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Repository: RobotnikAutomation/agvs
Branch: hydro-devel
Commit: 8f2f82aa2885
Files: 105
Total size: 15.9 MB
Directory structure:
gitextract_j8ip6dps/
├── .gitignore
├── .rosinstall
├── README.md
├── agvs/
│ ├── CMakeLists.txt
│ └── package.xml
├── agvs.rosinstall
├── agvs_complete/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_complete.launch
│ │ ├── agvs_gmapping.launch
│ │ ├── agvs_hector_mapping.launch
│ │ ├── amcl_diff.launch
│ │ ├── amcl_diff_2.launch
│ │ ├── map_server.launch
│ │ ├── purepursuit_nav.rviz
│ │ └── robot_pose_ekf.launch
│ ├── maps/
│ │ ├── willow.pgm
│ │ └── willow.yaml
│ ├── package.xml
│ └── scripts/
│ └── save_map.sh
├── agvs_control/
│ ├── CMakeLists.txt
│ ├── config/
│ │ └── agvs_control.yaml
│ ├── launch/
│ │ └── agvs_control.launch
│ └── package.xml
├── agvs_description/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs.launch
│ │ ├── agvs_state.launch
│ │ ├── rviz_agvs.launch
│ │ └── rviz_agvs_alone.launch
│ ├── meshes/
│ │ ├── agvs_top.dae
│ │ ├── agvs_top.stl
│ │ ├── agvs_wheel.dae
│ │ ├── agvs_wheel.stl
│ │ ├── chassis_agvs.dae
│ │ ├── chassis_agvs.stl
│ │ ├── motor_wheel.dae
│ │ ├── motor_wheel.stl
│ │ ├── side_wheel_agvs.dae
│ │ └── side_wheel_agvs.stl
│ ├── package.xml
│ ├── urdf/
│ │ ├── agvs.gazebo
│ │ ├── agvs.urdf
│ │ ├── agvs.urdf.xacro
│ │ ├── vrep/
│ │ │ ├── agvs_vrep.urdf
│ │ │ ├── agvs_vrep.urdf.xacro
│ │ │ └── xacro2urdf.sh
│ │ └── xacro2urdf.sh
│ └── vrep/
│ ├── AGVS.ttm
│ └── AGVS.ttt
├── agvs_gazebo/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs.launch
│ │ ├── agvs_office.launch
│ │ └── agvs_sim_complete.launch
│ ├── package.xml
│ └── worlds/
│ ├── agvs.world
│ └── agvs_office.world
├── agvs_pad/
│ ├── .rosinstall
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_pad.launch
│ │ └── agvs_pad.yaml
│ ├── package.xml
│ └── src/
│ └── agvs_pad_node.cpp
├── agvs_robot_control/
│ ├── .rosinstall
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_robot_control.launch
│ │ └── agvs_robot_control.yaml
│ ├── msg/
│ │ ├── AckermannDrive.msg
│ │ └── AckermannDriveStamped.msg
│ ├── package.xml
│ └── src/
│ └── agvs_robot_control.cpp
├── planner_msgs/
│ ├── CMakeLists.txt
│ ├── action/
│ │ └── GoTo.action
│ ├── generate_msgs.sh
│ ├── msg/
│ │ ├── GoToAction.msg
│ │ ├── GoToActionFeedback.msg
│ │ ├── GoToActionGoal.msg
│ │ ├── GoToActionResult.msg
│ │ ├── GoToFeedback.msg
│ │ ├── GoToGoal.msg
│ │ ├── GoToResult.msg
│ │ └── goal.msg
│ └── package.xml
└── purepursuit_planner/
├── CMakeLists.txt
├── action/
│ └── GoTo.action
├── generate_msgs.sh
├── include/
│ └── purepursuit_planner/
│ └── Component.h
├── launch/
│ ├── purepursuit.launch
│ └── purepursuit_marker.launch
├── msg/
│ ├── GoToAction.msg
│ ├── GoToActionFeedback.msg
│ ├── GoToActionGoal.msg
│ ├── GoToActionResult.msg
│ ├── GoToFeedback.msg
│ ├── GoToGoal.msg
│ ├── GoToResult.msg
│ └── goal.msg
├── package.xml
├── scripts/
│ └── purepursuit_planner/
│ ├── __init__.py
│ ├── path_marker_1.py
│ ├── path_marker_2.py
│ ├── planner_test_client.py
│ ├── purepursuit_client.py
│ └── waypoints.txt
├── setup.py
└── src/
├── Component.cc
└── purepursuit_planner.cpp
================================================
FILE CONTENTS
================================================
================================================
FILE: .gitignore
================================================
# Backup files
*~
================================================
FILE: .rosinstall
================================================
# Robotnik stacks
- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robotnik_msgs.git'}
================================================
FILE: README.md
================================================
agvs
====
ROS package for the robot AGVS, intended for indoor transportation tasks
List of packages
### agvs_complete
It contains multiple launch files to perform different tasks, from creating a map with gmapping to launching amcl.
