/stacks/ros_comm/utilities/message_filters/include;/opt/ros/electric/stacks/perception_pcl/pcl/include/pcl-1.1/;/usr/include/vtk-5.2;/usr/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/tcl8.5;/usr/include/python2.6;/usr/lib/jvm/default-java/include;/usr/include/libxml2;/usr/include/freetype2;/opt/ros/electric/stacks/perception_pcl/pcl/msg_gen/cpp/include;/usr/include/eigen3;/opt/ros/electric/stacks/perception_pcl/cminpack/include;/opt/ros/electric/stacks/perception_pcl/flann/include;/opt/ros/electric/stacks/vision_opencv/image_geometry/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/srv_gen/cpp/include;/usr/include/opencv-2.3.1/opencv;/usr/include/opencv-2.3.1;/opt/ros/electric/stacks/nodelet_core/nodelet/include;/opt/ros/electric/stacks/nodelet_core/nodelet/srv_gen/cpp/include;/opt/ros/electric/stacks/pluginlib/include;/opt/ros/electric/stacks/pluginlib;/opt/ros/electric/stacks/bond_core/bondcpp/include;/opt/ros/electric/stacks/bond_core/bond/msg_gen/cpp/include;/opt/ros/electric/stacks/bond_core/smclib/include;/home/robot/ros/elektron_ballcollector/scheduler/msg_gen/cpp/include;/opt/ros/electric/stacks/common/actionlib/include;/opt/ros/electric/stacks/common/actionlib/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/actionlib_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/geometry_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/tools/rosbag/include;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/include;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/srv_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/tools/rostest/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/msg_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/srv_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_traits/include;/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/src;/opt/ros/electric/stacks/ros_comm/tools/rosconsole/include;/opt/ros/electric/stacks/ros_comm/utilities/rostime/include;/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/include;/opt/ros/electric/stacks/ros_comm/messages/rosgraph_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/messages/std_msgs/include;/opt/ros/electric/stacks/ros_comm/messages/std_msgs/msg_gen/cpp/include;/opt/ros/electric/ros/core/roslib/msg_gen/cpp/include;/opt/ros/electric/ros/core/roslib/include;/opt/ros/electric/ros/tools/rospack;/opt/ros/electric/ros/tools/rospack/include
-ballcollector_move_LDFLAGS_OTHER:INTERNAL=-Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib -Wl,-rpath,/opt/ros/electric/stacks/image_common/image_transport/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_time/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/navfn/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/costmap_2d/lib -Wl,-rpath,/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/voxel_grid/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/map_server/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib -Wl,-rpath,/opt/ros/electric/stacks/geometry/tf/lib -Wl,-rpath,/opt/ros/electric/stacks/bullet/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/cminpack/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/image_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib -Wl,-rpath,/opt/ros/electric/stacks/nodelet_core/nodelet/lib -Wl,-rpath,/opt/ros/electric/stacks/pluginlib/lib -Wl,-rpath,/opt/ros/electric/stacks/bond_core/bondcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/common/actionlib/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib -Wl,-rpath,/opt/ros/electric/ros/core/roslib/lib -Wl,-rpath,/opt/ros/electric/ros/tools/rospack/lib
-ballcollector_move_LIBRARIES:INTERNAL=cv_bridge;image_transport;ecl_ipc;ecl_time;ecl_exceptions;ecl_time_lite;ecl_errors;navfn;costmap_2d;laser_geometry;voxel_grid;yaml-cpp;pcl_ros_tf;dynamic_reconfigure_config_init_mutex;tf;BulletDynamics;BulletCollision;LinearMath;message_filters;pcl_common;pcl_filters;pcl_features;pcl_io;pcl_surface;pcl_registration;pcl_sample_consensus;pcl_kdtree;pcl_segmentation;pcl_keypoints;pcl_range_image;pcl_range_image_border_extractor;pcl_visualization;pcl_octree;cminpack;flann;flann_cpp;hdf5_cpp;hdf5;image_geometry;sensor_msgs;/usr/lib/libopencv_contrib.so.2.3.1;/usr/lib/libopencv_legacy.so.2.3.1;/usr/lib/libopencv_objdetect.so.2.3.1;/usr/lib/libopencv_calib3d.so.2.3.1;/usr/lib/libopencv_features2d.so.2.3.1;/usr/lib/libopencv_video.so.2.3.1;/usr/lib/libopencv_highgui.so.2.3.1;/usr/lib/libopencv_ml.so.2.3.1;/usr/lib/libopencv_imgproc.so.2.3.1;/usr/lib/libopencv_flann.so.2.3.1;/usr/lib/libopencv_core.so.2.3.1;nodeletlib;uuid;poco_lite;boost_fs_wrapper;tinyxml;bondcpp;actionlib;rosbag;topic_tools;ros;boost_signals-mt;roscpp_serialization;XmlRpc;rosconsole;boost_thread-mt;log4cxx;rostime;cpp_common;roslib;rospack;rosstack
