added android_map_nav app

.hgignore

@@ -34,3 +34,4 @@ libdmtx/share
 libdmtx/include
 libdmtx/installed
 /bin/
+turtlebot_follower/lib/libturtlebot_follower.so$

turtlebot_navigation/config/amcl_turtlebot_map_from_topic.launch

@@ -0,0 +1,40 @@
+<launch>
+<node pkg="amcl" type="amcl" name="amcl" args="scan:=/scan">
+
+  <param name="use_map_topic" value="true"/>
+  <!-- Publish scans from best pose at a max of 10 Hz -->
+  <param name="odom_model_type" value="diff"/>
+  <param name="odom_alpha5" value="0.1"/>
+  <param name="gui_publish_rate" value="10.0"/>
+  <param name="laser_max_beams" value="60"/>
+  <param name="laser_max_range" value="12.0"/>
+  <param name="min_particles" value="500"/>
+  <param name="max_particles" value="2000"/>
+  <param name="kld_err" value="0.05"/>
+  <param name="kld_z" value="0.99"/>
+  <param name="odom_alpha1" value="0.2"/>
+  <param name="odom_alpha2" value="0.2"/>
+  <!-- translation std dev, m -->
+  <param name="odom_alpha3" value="0.2"/>
+  <param name="odom_alpha4" value="0.2"/>
+  <param name="laser_z_hit" value="0.5"/>
+  <param name="laser_z_short" value="0.05"/>
+  <param name="laser_z_max" value="0.05"/>
+  <param name="laser_z_rand" value="0.5"/>
+  <param name="laser_sigma_hit" value="0.2"/>
+  <param name="laser_lambda_short" value="0.1"/>
+  <param name="laser_model_type" value="likelihood_field"/>
+  <!-- <param name="laser_model_type" value="beam"/> -->
+  <param name="laser_likelihood_max_dist" value="2.0"/>
+  <param name="update_min_d" value="0.25"/>
+  <param name="update_min_a" value="0.2"/>
+  <param name="odom_frame_id" value="odom_combined"/>
+  <param name="resample_interval" value="1"/>
+  <!-- Increase tolerance because the computer can get quite busy -->
+  <param name="transform_tolerance" value="1.0"/>
+  <param name="recovery_alpha_slow" value="0.0"/>
+  <param name="recovery_alpha_fast" value="0.0"/>
+  <remap from="scan" to="narrow_scan"/>
+
+</node>
+</launch>

turtlebot_teleop/android_map_nav.app

@@ -0,0 +1,13 @@
+display: Map Nav
+description: Drive a turtlebot around a pre-made map from an Android device.
+platform: turtlebot
+launch: turtlebot_teleop/android_map_nav.launch
+interface: turtlebot_teleop/android_teleop.interface
+icon: turtlebot_teleop/map.jpg
+clients:
+ - type: android
+   manager:
+     api-level: 9
+     intent-action: ros.android.mapnav.MapNav
+   app: 
+     gravityMode: 0

turtlebot_teleop/android_map_nav.launch

@@ -0,0 +1,75 @@
+<launch>
+  <!-- convert to a capability -->
+  <include file="$(find turtlebot_bringup)/base.launch" />
+
+  <param name="camera/rgb/image_color/compressed/jpeg_quality" value="22"/>
+
+  <include file="$(find openni_camera)/launch/kinect_frames.launch"/>
+
+  <!-- Make a slower camera feed available. -->
+  <node pkg="topic_tools" type="throttle" name="camera_throttle" output="screen"
+        args="messages camera/rgb/image_color/compressed 5"/>
+
+  <node pkg="tf" type="change_notifier" name="tf_throttle_for_android_gui" output="screen">
+    <param name="polling_frequency" value="5"/>
+    <param name="translational_update_distance" value="-1"/>
+    <param name="angular_update_distance" value="-1"/>
+    <rosparam param="frame_pairs">
+      - {source_frame: base_footprint, target_frame: map}
+      - {source_frame: kinect_depth_frame, target_frame: map}
+    </rosparam>
+  </node>
+
+<!-- Additions for mapping -->
+  <!-- Kinect -->
+  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>
+
+  <node pkg="nodelet" type="nodelet" name="openni_camera" args="load openni_camera/OpenNINodelet openni_manager" respawn="true">
+    <param name="rgb_frame_id" value="kinect_rgb_optical_frame" />
+    <param name="depth_frame_id" value="kinect_depth_optical_frame" />
+    <param name="depth_registration" value="true" />
+    <param name="image_mode" value="2" />
+    <param name="depth_mode" value="2" />
+    <param name="debayering" value="2" />
+    <param name="depth_time_offset" value="0" />
+    <param name="image_time_offset" value="0" />
+
+    <rosparam command="load" file="$(find openni_camera)/info/openni_params.yaml" />
+  </node>
+
+  <!-- throttling -->
+  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager" respawn="true">
+    <param name="max_rate" value="20.0"/>
+    <remap from="cloud_in" to="/camera/depth/points"/>
+    <remap from="cloud_out" to="cloud_throttled"/>
+  </node>
+
+  <!-- Fake Laser -->
+  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
+    <param name="output_frame_id" value="/kinect_depth_frame"/>
+    <!-- heights are in the (optical?) frame of the kinect -->
+    <param name="min_height" value="-0.15"/>
+    <param name="max_height" value="0.15"/>
+    <remap from="cloud" to="/cloud_throttled"/>
+  </node>
+
+  <!-- Fake Laser (narrow one, for localization -->
+  <node pkg="nodelet" type="nodelet" name="kinect_laser_narrow" args="load pointcloud_to_laserscan/CloudToScan openni_manager" respawn="true">
+    <param name="output_frame_id" value="/kinect_depth_frame"/>
+    <!-- heights are in the (optical?) frame of the kinect -->
+    <param name="min_height" value="-0.025"/>
+    <param name="max_height" value="0.025"/>
+    <remap from="cloud" to="/cloud_throttled"/>
+    <remap from="scan" to="/narrow_scan"/>
+  </node>
+
+  <!--- Run Move Base and Robot Pose EKF -->
+  <include file="$(find turtlebot_navigation)/config/move_base_turtlebot.launch" />
+
+  <!-- Load the maps from a warehouse. -->
+  <include file="$(find warehouse)/launch/warehouse.launch"/>
+  <node pkg="map_store" type="map_loader" name="map_loader" output="screen"/>
+
+  <!--- Run AMCL -->
+  <include file="$(find turtlebot_navigation)/config/amcl_turtlebot_map_from_topic.launch" />
+</launch>