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Merge pull request #10 from chargerKong/galactic-devel
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Galactic devel
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@tianb03
tianb03 committed Feb 7, 2022
2 parents 8cc6dfb + a0bfc5b commit 184f9e4
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25 changes: 25 additions & 0 deletions tianracer.repos
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repositories:
cartograher_ros:
type: git
url: https://github.com/ros2/cartographer_ros
version: dashing
costmap_converter:
type: git
url: https://github.com/rst-tu-dortmund/costmap_converter
version: ros2
laser_filters:
type: git
url: https://github.com.cnpmjs.org/ros-perception/laser_filters
version: ros2
rplidar_ros:
type: git
url: https://github.com/slamtec/rplidar_ros.git
version: ros2
teb_local_planner:
type: git
url: https://github.com/rst-tu-dortmund/teb_local_planner
version: ros2-master
tianracer:
type: git
url: https://github.com/tianbot/tianracer
version: galactic-devel
6 changes: 3 additions & 3 deletions tianracer/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(tianracer)
find_package(catkin REQUIRED)
catkin_metapackage()
find_package(ament_cmake REQUIRED)
ament_package()
45 changes: 2 additions & 43 deletions tianracer/package.xml
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<?xml version="1.0"?>
<package>
<package format="3">
<name>tianracer</name>
<version>1.0.0</version>
<description>Tianracer is a meta-package for tianbot racecar</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="tianb03@hotmail.com">Tian Bo</maintainer>


<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>


<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/meta_nav</url> -->


<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->


<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>


<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<metapackage />
</export>
<export></export>
</package>
208 changes: 16 additions & 192 deletions tianracer_bringup/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(tianracer_bringup)

## 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 COMPONENTS
roscpp
rospy
std_msgs
)

## 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
# )

################################################
## 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
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

###################################
## 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 tianracer_bringup
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
## Find dependencies
find_package(ament_cmake REQUIRED)

string(ASCII 27 Esc)
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.sh.em")
catkin_add_env_hooks(99.my_tianracer SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.dsv.in")
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.my_tianracer.dsv.in")
message("--${Esc}[1;34m *** Add Customized Tianbot Environment Variables *** ${Esc}[0m")
else()
catkin_add_env_hooks(99.default_tianracer SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/99.default_tianracer.dsv.in")
message("--${Esc}[1;33m *** Attention! Using default Tianbot Environment Variables *** ${Esc}[0m")
endif()
###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
install(DIRECTORY launch param
DESTINATION share/${PROJECT_NAME}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/tianracer_bringup.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/tianracer_bringup_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
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_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_racecar_bringup.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)
ament_package()
11 changes: 11 additions & 0 deletions tianracer_bringup/env-hooks/99.default_tianracer.dsv.in
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set;TIANRACER_BASE;compact
set;TIANRACER_BASE_PORT;/dev/ttyUSB0
set;TIANRACER_STEERING_DIRECTION;normal
set;TIANRACER_THROTTLE_DIRECTION;normal
set;TIANRACER_BRIDGE;disabled
set;TIANRACER_RGBD_CAMERA;none
set;TIANRACER_VIDEO_DEVICE;none
set;TIANRACER_LIDAR;rplidar_a1
set;TIANRACER_LIDAR_MODEL;a1
set;TIANRACER_LIDAR_PORT;/dev/ttyUSB1
set;TIANRACER_GPS;none
6 changes: 3 additions & 3 deletions tianracer_bringup/install/_bin_/tianracer_bringup.sh
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#IP=$(ip addr show eth0 | grep -w inet | awk '{print $2}' | awk -F / '{print $1}')

source /home/tianbot/tianbot_ws/devel/setup.bash
source /home/ubuntu/tianbot_ros_ws/install/local_setup.bash

export ROS_MASTER_URI=http://localhost:11311
# export ROS_MASTER_URI=http://localhost:11311

#export ROS_IP=${IP}

roslaunch tianracer_bringup tianracer_bringup.launch
ros2 launch tianracer_bringup tianracer_bringup.launch

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