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Metapackage + Reorg + build script updates (#107)
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* moved over
* moving all messages into an internal msgs metapackage grouping
* moving all the messages into a homologated package
* making necessary changes for the msgs package homologation
* adding metapackage
* adding  myself as a maintainer
* build script and doc updates for package in workspace
* dealing with merge issues
* remove author fields
* moving around
* merge conflict v3
* remove costmap 2d from utils
* killing src dir
* remove costmap 2d clone #3
* remove extraneous file
* kill dwa for some reason
* dwb rectification
* removing oregon author -> maintainer
* controller -> nav2_controller
* adding new msgs  to new things
* tags
* bringup pkg
* compiling with task status mode
* getting the task status to compile for dwa
* adding costmap2d into nav2 naming nominclature
* adding controller metapackage
* recursive definitions -- bringup cannot be inside of the metapackage
* kill bad line
* hopefully actual last git merge error...
* changelog resolve
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SteveMacenski authored and Michael Jeronimo committed Oct 10, 2018
1 parent 8a8b344 commit ac932ea
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14 changes: 7 additions & 7 deletions doc/BUILD.md
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Expand Up @@ -19,8 +19,8 @@ RUN apt-get install -y \
Third, ensure there are no ROS environment variables set in your terminal or `.bashrc` file before taking the steps below.*

```sh
mkdir <workspace_dir>
cd <workspace_dir>
mkdir <directory_for_workspaces>
cd <directory_for_workspaces>
wget https://raw.githubusercontent.com/ros-planning/navigation2/master/tools/initial_ros_setup.sh
chmod a+x initial_ros_setup.sh
./initial_ros_setup.sh
Expand All @@ -38,7 +38,7 @@ The `initial_ros_setup.sh` script downloads four ROS workspaces and then builds

* Navigation 2 - This repo.

After all the workspaces are downloaded, the `navigtion2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)
After all the workspaces are downloaded, the `navigation2/tools/build_all.sh` script is run which builds each repo in the order listed above using the `colcon build --symlink-install` command (except ROS 1 dependencies which are built using `catkin_make`)

### Options

Expand All @@ -58,13 +58,13 @@ Most work will be done in the `navigation2` workspace, so just building that wil

To build just `navigation2`,
```sh
cd <workspace_dir>/navigation2
cd <directory_for_workspaces>/navigation2_ws
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install
```

In the case that the developer changes any dependencies, they can run
`<workspace_dir>/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily
`<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` in a clean environment to get everything rebuilt easily

### Build System

Expand All @@ -75,9 +75,9 @@ Instead, it would be better to do an initial download of all the source and depe
./initial_ros_setup.sh --no-ros1 --download-only
```

Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<workspace_dir>/navigation2/tools/build_all.sh` script or by running
Then the CI tool can monitor the `navigation2` repo, update it as necessary, and rebuild using either the `<directory_for_workspaces>/navigation2_ws/src/navigation2/tools/build_all.sh` script or by running
```sh
cd <workspace_dir>/navigation2
cd <directory_for_workspaces>/navigation2_ws/src/navigation2
source ../navstack_dependencies_ws/install/setup.sh
colcon build --symlink-install
```
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Expand Up @@ -15,7 +15,7 @@ find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_util REQUIRED)
find_package(nav2_planning_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)

include_directories(
include
Expand All @@ -39,7 +39,7 @@ set(dependencies
nav2_tasks
task
nav2_util
nav2_planning_msgs
nav2_msgs
)

ament_target_dependencies(${executable_name}
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Expand Up @@ -12,11 +12,11 @@
<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_util</build_depend>
<build_depend>nav2_planning_msgs</build_depend>
<build_depend>nav2_msgs</build_depend>

<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
<exec_depend>nav2_planning_msgs</exec_depend>
<exec_depend>nav2_msgs</exec_depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
project(nav2_mission_execution_msgs)
project(nav2_bringup)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
Expand All @@ -12,15 +12,11 @@ endif()

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/MissionPlan.msg"
DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
)
find_package(navigation2 REQUIRED)

ament_export_dependencies(rosidl_default_runtime)

install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

ament_package()
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11 changes: 5 additions & 6 deletions src/libs/nav2_libs_msgs/package.xml → nav2_bringup/package.xml
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@@ -1,25 +1,24 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>nav2_libs_msgs</name>
<name>nav2_bringup</name>
<version>0.1.0</version>
<description>TODO</description>
<description>Bringup scripts and configurations for the navigation2 stack</description>
<maintainer email="michael.jeronimo@intel.com">Michael Jeronimo</maintainer>
<maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
<license>Apache License 2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>navigation2</build_depend>
<build_depend>builtin_interfaces</build_depend>
<build_depend>rosidl_default_generators</build_depend>
<build_depend>geometry_msgs</build_depend>

<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>builtin_interfaces</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>navigation2</exec_depend>

