Implementacja schedulera sterujacego praca glownych nodów sterujących…

… robotem

ballcollector_move/CMakeLists.txt

@@ -9,6 +9,10 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 #  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
 #set(ROS_BUILD_TYPE RelWithDebInfo)
 
+rosbuild_find_ros_package(actionlib_msgs)
+include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake)
+genaction()
+
 rosbuild_init()
 
 #set the default path for built executables to the "bin" directory
@@ -17,7 +21,7 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 #uncomment if you have defined messages
-#rosbuild_genmsg()
+rosbuild_genmsg()
 #uncomment if you have defined services
 #rosbuild_gensrv()
 
@@ -27,4 +31,7 @@ set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 #rosbuild_add_boost_directories()
 #rosbuild_link_boost(${PROJECT_NAME} thread)
 rosbuild_add_executable(move_robot_straight src/move_robot_straight.cpp)
+rosbuild_add_executable(get_out_of_deadlock src/get_out_of_deadlock.cpp)
+rosbuild_add_executable(explore src/explore.cpp)
+rosbuild_add_executable(go_to_selected_ball src/go_to_selected_ball.cpp)
 #target_link_libraries(example ${PROJECT_NAME})

ballcollector_move/build/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -11,10 +11,15 @@ SET(CMAKE_FORCE_UNIX_PATHS 1)
 # The C and CXX include file search paths:
 SET(CMAKE_C_INCLUDE_PATH
   "../include"
-  "/opt/ros/electric/stacks/common/actionlib/include"
-  "/opt/ros/electric/stacks/common/actionlib/msg_gen/cpp/include"
+  "/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/common_msgs/actionlib_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"
@@ -26,21 +31,12 @@ SET(CMAKE_C_INCLUDE_PATH
   "/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/nav_msgs/msg_gen/cpp/include"
-  "/opt/ros/electric/stacks/common_msgs/nav_msgs/srv_gen/cpp/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/ros_comm/messages/std_msgs/include"
-  "/opt/ros/electric/stacks/ros_comm/messages/std_msgs/msg_gen/cpp/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"
   "/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/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"
@@ -62,9 +58,26 @@ SET(CMAKE_C_INCLUDE_PATH
   "/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"
@@ -76,17 +89,17 @@ SET(CMAKE_C_INCLUDE_PATH
   "/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"
-  "/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"
-  "/usr/include/eigen3"
-  "/opt/ros/electric/stacks/perception_pcl/cminpack/include"
-  "/opt/ros/electric/stacks/perception_pcl/flann/include"
+  "../msg_gen/cpp/include"
   )
 SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})
 SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH})

ballcollector_move/build/CMakeFiles/CMakeRuleHashes.txt

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 6b6e90c52956571c3fbe8e1a379d0dc6 CMakeFiles/ROSBUILD_gensrv_cpp
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 6b6e90c52956571c3fbe8e1a379d0dc6 CMakeFiles/rospack_genmsg
+6b6e90c52956571c3fbe8e1a379d0dc6 CMakeFiles/rospack_genmsg_all
 6b6e90c52956571c3fbe8e1a379d0dc6 CMakeFiles/rospack_genmsg_libexe
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 6b6e90c52956571c3fbe8e1a379d0dc6 CMakeFiles/test

ballcollector_move/build/CMakeFiles/Makefile.cmake

@@ -18,6 +18,7 @@ SET(CMAKE_MAKEFILE_DEPENDS
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   "/opt/ros/electric/ros/core/rosbuild/rostoolchain.cmake"
   "/opt/ros/electric/ros/core/roslang/cmake/roslang.cmake"
+  "/opt/ros/electric/stacks/common_msgs/actionlib_msgs/cmake/actionbuild.cmake"
   "/opt/ros/electric/stacks/ros_comm/clients/cpp/roscpp/cmake/roscpp.cmake"
   "/opt/ros/electric/stacks/ros_comm/clients/roslisp/cmake/roslisp.cmake"
   "/opt/ros/electric/stacks/ros_comm/clients/rospy/cmake/rospy.cmake"
@@ -53,15 +54,20 @@ SET(CMAKE_MAKEFILE_PRODUCTS
 
 # Dependency information for all targets:
 SET(CMAKE_DEPEND_INFO_FILES
+  "CMakeFiles/ROSBUILD_genaction_msgs.dir/DependInfo.cmake"
   "CMakeFiles/ROSBUILD_genmsg_cpp.dir/DependInfo.cmake"
   "CMakeFiles/ROSBUILD_genmsg_lisp.dir/DependInfo.cmake"
   "CMakeFiles/ROSBUILD_gensrv_cpp.dir/DependInfo.cmake"
   "CMakeFiles/ROSBUILD_gensrv_lisp.dir/DependInfo.cmake"
   "CMakeFiles/clean-test-results.dir/DependInfo.cmake"
+  "CMakeFiles/explore.dir/DependInfo.cmake"
+  "CMakeFiles/get_out_of_deadlock.dir/DependInfo.cmake"
+  "CMakeFiles/go_to_selected_ball.dir/DependInfo.cmake"
   "CMakeFiles/move_robot_straight.dir/DependInfo.cmake"
   "CMakeFiles/rosbuild_precompile.dir/DependInfo.cmake"
   "CMakeFiles/rosbuild_premsgsrvgen.dir/DependInfo.cmake"
   "CMakeFiles/rospack_genmsg.dir/DependInfo.cmake"
+  "CMakeFiles/rospack_genmsg_all.dir/DependInfo.cmake"
   "CMakeFiles/rospack_genmsg_libexe.dir/DependInfo.cmake"
   "CMakeFiles/rospack_gensrv.dir/DependInfo.cmake"
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ballcollector_move/build/CMakeFiles/Makefile2

@@ -49,6 +49,41 @@ CMAKE_SOURCE_DIR = /home/robot/ros/elektron_ballcollector/ballcollector_move
 # The top-level build directory on which CMake was run.
 CMAKE_BINARY_DIR = /home/robot/ros/elektron_ballcollector/ballcollector_move/build
 
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+	$(MAKE) -f CMakeFiles/ROSBUILD_genaction_msgs.dir/build.make CMakeFiles/ROSBUILD_genaction_msgs.dir/build
+	$(CMAKE_COMMAND) -E cmake_progress_report /home/robot/ros/elektron_ballcollector/ballcollector_move/build/CMakeFiles 
+	@echo "Built target ROSBUILD_genaction_msgs"
+.PHONY : CMakeFiles/ROSBUILD_genaction_msgs.dir/all
+
+# Include target in all.
+all: CMakeFiles/ROSBUILD_genaction_msgs.dir/all
+.PHONY : all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/ROSBUILD_genaction_msgs.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/robot/ros/elektron_ballcollector/ballcollector_move/build/CMakeFiles 0
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/ROSBUILD_genaction_msgs.dir/all
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+clean: CMakeFiles/ROSBUILD_genaction_msgs.dir/clean
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@@ -204,14 +239,119 @@ CMakeFiles/clean-test-results.dir/clean:
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+CMakeFiles/explore.dir/rule: cmake_check_build_system
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+
 #=============================================================================
 # Target rules for target CMakeFiles/rospack_genmsg_libexe.dir