Merge branch 'melodic' into documentation

README.md

@@ -1,77 +1,10 @@
+# mowito's Navigation Stack
 
-# mowito
+- [Complete Documentation](https://mowito-navstack.readthedocs.io/)
 
-# Steps for runing robot using  Mowito’s Nav-stack (release 20.06.00)
 
-## User Registration
-Register yourself on this website <br>
-https://mowito.in/register.html <br>
-
+- [Setting Up Mowito](https://mowito-navstack.readthedocs.io/en/latest/Installation.html)
 
-## setting up the mowito
 
-1. Clone the repo in the home directory, using <br>
+- [How to use](https://mowito-navstack.readthedocs.io/en/latest/how_to_use.html)
 
-`git clone -b melodic https://github.com/mowito/mowito_amd64.git `<br>
-
-
-2. Remove any previous installation of Mowito stack (replace 'melodic' with your ros version)<br>
-`cd ~/mowito_amd64`<br>
-`./remove_mowito.sh melodic`
-
-3. Install the new Mowito stack<br>
-`./setup_mowito.sh melodic`
-
-## Running the Mowito Navigation Stack
-
-## For Simulation
-
-For Simulation, check ~/mowito/launch/simulation for the required launch files. The procedures and names are similar to the launch files for running on the real robot (mentioned below). 
-
-## On Real Robot
-### A. Running Navigation with no Map / Navigation to create Map
-
-1. create a map using either of these three methods:<br><br>
-1.1. **manual navigation**<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/run_mw_mapping.launch`<br><br>
-in another terminal, start the remote control<br>
-`rosrun teleop_twist_keyboard teleop_twist_keyboard`<br>
-and use it move the robot around<br><br>
-1.2. **Navigation, by giving goals through the rviz**<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/run_navigation_with_no_map.launch`<br><br>
-in another terminal start rviz<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/start_rviz.launch`<br>
-on rviz, give goals on the map, and the robot will move autnomously while creating the map<br><br>
-1.3. **Autonomous goal selection ,throuh Exploration**<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/run_mw_mapping_with_explore.launch`<br><br>
-in another terminal start rviz<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/start_rviz.launch`<br>
-on rviz you can see the robot automatically moving and exploring the area<br>
-
-2. Once you are done creating the map on rviz, save the map <br>
-on a new terminal exeute the following <br>
-`source /opt/ros/melodic/setup.bash`<br>
-`cd && rosrun map_server map_saver -f mymap`<br>
-the map (pgm and yaml) is saved  in the home directory with the name mymap.pgm and mymap.yaml<br><br>
-
-### B. Running Navigation  with a pre-exitsting Map
-
-
-1. Place the robot at the origin of map (the place where you started mapping)<br>
-
-2. Now, for running the entire system with mowito’s controller run<br>  
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/run_mw_navigation.launch map_name:=mymap`<br>
-
-5. in another terminal start rviz<br>
-`source /opt/ros/melodic/setup.bash`<br>
-`roslaunch ~/mowito/launch/start_rviz.launch`<br>
-
-6. in the rviz, click on the second top panel, click on the nav goal option, and click on the displayed map to give goal to the robot<br>
-
-7. look at the output on the rviz, the path planned and the motion of the robot.<br>

mowito_rosbot/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(mowito_rosbot)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   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 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 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 ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     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 ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * 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 ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## 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 mowito_rosbot
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/mowito_rosbot.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/mowito_files_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mowito_files.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)