### agvs_description
Robot description. Urdf and mesh files.
### agvs_pad
Component to move the robot by using a ps3 pad.
### planner_msgs
Messages and actions for planning the autonomous movement of the robot.
### agvs_control
Config files used for Gazebo motor controllers.
### agvs_gazebo
Launch files and worlds to run Gazebo.
### agvs_robot_control
Robot controller that interacts with Gazebo motor controllers.
### purepursuit_planner
Planner to follow a list of waypoints implementing the PurePursuit algorithm.
================================================
FILE: agvs/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(agvs)
find_package(catkin REQUIRED)
catkin_metapackage()
================================================
FILE: agvs/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>agvs</name>
<version>0.1.0</version>
<description>The agvs package. This package contains all the components to simulate the AGVS robot. An ackermann type robot intended for logistics transport.</description>
<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
<maintainer email="rguzman@robotnik.es">Roberto Guzmán</maintainer>
<author email="rnavarro@robotnik.es">Román Navarro</author>
<license>BSD</license>
<url type="website">http://wiki.ros.org/agvs</url>
<url type="repository">https://github.com/RobotnikAutomation/agvs</url>
<url type="bugtracker">https://github.com/RobotnikAutomation/agvs/issues</url>
<buildtool_depend>catkin</buildtool_depend>
<run_depend>agvs_complete</run_depend>
<run_depend>agvs_control</run_depend>
<run_depend>agvs_description</run_depend>
<run_depend>agvs_gazebo</run_depend>
<run_depend>agvs_pad</run_depend>
<run_depend>agvs_robot_control</run_depend>
<run_depend>planner_msgs</run_depend>
<run_depend>purepursuit_planner</run_depend>
<export><metapackage/></export>
</package>
================================================
FILE: agvs.rosinstall
================================================
# Robotnik stacks
- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robotnik_msgs.git'}
================================================
FILE: agvs_complete/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(agvs_complete)
## 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 and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_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
# )
###################################
## 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 you 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 agvs_complete
# 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)
## Declare a cpp library
# add_library(agvs_complete
# src/${PROJECT_NAME}/agvs_complete.cpp
# )
## Declare a cpp executable
# add_executable(agvs_complete_node src/agvs_complete_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(agvs_complete_node agvs_complete_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(agvs_complete_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 agvs_complete agvs_complete_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_agvs_complete.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
================================================
FILE: agvs_complete/launch/agvs_complete.launch
================================================
<?xml version="1.0"?>
<launch>
<!-- start dspic_controller - reads lateral wheels and publishes differential odom -->
<node pkg="agvs_controller" type="dspic_controller" name="dspic_controller_node" output="screen" respawn="false">
<param name="port" value="/dev/ttyS0"/>
<param name="publish_tf" value="true"/>
<param name="odom_frame_id" value="/odom" type="string"/>
<param name="base_frame_id" value="/base_footprint" type="string"/>
<param name="desired_freq" value="50.0"/>
</node>
<!-- start laser sensor -->
<node pkg="s3000_laser" type="s3000_laser_node" name="s3000_laser_front" output="screen" respawn="false">
<param name="port" value="/dev/ttyUSB_FRONT_LASER" type="string"/>
<param name="frame_id" value="/laser_front" type="string"/>
</node>
<!-- start laser sensor -->
<node pkg="s3000_laser" type="s3000_laser_node" name="s3000_laser_back" output="screen" respawn="false">
<param name="port" value="/dev/ttyUSB_BACK_LASER" type="string"/>
<param name="frame_id" value="/laser_back" type="string"/>
<param name="publish_scan" value="false"/>
</node>
<!-- start agvs_controller - communicates with the robot contorller and publishes ackerman odom -->
<!-- start agvs_controller node -->
<node pkg="agvs_controller" type="agvs_controller" name="agvs_controller" output="screen" respawn="false">
<rosparam command="load" file="$(find agvs_controller)/launch/agvs_controller.yaml" />