<member_of_group>rosidl_interface_packages</member_of_group>

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Expand Up @@ -14,7 +14,7 @@ find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav2_tasks REQUIRED)
find_package(nav2_planning_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)

include_directories(
include
Expand All @@ -36,8 +36,8 @@ set(dependencies
rclcpp
std_msgs
nav2_tasks
nav2_planning_msgs
)
nav2_msgs
)

ament_target_dependencies(${executable_name}
${dependencies}
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Expand Up @@ -17,6 +17,7 @@

#include <string>
#include <memory>
#include "nav2_tasks/task_status.hpp"
#include "nav2_tasks/navigate_to_pose_task.hpp"
#include "nav2_tasks/compute_path_to_pose_task.hpp"
#include "nav2_tasks/follow_path_task.hpp"
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Expand Up @@ -11,11 +11,11 @@

<build_depend>rclcpp</build_depend>
<build_depend>nav2_tasks</build_depend>
<build_depend>nav2_planning_msgs</build_depend>
<build_depend>nav2_msgs</build_depend>

<exec_depend>rclcpp</exec_depend>
<exec_depend>nav2_tasks</exec_depend>
<exec_depend>nav2_planning_msgs</exec_depend>
<exec_depend>nav2_msgs</exec_depend>

<test_depend>ament_lint_common</test_depend>
<test_depend>ament_lint_auto</test_depend>
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Expand Up @@ -11,7 +11,7 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake REQUIRED)
find_package(costmap_2d REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(rclcpp REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)

Expand All @@ -27,7 +27,7 @@ add_library(${PROJECT_NAME}

set(dependencies
rclcpp
costmap_2d
nav2_costmap_2d
)

ament_target_dependencies(${PROJECT_NAME}
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Expand Up @@ -39,7 +39,7 @@
#include <vector>
#include <limits>
#include <memory>
#include "costmap_2d/costmap_2d.h"
#include "nav2_costmap_2d/costmap_2d.h"
#include "costmap_queue/map_based_queue.h"

namespace costmap_queue
Expand Down Expand Up @@ -113,7 +113,7 @@ class CostmapQueue : public MapBasedQueue<CellData>
* @param costmap Costmap which defines the size/number of cells
* @param manhattan If true, sort cells by Manhattan distance, otherwise use Euclidean distance
*/
explicit CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan = false);
explicit CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan = false);

/**
* @brief Clear the queue
Expand Down Expand Up @@ -162,7 +162,7 @@ class CostmapQueue : public MapBasedQueue<CellData>
*/
void computeCache();

costmap_2d::Costmap2D & costmap_;
nav2_costmap_2d::Costmap2D & costmap_;
std::vector<bool> seen_;
int max_distance_;
bool manhattan_;
Expand Down
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Expand Up @@ -50,7 +50,7 @@ class LimitedCostmapQueue : public CostmapQueue
/**
* @brief Constructor with limit as an integer number of cells.
*/
LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int cell_distance_limit);
bool validCellToQueue(const CellData & cell) override;
};
} // namespace costmap_queue
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Expand Up @@ -9,7 +9,7 @@
<license>BSD</license>

<buildtool_depend>ament_cmake</buildtool_depend>
<depend>costmap_2d</depend>
<depend>nav2_costmap_2d</depend>
<depend>rclcpp</depend>

<test_depend>ament_cmake_cppcheck</test_depend>
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Expand Up @@ -41,7 +41,7 @@ using std::hypot;
namespace costmap_queue
{

CostmapQueue::CostmapQueue(costmap_2d::Costmap2D & costmap, bool manhattan)
CostmapQueue::CostmapQueue(nav2_costmap_2d::Costmap2D & costmap, bool manhattan)
: MapBasedQueue(), costmap_(costmap), max_distance_(-1), manhattan_(manhattan),
cached_max_distance_(-1)
{
Expand Down
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Expand Up @@ -37,7 +37,7 @@
namespace costmap_queue
{

LimitedCostmapQueue::LimitedCostmapQueue(costmap_2d::Costmap2D & costmap, const int distance_limit)
LimitedCostmapQueue::LimitedCostmapQueue(nav2_costmap_2d::Costmap2D & costmap, const int distance_limit)
: CostmapQueue(costmap)
{
max_distance_ = distance_limit;
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Expand Up @@ -42,7 +42,7 @@

using std::hypot;

costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);
nav2_costmap_2d::Costmap2D costmap(5, 5, 1.0, 0.0, 0.0);

TEST(CostmapQueue, basicQueue)
{
Expand All @@ -59,7 +59,7 @@ TEST(CostmapQueue, basicQueue)