-ballcollector_move_LIBRARY_DIRS:INTERNAL=/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib;/opt/ros/electric/stacks/image_common/image_transport/lib;/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib;/opt/ros/electric/stacks/ecl_core/ecl_time/lib;/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib;/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib;/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib;/opt/ros/electric/stacks/navigation/navfn/lib;/opt/ros/electric/stacks/navigation/costmap_2d/lib;/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib;/opt/ros/electric/stacks/navigation/voxel_grid/lib;/opt/ros/electric/stacks/navigation/map_server/lib;/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib;/opt/ros/electric/stacks/geometry/tf/lib;/opt/ros/electric/stacks/bullet/lib;/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib;/usr/lib/vtk-5.2;/opt/ros/electric/stacks/perception_pcl/pcl/lib64;/opt/ros/electric/stacks/perception_pcl/pcl/lib;/opt/ros/electric/stacks/perception_pcl/cminpack/lib;/opt/ros/electric/stacks/perception_pcl/flann/lib64;/opt/ros/electric/stacks/perception_pcl/flann/lib;/opt/ros/electric/stacks/vision_opencv/image_geometry/lib;/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib;/opt/ros/electric/stacks/nodelet_core/nodelet/lib;/opt/ros/electric/stacks/pluginlib/lib;/opt/ros/electric/stacks/bond_core/bondcpp/lib;/opt/ros/electric/stacks/common/actionlib/lib;/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib;/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib;/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib;/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib;/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib;/opt/ros/electric/ros/core/roslib/lib;/opt/ros/electric/ros/tools/rospack/lib
+ballcollector_move_INCLUDE_DIRS:INTERNAL=/opt/ros/electric/stacks/vision_opencv/cv_bridge/include;/opt/ros/electric/stacks/image_common/image_transport/include;/opt/ros/electric/stacks/ecl_core/ecl_ipc/include;/opt/ros/electric/stacks/ecl_core/ecl_time/include;/opt/ros/electric/stacks/ecl_core/ecl_exceptions/include;/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/include;/opt/ros/electric/stacks/ecl_lite/ecl_errors/include;/opt/ros/electric/stacks/ecl_lite/ecl_config/include;/opt/ros/electric/stacks/navigation/navfn/include;/opt/ros/electric/stacks/navigation/navfn/cfg/cpp;/opt/ros/electric/stacks/navigation/navfn/srv_gen/cpp/include;/opt/ros/electric/stacks/navigation/nav_core/include;/opt/ros/electric/stacks/perception_pcl/pcl_ros/include;/opt/ros/electric/stacks/perception_pcl/pcl_ros/cfg/cpp;/opt/ros/electric/stacks/vision_opencv/image_geometry/include;/usr/include/opencv-2.3.1/opencv;/usr/include/opencv-2.3.1;/home/robot/ros/elektron_ballcollector/scheduler/msg_gen/cpp/include;/opt/ros/electric/stacks/common/actionlib/include;/opt/ros/electric/stacks/common/actionlib/msg_gen/cpp/include;/opt/ros/electric/stacks/navigation/move_base_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/actionlib_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/navigation/costmap_2d/cfg/cpp;/opt/ros/electric/stacks/navigation/costmap_2d/include;/opt/ros/electric/stacks/navigation/costmap_2d/msg_gen/cpp/include;/opt/ros/electric/stacks/laser_pipeline/laser_geometry/include;/opt/ros/electric/stacks/navigation/voxel_grid/include;/opt/ros/electric/stacks/common_msgs/visualization_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/navigation/map_server/include;/opt/ros/electric/stacks/common_msgs/nav_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/nav_msgs/srv_gen/cpp/include;/usr/include/yaml-cpp;/opt/ros/electric/stacks/nodelet_core/nodelet_topic_tools/include;/opt/ros/electric/stacks/nodelet_core/nodelet/include;/opt/ros/electric/stacks/nodelet_core/nodelet/srv_gen/cpp/include;/opt/ros/electric/stacks/pluginlib/include;/opt/ros/electric/stacks/pluginlib;/opt/ros/electric/stacks/bond_core/bondcpp/include;/opt/ros/electric/stacks/bond_core/bond/msg_gen/cpp/include;/opt/ros/electric/stacks/bond_core/smclib/include;/opt/ros/electric/stacks/perception_pcl/pcl/include/pcl-1.1/;/usr/include/vtk-5.2;/usr/include;/usr/lib/openmpi/include;/usr/lib/openmpi/include/openmpi;/usr/include/tcl8.5;/usr/include/python2.6;/usr/lib/jvm/default-java/include;/usr/include/libxml2;/usr/include/freetype2;/opt/ros/electric/stacks/perception_pcl/pcl/msg_gen/cpp/include;/usr/include/eigen3;/opt/ros/electric/stacks/perception_pcl/cminpack/include;/opt/ros/electric/stacks/perception_pcl/flann/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/msg/cpp;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/srv/cpp;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/msg_gen/cpp/include;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/srv_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/messages/std_msgs/include;/opt/ros/electric/stacks/ros_comm/messages/std_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/geometry/tf/include;/opt/ros/electric/stacks/geometry/tf/msg_gen/cpp/include;/opt/ros/electric/stacks/geometry/tf/srv_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/sensor_msgs/srv_gen/cpp/include;/opt/ros/electric/stacks/common_msgs/geometry_msgs/msg_gen/cpp/include;/opt/ros/electric/stacks/bullet/include;/opt/ros/electric/stacks/geometry/angles/include;/opt/ros/electric/stacks/ros_comm/tools/rosbag/include;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/include;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/srv_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/utilities/message_filters/include;/opt/ros/electric/stacks/ros_comm/tools/rostest/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/msg_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/srv_gen/cpp/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/include;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_traits/include;/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/src;/opt/ros/electric/stacks/ros_comm/tools/rosconsole/include;/opt/ros/electric/stacks/ros_comm/utilities/rostime/include;/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/include;/opt/ros/electric/stacks/ros_comm/messages/rosgraph_msgs/msg_gen/cpp/include;/opt/ros/electric/ros/core/roslib/msg_gen/cpp/include;/opt/ros/electric/ros/core/roslib/include;/opt/ros/electric/ros/tools/rospack;/opt/ros/electric/ros/tools/rospack/include