<param name="odom_frame_id" value="/odom_ack" type="string"/>
<param name="base_frame_id" value="/base_footprint" type="string"/>
<param name="publish_tf" value="false"/>
<param name="desired_freq" value="50.0"/>
</node>
<!-- start agvs_pad -->
<include file="$(find agvs_pad)/launch/agvs_pad.launch"/>
<!-- Description -->
<include file="$(find agvs_description)/launch/agvs.launch"/>
<!--node pkg="tf" type="static_transform_publisher" name="laser_front_broadcaster" args="0.772 0.0 0.140 0 0 0 base_link laser_front 20" /-->
<!-- start purepursuit node -->
<node pkg="purepursuit_planner" type="purepursuit_planner_node" name="purepursuit_planner" output="screen">
<param name="position_source" value="MAP" type="string"/>
<param name="d_lookahear_min" value="0.6"/>
<param name="desired_freq" value="50.0"/>
</node>
</launch>
================================================
FILE: agvs_complete/launch/agvs_gmapping.launch
================================================
<?xml version="1.0"?>
<launch>
<node pkg="gmapping" type="slam_gmapping" args="scan:=/scan" name="slam_gmapping" output="screen"/>
<!-- nav_view replaced by rviz visualization and goal setting -->
<!-- include file="$(find 2dnav_testing)/rviz.xml"/ -->
</launch>
================================================
FILE: agvs_complete/launch/agvs_hector_mapping.launch
================================================
<?xml version="1.0"?>
<launch>
<arg name="tf_map_scanmatch_transform_frame_name" default="scanmatcher_frame"/>
<arg name="base_frame" default="base_link"/>
<arg name="odom_frame" default="odom"/>
<arg name="pub_map_odom_transform" default="true"/>
<arg name="scan_subscriber_queue_size" default="5"/>
<arg name="scan_topic" default="scan"/>
<arg name="map_size" default="2048"/>
<node pkg="hector_mapping" type="hector_mapping" name="hector_mapping" output="screen">
<!-- Frame names -->
<param name="map_frame" value="map" />
<param name="base_frame" value="$(arg base_frame)" />
<param name="odom_frame" value="$(arg odom_frame)" />
<!-- Tf use -->
<param name="use_tf_scan_transformation" value="true"/>
<param name="use_tf_pose_start_estimate" value="false"/>
<param name="pub_map_odom_transform" value="$(arg pub_map_odom_transform)"/>
<!-- Map size / start point -->
<param name="map_resolution" value="0.050"/>
<param name="map_size" value="$(arg map_size)"/>
<param name="map_start_x" value="0.5"/>
<param name="map_start_y" value="0.5" />
<param name="map_multi_res_levels" value="2" />
<!-- Map update parameters -->
<param name="update_factor_free" value="0.4"/>
<param name="update_factor_occupied" value="0.9" />
<param name="map_update_distance_thresh" value="0.4"/>
<param name="map_update_angle_thresh" value="0.06" />
<param name="laser_z_min_value" value = "-1.0" />
<param name="laser_z_max_value" value = "1.0" />
<!-- Advertising config -->
<param name="advertise_map_service" value="true"/>
<param name="scan_subscriber_queue_size" value="$(arg scan_subscriber_queue_size)"/>
<param name="scan_topic" value="$(arg scan_topic)"/>
<!-- Debug parameters -->
<!--
<param name="output_timing" value="false"/>
<param name="pub_drawings" value="true"/>
<param name="pub_debug_output" value="true"/>
-->
<param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
</node>
<!--<node pkg="tf" type="static_transform_publisher" name="map_nav_broadcaster" args="0 0 0
0 0 0 map nav 100"/>-->
</launch>
================================================
FILE: agvs_complete/launch/amcl_diff.launch
================================================
<?xml version="1.0"?>
<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<!-- 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="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<!-- param name="laser_max_beams" value="30"/ -->
<param name="laser_max_beams" value="100" />
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<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="0.95"/>
<param name="laser_z_short" value="0.1"/>
<param name="laser_z_max" value="0.05"/>
<param name="laser_z_rand" value="0.05"/>
<param name="laser_sigma_hit" value="0.2"/>
<param name="laser_lambda_short" value="0.1"/>
<param name="laser_model_type" value="beam"/>
<param name="laser_likelihood_max_dist" value="2.0"/>
<!--param name="update_min_d" value="0.2"/ -->
<param name="update_min_d" value="1.5" />
<!-- param name="update_min_a" value="0.5"/ -->
<param name="update_min_a" value="0.6" />
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="2"/>
<param name="transform_tolerance" value="0.1"/>
<!--param name="recovery_alpha_slow" value="0.0"/ -->