TEST(CostmapQueue, bigTest)
{
costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
nav2_costmap_2d::Costmap2D big_map(500, 500, 1.0, 0.0, 0.0);
costmap_queue::CostmapQueue q(big_map);
int count = 0;
q.enqueueCell(0, 0);
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Expand Up @@ -16,7 +16,7 @@ find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_2d_msgs REQUIRED)
find_package(dwb_msgs REQUIRED)
find_package(costmap_2d REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(pluginlib REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
Expand All @@ -32,7 +32,7 @@ set(dependencies
geometry_msgs
nav_2d_msgs
dwb_msgs
costmap_2d
nav2_costmap_2d
pluginlib
sensor_msgs
visualization_msgs
Expand Down
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Expand Up @@ -16,15 +16,15 @@
#define DWB_CORE__COMMON_TYPES_H_

#include <memory>
#include "costmap_2d/costmap_2d_ros.h"
#include "nav2_costmap_2d/costmap_2d_ros.h"
#include "tf2_ros/transform_listener.h"


namespace dwb_core
{

typedef std::shared_ptr<tf2_ros::Buffer> TFBufferPtr;
typedef std::shared_ptr<costmap_2d::Costmap2DROS> CostmapROSPtr;
typedef std::shared_ptr<nav2_costmap_2d::Costmap2DROS> CostmapROSPtr;

}

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Expand Up @@ -15,7 +15,7 @@
<build_depend>geometry_msgs</build_depend>
<build_depend>nav_2d_msgs</build_depend>
<build_depend>dwb_msgs</build_depend>
<build_depend>costmap_2d</build_depend>
<build_depend>nav2_costmap_2d</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>visualization_msgs</build_depend>
Expand All @@ -27,7 +27,7 @@
<exec_depend>std_msgs</exec_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>dwb_msgs</exec_depend>
<exec_depend>costmap_2d</exec_depend>
<exec_depend>nav2_costmap_2d</exec_depend>
<exec_depend>nav_2d_utils</exec_depend>
<exec_depend>pluginlib</exec_depend>

Expand Down
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Expand Up @@ -393,7 +393,7 @@ nav_2d_msgs::msg::Path2D DWBLocalPlanner::transformGlobalPlan(
transformed_plan.header.stamp = pose.header.stamp;

// we'll discard points on the plan that are outside the local costmap
costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
nav2_costmap_2d::Costmap2D * costmap = costmap_ros_->getCostmap();
double dist_threshold = std::max(costmap->getSizeInCellsX(), costmap->getSizeInCellsY()) *
costmap->getResolution() / 2.0;
double sq_dist_threshold = dist_threshold * dist_threshold;
Expand Down
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Expand Up @@ -159,7 +159,7 @@ void DWBPublisher::publishCostGrid(
cost_grid_pc.header.frame_id = costmap_ros->getGlobalFrameID();
cost_grid_pc.header.stamp = rclcpp::Clock().now();

costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
nav2_costmap_2d::Costmap2D * costmap = costmap_ros->getCostmap();
double x_coord, y_coord;
unsigned int size_x = costmap->getSizeInCellsX();
unsigned int size_y = costmap->getSizeInCellsY();
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Expand Up @@ -12,7 +12,7 @@ endif()

find_package(ament_cmake REQUIRED)
find_package(angles REQUIRED)
find_package(costmap_2d REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
find_package(costmap_queue REQUIRED)
find_package(dwb_core REQUIRED)
find_package(geometry_msgs REQUIRED)
Expand Down Expand Up @@ -43,7 +43,7 @@ add_library(${PROJECT_NAME}

set(dependencies
angles
costmap_2d
nav2_costmap_2d
costmap_queue
dwb_core
geometry_msgs
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Expand Up @@ -71,7 +71,7 @@ class BaseObstacleCritic : public dwb_core::TrajectoryCritic
virtual bool isValidCost(const unsigned char cost);

protected:
costmap_2d::Costmap2D * costmap_;
nav2_costmap_2d::Costmap2D * costmap_;
bool sum_scores_;
};
} // namespace dwb_critics
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Expand Up @@ -107,7 +107,7 @@ class MapGridCritic : public dwb_core::TrajectoryCritic
class MapGridQueue : public costmap_queue::CostmapQueue
{
public:
MapGridQueue(costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
MapGridQueue(nav2_costmap_2d::Costmap2D & costmap, MapGridCritic & parent)
: costmap_queue::CostmapQueue(costmap, true), parent_(parent) {}
bool validCellToQueue(const costmap_queue::CellData & cell) override;

Expand All @@ -126,7 +126,7 @@ class MapGridCritic : public dwb_core::TrajectoryCritic
void propogateManhattanDistances();

std::shared_ptr<MapGridQueue> queue_;
costmap_2d::Costmap2D * costmap_;
nav2_costmap_2d::Costmap2D * costmap_;
std::vector<double> cell_values_;
double obstacle_score_, unreachable_score_; ///< Special cell_values
bool stop_on_failure_;
Expand Down
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