+ballcollector_move_LDFLAGS_OTHER:INTERNAL=-Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib -Wl,-rpath,/opt/ros/electric/stacks/image_common/image_transport/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_time/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/navfn/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/image_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/common/actionlib/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/costmap_2d/lib -Wl,-rpath,/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/voxel_grid/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/map_server/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/nodelet_core/nodelet/lib -Wl,-rpath,/opt/ros/electric/stacks/pluginlib/lib -Wl,-rpath,/opt/ros/electric/stacks/bond_core/bondcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/cminpack/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib -Wl,-rpath,/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib -Wl,-rpath,/opt/ros/electric/stacks/geometry/tf/lib -Wl,-rpath,/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib -Wl,-rpath,/opt/ros/electric/stacks/bullet/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib -Wl,-rpath,/opt/ros/electric/ros/core/roslib/lib -Wl,-rpath,/opt/ros/electric/ros/tools/rospack/lib
+ballcollector_move_LIBRARIES:INTERNAL=cv_bridge;image_transport;ecl_ipc;ecl_time;ecl_exceptions;ecl_time_lite;ecl_errors;navfn;image_geometry;/usr/lib/libopencv_contrib.so.2.3.1;/usr/lib/libopencv_legacy.so.2.3.1;/usr/lib/libopencv_objdetect.so.2.3.1;/usr/lib/libopencv_calib3d.so.2.3.1;/usr/lib/libopencv_features2d.so.2.3.1;/usr/lib/libopencv_video.so.2.3.1;/usr/lib/libopencv_highgui.so.2.3.1;/usr/lib/libopencv_ml.so.2.3.1;/usr/lib/libopencv_imgproc.so.2.3.1;/usr/lib/libopencv_flann.so.2.3.1;/usr/lib/libopencv_core.so.2.3.1;actionlib;costmap_2d;laser_geometry;voxel_grid;yaml-cpp;pcl_ros_tf;nodeletlib;uuid;poco_lite;boost_fs_wrapper;tinyxml;bondcpp;pcl_common;pcl_filters;pcl_features;pcl_io;pcl_surface;pcl_registration;pcl_sample_consensus;pcl_kdtree;pcl_segmentation;pcl_keypoints;pcl_range_image;pcl_range_image_border_extractor;pcl_visualization;pcl_octree;cminpack;flann;flann_cpp;hdf5_cpp;hdf5;dynamic_reconfigure_config_init_mutex;tf;sensor_msgs;BulletDynamics;BulletCollision;LinearMath;rosbag;topic_tools;message_filters;ros;boost_signals-mt;roscpp_serialization;XmlRpc;rosconsole;boost_thread-mt;log4cxx;rostime;cpp_common;roslib;rospack;rosstack
+ballcollector_move_LIBRARY_DIRS:INTERNAL=/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib;/opt/ros/electric/stacks/image_common/image_transport/lib;/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib;/opt/ros/electric/stacks/ecl_core/ecl_time/lib;/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib;/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib;/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib;/opt/ros/electric/stacks/navigation/navfn/lib;/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib;/opt/ros/electric/stacks/vision_opencv/image_geometry/lib;/opt/ros/electric/stacks/common/actionlib/lib;/opt/ros/electric/stacks/navigation/costmap_2d/lib;/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib;/opt/ros/electric/stacks/navigation/voxel_grid/lib;/opt/ros/electric/stacks/navigation/map_server/lib;/opt/ros/electric/stacks/nodelet_core/nodelet/lib;/opt/ros/electric/stacks/pluginlib/lib;/opt/ros/electric/stacks/bond_core/bondcpp/lib;/usr/lib/vtk-5.2;/opt/ros/electric/stacks/perception_pcl/pcl/lib64;/opt/ros/electric/stacks/perception_pcl/pcl/lib;/opt/ros/electric/stacks/perception_pcl/cminpack/lib;/opt/ros/electric/stacks/perception_pcl/flann/lib64;/opt/ros/electric/stacks/perception_pcl/flann/lib;/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib;/opt/ros/electric/stacks/geometry/tf/lib;/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib;/opt/ros/electric/stacks/bullet/lib;/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib;/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib;/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib;/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib;/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib;/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib;/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib;/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib;/opt/ros/electric/ros/core/roslib/lib;/opt/ros/electric/ros/tools/rospack/lib