<param name="recovery_alpha_slow" value="0.001" />
<!-- param name="recovery_alpha_fast" value="0.0"/ -->
<param name="recovery_alpha_fast" value="0.1"/>
</node>
</launch>
================================================
FILE: agvs_complete/launch/amcl_diff_2.launch
================================================
<?xml version="1.0"?>
<launch>
<node pkg="amcl" type="amcl" name="amcl" output="screen">
<!-- 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="transform_tolerance" value="0.2" />
<param name="gui_publish_rate" value="10.0"/>
<!-- param name="laser_max_beams" value="30"/ -->
<param name="laser_max_beams" value="100" />
<param name="min_particles" value="500"/>
<param name="max_particles" value="5000"/>
<param name="kld_err" value="0.05"/>
<param name="kld_z" value="0.99"/>
<param name="odom_alpha1" value="0.5"/>
<param name="odom_alpha2" value="0.5"/>
<!-- translation std dev, m -->
<param name="odom_alpha3" value="1.0"/>
<param name="odom_alpha4" value="1.0"/>
<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_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="0.2"/ -->
<param name="update_min_d" value="0.1" />
<!-- param name="update_min_a" value="0.5"/ -->
<param name="update_min_a" value="0.25" />
<param name="odom_frame_id" value="odom"/>
<param name="resample_interval" value="2"/>
<param name="transform_tolerance" value="0.1"/>
<!--param name="recovery_alpha_slow" value="0.0"/ -->
<param name="recovery_alpha_slow" value="0.001" />
<!-- param name="recovery_alpha_fast" value="0.0"/ -->
<param name="recovery_alpha_fast" value="0.1"/>
</node>
</launch>
================================================
FILE: agvs_complete/launch/map_server.launch
================================================
<?xml version="1.0"?>
<launch>
<!-- Run the map server -->
<!-- rosrun map_server map_server -->
<!-- node name="map_server" pkg="map_server" type="map_server" args="$(find my_map_package)/my_map.pgm my_map_resolution" -->
<node name="map_server" pkg="map_server" type="map_server" args="$(find agvs_complete)/maps/willow.yaml"/>
</launch>
================================================
FILE: agvs_complete/launch/purepursuit_nav.rviz
================================================
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /InteractiveMarkers1
- /PoseArray1
Splitter Ratio: 0.5
Tree Height: 669
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: LaserScan
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
back_motor_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
back_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_footprint:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
elevator_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_motor_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
laser_back:
Alpha: 1
Show Axes: false
Show Trail: false
laser_front:
Alpha: 1
Show Axes: false
Show Trail: false
side_wheel_left:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
side_wheel_right:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Alpha: 0.7
Class: rviz/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Name: Map
Topic: /map
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/LaserScan
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 2.70451e-43
Min Color: 0; 0; 0
Min Intensity: 0
Name: LaserScan
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic: /scan
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/InteractiveMarkers
Enable Transparency: true
Enabled: true
Name: InteractiveMarkers
Show Axes: false
Show Descriptions: true
Show Visual Aids: false
Update Topic: /path_marker/update
Value: true
- Arrow Length: 0.3
Class: rviz/PoseArray
Color: 255; 25; 0
Enabled: true
Name: PoseArray
Topic: /particlecloud
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: map
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10.1054
Enable Stereo Rendering:
Stereo Eye Separation: 0.06
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.645398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 3.1954
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 950
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c0000032cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000032c000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000028f000000c50000000000000000000000010000010f0000032cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000032c000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006af0000003efc0100000002fb0000000800540069006d00650100000000000006af000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004580000032c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1711
X: 58
