Added packages

.gitmodules

@@ -0,0 +1,4 @@
+[submodule "robot/rospackages/src/ouster-ros"]
+	path = robot/rospackages/src/ouster-ros
+	url = https://github.com/ouster-lidar/ouster-ros/tree/ros2
+	branch = ros2

robot/rospackages/src/beep_autonomy/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.8)
+project(beep_autonomy)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(xacro REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY src launch rviz config world
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

robot/rospackages/src/beep_autonomy/config/ekf.yaml

@@ -0,0 +1,47 @@
+### ekf config file ###
+ekf_filter_node:
+    ros__parameters:
+# The frequency, in Hz, at which the filter will output a position estimate. Note that the filter will not begin
+# computation until it receives at least one message from one of the inputs. It will then run continuously at the
+# frequency specified here, regardless of whether it receives more measurements. Defaults to 30 if unspecified.
+        frequency: 30.0
+
+# ekf_localization_node and ukf_localization_node both use a 3D omnidirectional motion model. If this parameter is
+# set to true, no 3D information will be used in your state estimate. Use this if you are operating in a planar
+# environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
+# by, for example, an IMU. Defaults to false if unspecified.
+        two_d_mode: false
+
+# Whether to publish the acceleration state. Defaults to false if unspecified.
+        publish_acceleration: true
+
+# Whether to broadcast the transformation over the /tf topic. Defaults to true if unspecified.
+        publish_tf: true
+
+# 1. Set the map_frame, odom_frame, and base_link frames to the appropriate frame names for your system.
+#     1a. If your system does not have a map_frame, just remove it, and make sure "world_frame" is set to the value of odom_frame.
+# 2. If you are fusing continuous position data such as wheel encoder odometry, visual odometry, or IMU data, set "world_frame" 
+#    to your odom_frame value. This is the default behavior for robot_localization's state estimation nodes.
+# 3. If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark 
+#    observations) then:
+#     3a. Set your "world_frame" to your map_frame value
+#     3b. MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another state estimation node 
+#         from robot_localization! However, that instance should *not* fuse the global data.
+        map_frame: map              # Defaults to "map" if unspecified
+        odom_frame: odom            # Defaults to "odom" if unspecified
+        base_link_frame: base_footprint  # Defaults to "base_link" if unspecified
+        world_frame: odom           # Defaults to the value of odom_frame if unspecified
+
+        odom0: odom
+        odom0_config: [true,  true,  true,
+                       false, false, false,
+                       false, false, false,
+                       false, false, true,
+                       false, false, false]
+
+        imu0: imu
+        imu0_config: [false, false, false,
+                      true,  true,  true,
+                      false, false, false,
+                      false, false, false,
+                      false, false, false]