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-L/opt/ros/electric/stacks/nodelet_core/nodelet/lib -L/opt/ros/electric/stacks/pluginlib/lib -L/opt/ros/electric/stacks/bond_core/bondcpp/lib -L/opt/ros/electric/stacks/common/actionlib/lib -L/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib -L/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib -L/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib -L/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib -L/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib -L/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib -L/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib -L/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib -L/opt/ros/electric/ros/core/roslib/lib -L/opt/ros/electric/ros/tools/rospack/lib -lcv_bridge -limage_transport -lecl_ipc -lecl_time -lecl_exceptions -lecl_time_lite -lecl_errors -lnavfn -lcostmap_2d -llaser_geometry -lvoxel_grid -lyaml-cpp -lpcl_ros_tf -ldynamic_reconfigure_config_init_mutex -ltf -lBulletDynamics -lBulletCollision -lLinearMath -lmessage_filters -lpcl_common -lpcl_filters -lpcl_features -lpcl_io -lpcl_surface -lpcl_registration -lpcl_sample_consensus -lpcl_kdtree -lpcl_segmentation -lpcl_keypoints -lpcl_range_image -lpcl_range_image_border_extractor -lpcl_visualization -lpcl_octree -lcminpack -lflann -lflann_cpp -lhdf5_cpp -lhdf5 -limage_geometry -lsensor_msgs /usr/lib/libopencv_contrib.so.2.3.1 /usr/lib/libopencv_legacy.so.2.3.1 /usr/lib/libopencv_objdetect.so.2.3.1 /usr/lib/libopencv_calib3d.so.2.3.1 /usr/lib/libopencv_features2d.so.2.3.1 /usr/lib/libopencv_video.so.2.3.1 /usr/lib/libopencv_highgui.so.2.3.1 /usr/lib/libopencv_ml.so.2.3.1 /usr/lib/libopencv_imgproc.so.2.3.1 /usr/lib/libopencv_flann.so.2.3.1 /usr/lib/libopencv_core.so.2.3.1 -lnodeletlib -luuid -lpoco_lite -lboost_fs_wrapper -ltinyxml -lbondcpp -lactionlib -lrosbag -ltopic_tools -lros -lboost_signals-mt -lroscpp_serialization -lXmlRpc -lrosconsole -lboost_thread-mt -llog4cxx -lrostime -lcpp_common -lroslib -lrospack -lrosstack -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib:/opt/ros/electric/stacks/image_common/image_transport/lib:/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib:/opt/ros/electric/stacks/ecl_core/ecl_time/lib:/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib:/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib:/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib:/opt/ros/electric/stacks/navigation/navfn/lib:/opt/ros/electric/stacks/navigation/costmap_2d/lib:/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib:/opt/ros/electric/stacks/navigation/voxel_grid/lib:/opt/ros/electric/stacks/navigation/map_server/lib:/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib:/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib:/opt/ros/electric/stacks/geometry/tf/lib:/opt/ros/electric/stacks/bullet/lib:/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib:/usr/lib/vtk-5.2:/opt/ros/electric/stacks/perception_pcl/pcl/lib64:/opt/ros/electric/stacks/perception_pcl/pcl/lib:/opt/ros/electric/stacks/perception_pcl/cminpack/lib:/opt/ros/electric/stacks/perception_pcl/flann/lib64:/opt/ros/electric/stacks/perception_pcl/flann/lib:/opt/ros/electric/stacks/vision_opencv/image_geometry/lib:/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib:/opt/ros/electric/stacks/nodelet_core/nodelet/lib:/opt/ros/electric/stacks/pluginlib/lib:/opt/ros/electric/stacks/bond_core/bondcpp/lib:/opt/ros/electric/stacks/common/actionlib/lib:/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib:/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib:/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib:/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib:/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib:/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib:/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib:/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib:/opt/ros/electric/ros/core/roslib/lib:/opt/ros/electric/ros/tools/rospack/lib
+/usr/bin/c++ -O2 -g -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib -Wl,-rpath,/opt/ros/electric/stacks/image_common/image_transport/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_time/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib -Wl,-rpath,/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/navfn/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/image_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/common/actionlib/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/costmap_2d/lib -Wl,-rpath,/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/voxel_grid/lib -Wl,-rpath,/opt/ros/electric/stacks/navigation/map_server/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -Wl,-rpath,/opt/ros/electric/stacks/nodelet_core/nodelet/lib -Wl,-rpath,/opt/ros/electric/stacks/pluginlib/lib -Wl,-rpath,/opt/ros/electric/stacks/bond_core/bondcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/pcl/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/cminpack/lib -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib64 -Wl,-rpath,/opt/ros/electric/stacks/perception_pcl/flann/lib -Wl,-rpath,/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib -Wl,-rpath,/opt/ros/electric/stacks/geometry/tf/lib -Wl,-rpath,/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib -Wl,-rpath,/opt/ros/electric/stacks/bullet/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib -Wl,-rpath,/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib -Wl,-rpath,/opt/ros/electric/ros/core/roslib/lib -Wl,-rpath,/opt/ros/electric/ros/tools/rospack/lib -pthread CMakeFiles/move_robot_straight.dir/src/move_robot_straight.o -o ../bin/move_robot_straight -rdynamic -L/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib -L/opt/ros/electric/stacks/image_common/image_transport/lib -L/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib -L/opt/ros/electric/stacks/ecl_core/ecl_time/lib -L/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib -L/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib -L/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib -L/opt/ros/electric/stacks/navigation/navfn/lib -L/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib -L/opt/ros/electric/stacks/vision_opencv/image_geometry/lib -L/opt/ros/electric/stacks/common/actionlib/lib -L/opt/ros/electric/stacks/navigation/costmap_2d/lib -L/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib -L/opt/ros/electric/stacks/navigation/voxel_grid/lib -L/opt/ros/electric/stacks/navigation/map_server/lib -L/opt/ros/electric/stacks/nodelet_core/nodelet/lib -L/opt/ros/electric/stacks/pluginlib/lib -L/opt/ros/electric/stacks/bond_core/bondcpp/lib -L/usr/lib/vtk-5.2 -L/opt/ros/electric/stacks/perception_pcl/pcl/lib64 -L/opt/ros/electric/stacks/perception_pcl/pcl/lib -L/opt/ros/electric/stacks/perception_pcl/cminpack/lib -L/opt/ros/electric/stacks/perception_pcl/flann/lib64 -L/opt/ros/electric/stacks/perception_pcl/flann/lib -L/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib -L/opt/ros/electric/stacks/geometry/tf/lib -L/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib -L/opt/ros/electric/stacks/bullet/lib -L/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib -L/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib -L/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib -L/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib -L/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib -L/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib -L/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib -L/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib -L/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib -L/opt/ros/electric/ros/core/roslib/lib -L/opt/ros/electric/ros/tools/rospack/lib -lcv_bridge -limage_transport -lecl_ipc -lecl_time -lecl_exceptions -lecl_time_lite -lecl_errors -lnavfn -limage_geometry /usr/lib/libopencv_contrib.so.2.3.1 /usr/lib/libopencv_legacy.so.2.3.1 /usr/lib/libopencv_objdetect.so.2.3.1 /usr/lib/libopencv_calib3d.so.2.3.1 /usr/lib/libopencv_features2d.so.2.3.1 /usr/lib/libopencv_video.so.2.3.1 /usr/lib/libopencv_highgui.so.2.3.1 /usr/lib/libopencv_ml.so.2.3.1 /usr/lib/libopencv_imgproc.so.2.3.1 /usr/lib/libopencv_flann.so.2.3.1 /usr/lib/libopencv_core.so.2.3.1 -lactionlib -lcostmap_2d -llaser_geometry -lvoxel_grid -lyaml-cpp -lpcl_ros_tf -lnodeletlib -luuid -lpoco_lite -lboost_fs_wrapper -ltinyxml -lbondcpp -lpcl_common -lpcl_filters -lpcl_features -lpcl_io -lpcl_surface -lpcl_registration -lpcl_sample_consensus -lpcl_kdtree -lpcl_segmentation -lpcl_keypoints -lpcl_range_image -lpcl_range_image_border_extractor -lpcl_visualization -lpcl_octree -lcminpack -lflann -lflann_cpp -lhdf5_cpp -lhdf5 -ldynamic_reconfigure_config_init_mutex -ltf -lsensor_msgs -lBulletDynamics -lBulletCollision -lLinearMath -lrosbag -ltopic_tools -lmessage_filters -lros -lboost_signals-mt -lroscpp_serialization -lXmlRpc -lrosconsole -lboost_thread-mt -llog4cxx -lrostime -lcpp_common -lroslib -lrospack -lrosstack -Wl,-rpath,/opt/ros/electric/stacks/vision_opencv/cv_bridge/lib:/opt/ros/electric/stacks/image_common/image_transport/lib:/opt/ros/electric/stacks/ecl_core/ecl_ipc/lib:/opt/ros/electric/stacks/ecl_core/ecl_time/lib:/opt/ros/electric/stacks/ecl_core/ecl_exceptions/lib:/opt/ros/electric/stacks/ecl_lite/ecl_time_lite/lib:/opt/ros/electric/stacks/ecl_lite/ecl_errors/lib:/opt/ros/electric/stacks/navigation/navfn/lib:/opt/ros/electric/stacks/perception_pcl/pcl_ros/lib:/opt/ros/electric/stacks/vision_opencv/image_geometry/lib:/opt/ros/electric/stacks/common/actionlib/lib:/opt/ros/electric/stacks/navigation/costmap_2d/lib:/opt/ros/electric/stacks/laser_pipeline/laser_geometry/lib:/opt/ros/electric/stacks/navigation/voxel_grid/lib:/opt/ros/electric/stacks/navigation/map_server/lib:/opt/ros/electric/stacks/nodelet_core/nodelet/lib:/opt/ros/electric/stacks/pluginlib/lib:/opt/ros/electric/stacks/bond_core/bondcpp/lib:/usr/lib/vtk-5.2:/opt/ros/electric/stacks/perception_pcl/pcl/lib64:/opt/ros/electric/stacks/perception_pcl/pcl/lib:/opt/ros/electric/stacks/perception_pcl/cminpack/lib:/opt/ros/electric/stacks/perception_pcl/flann/lib64:/opt/ros/electric/stacks/perception_pcl/flann/lib:/opt/ros/electric/stacks/driver_common/dynamic_reconfigure/lib:/opt/ros/electric/stacks/geometry/tf/lib:/opt/ros/electric/stacks/common_msgs/sensor_msgs/lib:/opt/ros/electric/stacks/bullet/lib:/opt/ros/electric/stacks/ros_comm/tools/rosbag/lib:/opt/ros/electric/stacks/ros_comm/tools/topic_tools/lib:/opt/ros/electric/stacks/ros_comm/utilities/message_filters/lib:/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/lib:/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp_serialization/lib:/opt/ros/electric/stacks/ros_comm/utilities/xmlrpcpp/lib:/opt/ros/electric/stacks/ros_comm/tools/rosconsole/lib:/opt/ros/electric/stacks/ros_comm/utilities/rostime/lib:/opt/ros/electric/stacks/ros_comm/utilities/cpp_common/lib:/opt/ros/electric/ros/core/roslib/lib:/opt/ros/electric/ros/tools/rospack/lib
