UbiquityRobotics · rohbotics · Dec 27, 2017 · Dec 27, 2017 · Dec 27, 2017 · Dec 27, 2017
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/loki_bringup/CMakeLists.txt b/loki_bringup/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(loki_bringup)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY param/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/param
+)
diff --git a/loki_bringup/launch/base.launch b/loki_bringup/launch/base.launch
@@ -0,0 +1,9 @@
+<launch>
+
+  <include file="$(find loki_description)/launch/description.launch"/>
+
+  <node name="bus_server" pkg="bus_server" type="bus_server.py" output="screen">
+    <rosparam command="load" file="$(find loki_bringup)/param/loki.yaml" />
+  </node>
+
+</launch>
diff --git a/loki_bringup/package.xml b/loki_bringup/package.xml
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>loki_bringup</name>
+  <version>0.0.0</version>
+  <description>The loki_bringup package</description>
+
+  <maintainer email="send2arohan@gmail.com">Rohan Agrawal</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>loki_description</exec_depend>
+  <exec_depend>bus_server</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/n_bus_server/params/bus_server.yaml → loki_bringup/param/loki.yaml b/n_bus_server/params/bus_server.yaml → loki_bringup/param/loki.yaml
@@ -23,7 +23,7 @@ base_frame: base_link
 
 # === Robot drivetrain parameters
 wheel_diameter: 0.060
-wheel_spread: 0.132
+wheel_track: 0.132
 encoder_resolution: 3560
 gear_reduction: 1.0
 
@@ -73,4 +73,4 @@ sensors: {
     field_of_view: .43632347, class: "Back",  left_id: 17, right_id: 15},
   sonar_15: {id: 17, type: Sonar, frame_id: sonar_15,
     field_of_view: .43632347, class: "Side",  left_id: 2,  right_id: 16}
-}
+}
diff --git a/loki_demos/CMakeLists.txt b/loki_demos/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(loki_demos)
+
+find_package(catkin REQUIRED)
+catkin_package()
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
diff --git a/loki_demos/launch/fiducial_follow.launch b/loki_demos/launch/fiducial_follow.launch
@@ -0,0 +1,44 @@
+<!--
+   Run the fiducial follow demo
+-->
+<launch>
+ <arg name="fiducial_len" default="0.0982"/>
+ <arg name="target_fiducial" default="fid49"/>
+
+  <include file="$(find loki_demos)/launch/teleop.launch" />
+
+<!-- camera -->
+  <include file="$(find raspicam_node)/launch/camerav2_410x308_30fps.launch" />
+
+  <arg name="do_pose_estimation" default="true"/>
+
+  <node pkg="aruco_detect" name="aruco_detect"
+    type="aruco_detect" output="screen" respawn="false">
+    <param name="image_transport" value="compressed"/>
+    <param name="publish_images" value="true" />
+    <param name="fiducial_len" value="$(arg fiducial_len)"/>
+    <param name="do_pose_estimation" value="$(arg do_pose_estimation)"/>
+    <param name="adaptiveThreshWinSizeStep" value="8" />
+    <param name="adaptiveThreshWinSizeMin" value="10" />
+    <param name="adaptiveThreshWinSizeMax" value="50" />
+    <param name="doCornerRefinement" value="False" />
+    <param name="do_tracking" value="false" />
+    <param name="num_threads" value="3" />
+    <remap from="/camera/compressed" 
+        to="/raspicam_node/image/compressed"/>
+    <remap from="/camera_info" to="/raspicam_node/camera_info"/>
+  </node>
+
+  <!-- Fiducial detection 
+  <include file="$(find aruco_detect)/launch/aruco_detect.launch">
+    <arg name="camera" value="/raspicam_node"/>
+    <arg name="image" value="image"/>
+    <arg name="transport" value="compressed"/>
+    <arg name="fiducial_len" value="$(arg fiducial_len)" />
+  </include> -->
+
+  <!-- Follow -->
+  <node name="fiducial_follow" pkg="fiducial_follow" type="follow.py" output="screen">
+    <param name="target_fiducial" value="$(arg target_fiducial)"/>
+  </node>
+</launch>
diff --git a/loki_demos/launch/teleop.launch b/loki_demos/launch/teleop.launch
@@ -0,0 +1,20 @@
+<launch>
+  <include file="$(find loki_bringup)/launch/base.launch" /> 
+  <include file="$(find loki_teleop)/launch/logitech.launch" />
+  <group ns="rosbridge_ws"> 
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+      <arg name="ssl" value="false" />
+      <arg name="port" value="9090" />
+    </include>
+  </group>
+  <group ns="rosbridge_wss"> 
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+      <arg name="ssl" value="true" />
+      <arg name="port" value="9443" />
+      <arg name="certfile" value="/etc/ssl/certs/ssl-cert-snakeoil.pem" />
+      <arg name="keyfile" value="/etc/ssl/private/ssl-cert-snakeoil.key" />
+    </include>
+  </group>
+
+  <node name="tf2_web_republisher" pkg="tf2_web_republisher" type="tf2_web_republisher"/>
+</launch>
diff --git a/loki_demos/package.xml b/loki_demos/package.xml
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>loki_demos</name>
+  <version>0.0.0</version>
+  <description>The loki_demos package</description>
+
+  <maintainer email="send2arohan@gmail.com">Rohan Agrawal</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>loki_bringup</exec_depend>
+  <exec_depend>loki_nav</exec_depend>
+  <exec_depend>loki_teleop</exec_depend>
+  <exec_depend>rosbridge_server</exec_depend>
+  <exec_depend>tf2_web_republisher</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/loki_description/CMakeLists.txt b/loki_description/CMakeLists.txt
@@ -0,0 +1,19 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(loki_description)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+)
+
+install(DIRECTORY meshes/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
+)
+
diff --git a/loki_description/launch/description.launch b/loki_description/launch/description.launch
@@ -0,0 +1,6 @@
+<launch>
+  <arg name="gui" default="False" />
+  <param name="use_gui" value="$(arg gui)"/>
+  <param name="robot_description" textfile="$(find loki_description)/urdf/loki.urdf" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+</launch>
diff --git a/loki_description/meshes/HCSR04.stl b/loki_description/meshes/HCSR04.stl
diff --git a/loki_description/package.xml b/loki_description/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>loki_description</name>
+  <version>0.0.0</version>
+  <description>The loki_description package</description>
+
+  <maintainer email="send2arohan@gmail.com">Rohan Agrawal</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+
+  <export></export>
+</package>