View
2  ballcollector_move/launch/go_to_ball.launch
@@ -1,4 +1,4 @@
<launch>
- <node pkg="sensors_processing" type="go_to_selected_ball" name="go_to_selected_ball" output="screen" />
+ <node pkg="ballcollector_move" type="go_to_selected_ball" name="go_to_selected_ball" output="screen" />
<node pkg="ballcollector_move" type="move_robot_straight" name="move_robot_straight" output="screen" />
</launch>
View
47 ballcollector_move/src/explore.cpp
@@ -100,10 +100,14 @@ class Explore{
Explore(std::string name):
- as_(nh_, name, boost::bind(&Explore::executeCB, this, _1), false),
+ as_(nh_, name, false),
action_name_(name),
ac_("move_base", true)
{
+
+ as_.registerGoalCallback(boost::bind(&Explore::goalCB, this));
+ as_.registerPreemptCallback(boost::bind(&Explore::preemptCB, this));
+
as_.start();
firstGoalSend = false;
@@ -140,11 +144,15 @@ class Explore{
void maxForward();
void executeCB(const scheduler::SchedulerGoalConstPtr &goal);
- bool canExplore(){ return explore_;};
void setCanExplore(bool explore){explore_ = explore;};
ExploreState getExploreState(){ return explore_state_;};
void setExploreState(ExploreState explore_state){explore_state_ = explore_state;};
bool isCurrentGoalDone();
+ bool isActionServerActive(){return as_.isActive();};
+
+
+ void goalCB();
+ void preemptCB();
};
@@ -180,31 +188,35 @@ int main(int argc, char** argv) {
ros::spinOnce();
loop_rate.sleep();
-
+/*
if(robot_explore.canExplore() == false){
// ROS_INFO("Robot move - no explore - start ...");
// robot_explore.stopExplore();
// ros::Duration(1.0).sleep();
// ROS_INFO("Robot move - no explore - stop");
continue;
+ }*/
+
+ if (!robot_explore.isActionServerActive()){
+ continue;
}
else{
costmap_ros->getCostmapCopy(costmap);
if(robot_explore.getExploreState() == STOP){
- if(robot_explore.canExplore()){
+ // if(robot_explore.canExplore()){
robot_explore.setExploreState(FULL_ROTATE);
robot_explore.robotFullRotate();
- ROS_INFO("Start Explore go to FULL_ROTATE state");
- }
+ ROS_INFO("Start Explore STOP --> FULL_ROTATE");
+ // }
}
else if(robot_explore.getExploreState() == FULL_ROTATE){
if(robot_explore.isCurrentGoalDone()){
robot_explore.setExploreState(RANDOM_ROTATE);
robot_explore.randomRotate();
- ROS_INFO("go to RANDOM_ROTATE state");
+ ROS_INFO("go to FULL_ROTATE --> RANDOM_ROTATE");
}
}
@@ -213,7 +225,7 @@ int main(int argc, char** argv) {
if(robot_explore.isCurrentGoalDone()){
robot_explore.setExploreState(MAX_FORWARD);
robot_explore.maxForward();
- ROS_INFO("go to MAX_FORWARD state");
+ ROS_INFO("go to RANDOM_ROTATE --> MAX_FORWARD");
}
}
else if(robot_explore.getExploreState() == MAX_FORWARD){
@@ -221,7 +233,7 @@ int main(int argc, char** argv) {
if(robot_explore.isCurrentGoalDone()){
robot_explore.setExploreState(RANDOM_ROTATE);
robot_explore.randomRotate();
- ROS_INFO("go to RANDOM_ROTATE state");
+ ROS_INFO("go to MAX_FORWARD --> RANDOM_ROTATE");
}
}
}
@@ -829,6 +841,23 @@ void Explore::executeCB(const scheduler::SchedulerGoalConstPtr &goal){
}
+void Explore::goalCB(){
+// explore_ = true;
+ // accept the new goal
+ //goal_ =
+ explore_state_ = FULL_ROTATE;
+ as_.acceptNewGoal();
+ }
+
+void Explore::preemptCB(){
+ ROS_INFO("%s: Preempted", action_name_.c_str());
+
+// explore_ = false;
+ explore_state_ = STOP;
+ ac_.cancelAllGoals ();
+ as_.setPreempted();
+}
+
View
77 ballcollector_move/src/go_to_selected_ball.cpp
@@ -54,8 +54,11 @@ typedef enum
LOOKING_FOR_BALLS = 4,
GO_TO_BALL = 5,
IDLE = 6,
+
+
STOP =7,
- GO = 8
+ FIRST_STEP_COLLECT = 8,
+ SECOND_STEP_COLLECT = 9,
}State;
@@ -100,8 +103,11 @@ class GoToSelectedBall{
void robotGoStraightStateCb(const std_msgs::Int16& state);
void deadlockServiceStateCb(const std_msgs::String& state);
+ scheduler::SchedulerFeedback feedback_;
+ scheduler::SchedulerResult result_;
+
GoToSelectedBall(std::string name) :
- as_(nh_, name, boost::bind(&Explore::executeCB, this, _1), false),
+ as_(nh_, name, boost::bind(&GoToSelectedBall::executeCB, this, _1), false),
action_name_(name),
ac("move_base", true)
{
@@ -119,7 +125,8 @@ class GoToSelectedBall{
moveStraightStateChange = false;
is_deadlock_service_run = false;
- alg_state_ = STOP;
+ as_.start();
+ state_ = STOP;
}
~GoToSelectedBall() {
@@ -162,7 +169,7 @@ class GoToSelectedBall{
int main(int argc, char** argv) {
ros::init(argc, argv, "goToSelectedBall");
- GoToSelectedBall goToSelectedBall;
+ GoToSelectedBall goToSelectedBall(ros::this_node::getName());
while(!goToSelectedBall.ac.waitForServer(ros::Duration(5.0))){
ROS_INFO("Waiting for the move_base action server to come up");
@@ -179,11 +186,37 @@ int main(int argc, char** argv) {
ros::spinOnce();
loop_rate.sleep();
- if( goToSelectedBall.getState() == STOP ){
+ if( goToSelectedBall.getState() == STOP ){
+ ROS_INFO("STOP state");
+ continue;
}
- else if(goToSelectedBall.getState() == GO){
-
+ else if(goToSelectedBall.getState() == FIRST_STEP_COLLECT){
+ // scheduler zezwolil na jazde, ale node nie ma wspolrzednych pileczki
+ if(goToSelectedBall.isBallPoseSet == false){
+ ROS_INFO("FIRST_STEP_COLLECT - no ball visible");
+ continue;
+ }
+ else{
+ // jest pileczka, sprwdzamy odleglosc
+ if(goToSelectedBall.getDistanceFromSelectedBall() > 0.6){
+
+ ROS_INFO("FIRST_STEP_COLLECT - go to ball");
+ float angleDiffRobotGoal = goToSelectedBall.getAngleDiff()*180/(3.14);
+ if(angleDiffRobotGoal > 2.5){
+ goToSelectedBall.publishAngle();
+ goToSelectedBall.ac.waitForResult();
+ goToSelectedBall.goForward(0.1);
+ }
+ else{
+ // goToSelectedBall.publishPose(0.2);
+ goToSelectedBall.goForward(0.1);
+ }
+ }
+ else{
+ ROS_INFO("FIRST_STEP_COLLECT - ball too close");
+ }
+ }
}
@@ -584,9 +617,31 @@ void GoToSelectedBall::stopExplore(){
void GoToSelectedBall::executeCB(const scheduler::SchedulerGoalConstPtr &goal){
ROS_INFO("enter executeCB, goal = %i", goal->value);
- // go to ball
+ if(goal->value == 0){
+ state_ = STOP;
+ }
+ else if(goal->value == 1){
+ state_ = FIRST_STEP_COLLECT;
+ }
+ else if(goal->value == 2){
+ // TODO: sprawdza, czy jest ustawiona pozycja pileczki, albo przesylac ja razem z goalem
+ state_ = SECOND_STEP_COLLECT;
+
+ ROS_INFO("enter SECOND_STEP_COLLECT");
+ float angleDiffRobotGoal = getAngleDiff()*180/(3.14);
+ if(angleDiffRobotGoal > 2.5){
+ publishAngle();
+ ac.waitForResult();
+ }
+ float dist = getDistanceFromSelectedBall();
+ onHoover();
+ goForward(dist - 0.3);
+ ros::Duration(4.0).sleep();
+ goForward(-(dist - 0.3));
+ ros::Duration(4.0).sleep();
+ ROS_INFO("leave SECOND_STEP_COLLECT");
+ }
- feedback_.value = 0;
as_.publishFeedback(feedback_);
result_.value = feedback_.value;
@@ -643,10 +698,6 @@ void GoToSelectedBall::executeCB(const scheduler::SchedulerGoalConstPtr &goal){
-
-
-
-
/*
if(goToSelectedBall.moveStraightState == 1){
View
2  scheduler/manifest.xml
@@ -14,6 +14,8 @@
<depend package="geometry_msgs"/>
<depend package="std_msgs"/>
<depend package="move_base_msgs"/>
+ <depend package="costmap_2d"/>
+ <depend package="tf"/>
</package>
View
192 scheduler/src/scheduler.cpp
@@ -9,6 +9,10 @@
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
+#include <tf/transform_datatypes.h>
+#include <costmap_2d/costmap_2d_ros.h>
+#include <costmap_2d/costmap_2d.h>
+
typedef actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> MoveBaseClient;
@@ -17,6 +21,8 @@ typedef enum
EXPLORE = 0,
GO_TO_BALL = 1,
DEADLOCK = 2,
+ GO_TO_BALL_FIRST_STEP = 3,
+ GO_TO_BALL_SECOND_STEP = 4
}State;
@@ -29,14 +35,15 @@ class Scheduler{
actionlib::SimpleActionClient<scheduler::SchedulerAction> deadlock_action_client_;
actionlib::SimpleActionClient<scheduler::SchedulerAction> explore_action_client_;
+ actionlib::SimpleActionClient<scheduler::SchedulerAction> go_to_ball_action_client_;
MoveBaseClient ac_;
bool deadlock_;
bool ball_visible_;
State state_;
-
-
+ tf::TransformListener tf_listener_;
+ geometry_msgs::Point current_pose_;
public:
@@ -62,10 +69,19 @@ class Scheduler{
void setSate(State state);
+ float getDistanceFromSelectedBall();
+ void getRobotPositionInOdom(float &x_odom_pose, float &y_odom_pose);
+
+
+ void sendGoToBallStopGoal();
+ void sendGoToBallFirstStepGoal();
+ void sendGoToBallSecondStepGoal();
+
Scheduler():
deadlock_action_client_("get_out_of_deadlock", true),
explore_action_client_("explore", true),
+ go_to_ball_action_client_("go_to_selected_ball", true),
ac_("move_base", true)
{
@@ -80,6 +96,8 @@ class Scheduler{
deadlock_action_client_.waitForServer();
ROS_INFO("Waiting for explore action server to start.");
explore_action_client_.waitForServer();
+ ROS_INFO("Waiting for go to ball action server to start.");
+ go_to_ball_action_client_.waitForServer();
ROS_INFO("All action servers are ready");
}
@@ -99,7 +117,7 @@ int main(int argc, char** argv) {
ros::spinOnce();
loop_rate.sleep();
- // std::cout<<"deadlock: "<<scheduler.isDeadlock()<<" ball visible: "<<scheduler.isBallVisible()<<std::endl;
+// std::cout<<"deadlock: "<<scheduler.isDeadlock()<<" ball visible: "<<scheduler.isBallVisible()<<"state: "<<scheduler.getState()<<std::endl;
// eksploracja moze byc przerwana w dowolnym momencie tylko
@@ -111,7 +129,6 @@ int main(int argc, char** argv) {
// robot podczas eksploracji zakleszczyl sie
// przechodzimy do stanu obslugi zakleszczenia
- scheduler.cancelAllGoals();
scheduler.sendStopExploreGoal();
scheduler.sendDeadlockGoal();
scheduler.setSate(DEADLOCK);
@@ -122,35 +139,72 @@ int main(int argc, char** argv) {
else if(scheduler.isBallVisible()){
// robot podczas eksploracji zobaczyl pileczke, przechodzimy do stanu
// dojazdu do pileczki
- scheduler.cancelAllGoals();
- scheduler.sendGoToBallGoal();
- scheduler.setSate(GO_TO_BALL);
- ROS_INFO("EXPLORE ---> GO_TO_BALL");
+
+ //scheduler.cancelAllGoals();
+
+
+ if(scheduler.getDistanceFromSelectedBall() > 0.6){
+ // pileczka jest dalej niz 0.6 m, przechodzimy do statnu GO_TO_BALL_FIRST_STEP
+
+ scheduler.sendStopExploreGoal();
+ scheduler.setSate(GO_TO_BALL_FIRST_STEP);
+ scheduler.sendGoToBallFirstStepGoal();
+
+ ROS_INFO("EXPLORE ---> GO_TO_BALL_FIRST_STEP");
+ }
+ else{
+ scheduler.sendStopExploreGoal();
+ scheduler.setSate(GO_TO_BALL_SECOND_STEP);
+ scheduler.sendGoToBallSecondStepGoal();
+
+ ROS_INFO("EXPLORE ---> GO_TO_BALL_SECOND_STEP");
+ }
+
+ // scheduler.sendGoToBallGoal();
+ // scheduler.setSate(GO_TO_BALL);
+ // ROS_INFO("EXPLORE ---> GO_TO_BALL");
}
}
+ else if(scheduler.getState() == GO_TO_BALL_FIRST_STEP){
- else if(scheduler.getState() == GO_TO_BALL){
- // ROS_INFO("state = GO_TO_BALL");
if (scheduler.isDeadlock()) {
- // dojezdzal do pilki, ale sie zakleszczyl, np. probuje dojechac tam, gdzie nie moze
- // przechodzimy do stany obslugi zakleszczenia
+ // dojezdzal do pileczki, ale sie zakleszczyl
+ scheduler.sendGoToBallStopGoal();
scheduler.sendDeadlockGoal();
scheduler.setSate(DEADLOCK);
- ROS_INFO("GO_TO_BALL ---> DEADLOCK");
- continue;
+
+ ROS_INFO("GO_TO_BALL_FIRST_STEP ---> DEADLOCK");
}
else if(!scheduler.isBallVisible()){
- // robot dojezdza do pilki, ale przestal ja widziec,
- // zaczyna eksplorowac otoczenie
- scheduler.sendStartExploreGoal();//sendExploreGoal();
+ // dojezdzal do pileczki, ale przestal ja widziec
+
+ scheduler.sendGoToBallStopGoal();
+ scheduler.sendStartExploreGoal();
scheduler.setSate(EXPLORE);
- ROS_INFO("GO_TO_BALL ---> EXPLORE");
- continue;
+
+ ROS_INFO("GO_TO_BALL_FIRST_STEP ---> EXPLORE");
}
+ else if(scheduler.getDistanceFromSelectedBall() > 0.6){
+ scheduler.sendGoToBallStopGoal();
+ scheduler.sendGoToBallSecondStepGoal();
+ scheduler.setSate(GO_TO_BALL_SECOND_STEP);
+ ROS_INFO("GO_TO_BALL_FIRST_STEP ---> GO_TO_BALL_SECOND_STEP");
+ }
+ }
+ else if(scheduler.getState() == GO_TO_BALL_SECOND_STEP){
+ if(scheduler.isGoToBallServiceDone()){
+ scheduler.sendStopExploreGoal();
+ scheduler.setSate(EXPLORE);
+ ROS_INFO("GO_TO_BALL_SECOND_STEP ---> EXPLORE");
+ }
+ else{
+ continue;
+ }
}
+
// ze stanu obslugi zakleszczenia wychodzmy tylko po zakonczeniu
// obslugi zakleszczenia. Przechodzimy wowczas do eksploracji
else if(scheduler.getState() == DEADLOCK){
@@ -163,6 +217,33 @@ int main(int argc, char** argv) {
ROS_INFO("DEADLOCK ---> EXPLORE");
}
}
+
+
+ /*
+ else if(scheduler.getState() == GO_TO_BALL){
+ // ROS_INFO("state = GO_TO_BALL");
+ if (scheduler.isDeadlock()) {
+ // dojezdzal do pilki, ale sie zakleszczyl, np. probuje dojechac tam, gdzie nie moze
+ // przechodzimy do stany obslugi zakleszczenia
+
+ scheduler.sendDeadlockGoal();
+ scheduler.setSate(DEADLOCK);
+ ROS_INFO("GO_TO_BALL ---> DEADLOCK");
+ continue;
+ }
+ else if(!scheduler.isBallVisible()){
+ // robot dojezdza do pilki, ale przestal ja widziec,
+ // zaczyna eksplorowac otoczenie
+ scheduler.sendStartExploreGoal();//sendExploreGoal();
+ scheduler.setSate(EXPLORE);
+ ROS_INFO("GO_TO_BALL ---> EXPLORE");
+ continue;
+ }
+ }
+
+ */
+
+
}
@@ -177,6 +258,8 @@ void Scheduler::selectedBallCb(const geometry_msgs::PointConstPtr& selectedBallP
ball_visible_ = false;
return;
}
+ current_pose_.x = selectedBallPose->x;
+ current_pose_.y = selectedBallPose->y;
ball_visible_ = true;
}
@@ -220,26 +303,43 @@ void Scheduler::sendStartExploreGoal(){
void Scheduler::sendStopExploreGoal(){
// send a goal to the action
// ROS_INFO("send a goal to the explore action server");
+// scheduler::SchedulerGoal goal;
+// goal.value = 0;
+
+ explore_action_client_.cancelAllGoals();
+}
+
+
+void Scheduler::sendGoToBallStopGoal(){
scheduler::SchedulerGoal goal;
goal.value = 0;
- explore_action_client_.sendGoal(goal);
+ go_to_ball_action_client_.sendGoal(goal);
}
+void Scheduler::sendGoToBallFirstStepGoal(){
+ scheduler::SchedulerGoal goal;
+ goal.value = 1;
+ go_to_ball_action_client_.sendGoal(goal);
+}
-void Scheduler::sendGoToBallGoal(){
+void Scheduler::sendGoToBallSecondStepGoal(){
+ scheduler::SchedulerGoal goal;
+ goal.value = 2;
+ go_to_ball_action_client_.sendGoal(goal);
+}
+bool Scheduler::isGoToBallServiceDone(){
+ bool is_done = go_to_ball_action_client_.getState().isDone();
+ return is_done;
}
+
bool Scheduler::isDeadlockServiceDone(){
bool is_done = deadlock_action_client_.getState().isDone();
return is_done;
}
-bool Scheduler::isGoToBallServiceDone(){
- return true;
-}
-
State Scheduler::getState(){
return state_;
@@ -253,3 +353,45 @@ void Scheduler::cancelAllGoals(){
ac_.cancelAllGoals ();
}
+
+
+
+
+
+
+
+
+float Scheduler::getDistanceFromSelectedBall(){
+
+ float robot_odom_x, robot_odom_y, ball_odom_x, ball_odom_y;
+ getRobotPositionInOdom(robot_odom_x, robot_odom_y);
+
+ ball_odom_x = current_pose_.x;
+ ball_odom_y = current_pose_.y;
+// ROS_INFO("robot (x, y) i odom = (%f, %f)", robot_odom_x, robot_odom_y);
+// ROS_INFO("ball (x, y) i odom = (%f, %f)", ball_odom_x, ball_odom_y);
+
+
+ float dist = sqrt(pow(ball_odom_x - robot_odom_x, 2) + pow(ball_odom_y-robot_odom_y, 2) );
+
+ return dist;
+}
+
+
+void Scheduler::getRobotPositionInOdom(float &x_odom_pose, float &y_odom_pose){
+
+ ros::Time now = ros::Time(0);
+ tf::StampedTransform tfOR; // robot w odom
+ tf_listener_.waitForTransform("/odom", "/base_link", now, ros::Duration(1.0));
+ tf_listener_.lookupTransform ("/odom", "/base_link", now, tfOR);
+
+ x_odom_pose = tfOR.getOrigin ()[0]; // wspolrzedne robota w ukladzie odom
+ y_odom_pose = tfOR.getOrigin ()[1]; // wspolrzedne robota w ukladzie odom
+
+}
+
+
+
+
+
+
View
2  sensors_processing/launch/full_ball.launch
@@ -1,4 +1,6 @@
<launch>
<include file="$(find sensors_processing)/launch/ball_recognition.launch" />
<include file="$(find sensors_processing)/launch/img_cord_to_real_cord.launch" />
+ <include file="$(find sensors_processing)/launch/choose_accesible_ball.launch" />
+ <include file="$(find sensors_processing)/launch/choose_one_ball.launch" />
</launch>
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