Y: 60
================================================
FILE: agvs_complete/launch/robot_pose_ekf.launch
================================================
<?xml version="1.0"?>
<launch>
<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
<!-- param name="output_frame" value="odom_combined"/ -->
<!-- name of the frame and name of the topic -->
<!-- publishes /robot_pose_ekf/odom_combined -->
<!-- param name="output_frame" value="odom_combined"/ -->
<param name="output_frame" value="odom"/>
<param name="freq" value="30.0"/>
<param name="sensor_timeout" value="1.0"/>
<param name="odom_used" value="true"/>
<param name="imu_used" value="false"/>
<param name="vo_used" value="true"/>
<!-- remap from="odom" to="pr2_base_odometry/odom" / -->
<!--remap from="imu_data" to="imu/data" /-->
<remap from="odom" to="odom_diff" />
<remap from="vo" to="odom_ack" />
</node>
</launch>
================================================
FILE: agvs_complete/maps/willow.pgm
================================================
[File too large to display: 15.3 MB]
================================================
FILE: agvs_complete/maps/willow.yaml
================================================
image: willow.pgm
resolution: 0.050000
origin: [-100.000000, -100.000000, 0.000000]
negate: 0
occupied_thresh: 0.65
free_thresh: 0.196
================================================
FILE: agvs_complete/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>agvs_complete</name>
<version>0.1.0</version>
<description>The agvs_complete package. It contains multiple launch files to perform different tasks, from creating a map with gmapping to launching amcl.</description>
<maintainer email="rguzman@robotnik.es">Roberto Guzmán</maintainer>
<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/agvs_complete</url>
<url type="repository">https://github.com/RobotnikAutomation/agvs</url>
<url type="bugtracker">https://github.com/RobotnikAutomation/agvs/issues</url>
<author email="rnavarro@robotnik.es">Román Navarro</author>
<buildtool_depend>catkin</buildtool_depend>
<export>
</export>
</package>
================================================
FILE: agvs_complete/scripts/save_map.sh
================================================
#!/bin/sh
# parameter $1: name of the map
rosrun map_server map_saver -f $1
================================================
FILE: agvs_control/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(agvs_control)
## 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
# ros_control
# ros_controllers
#)
## 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 and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_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
# )
###################################
## 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 you 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 agvs_control
# CATKIN_DEPENDS ros_control ros_controllers
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(agvs_control
# src/${PROJECT_NAME}/agvs_control.cpp
# )
## Declare a cpp executable
# add_executable(agvs_control_node src/agvs_control_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(agvs_control_node agvs_control_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(agvs_control_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 agvs_control agvs_control_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_agvs_control.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)
================================================
FILE: agvs_control/config/agvs_control.yaml
================================================
agvs:
# Velocity controllers
# joint_back_wheel_effort_controller:
# type: effort_controllers/JointEffortController
# joint: joint_back_wheel
# pid: {p: 1000.0, i: 500, d: 500.0}
joint_back_wheel_controller:
type: velocity_controllers/JointVelocityController
joint: joint_back_wheel
pid: {p: 1000.0, i: 0.01, d: 100.0}
# joint_front_wheel_effort_controller:
# type: effort_controllers/JointEffortController
# joint: joint_front_wheel
# pid: {p: 1000.0, i: 500, d: 500.0}
joint_front_wheel_controller:
type: velocity_controllers/JointVelocityController
joint: joint_front_wheel
pid: {p: 1000.0, i: 0.01, d: 100.0}
# Position controllers
joint_back_motor_wheel_controller:
type: effort_controllers/JointPositionController
joint: joint_back_motor_wheel
pid: {p: 100.0, i: 0.01, d: 10.0}
# Be careful with the selection of the pid values, e.g. d: 50.0 produces a nan in the velocity ???
joint_front_motor_wheel_controller:
type: effort_controllers/JointPositionController
joint: joint_front_motor_wheel
pid: {p: 100.0, i: 0.01, d: 10.0}
joint_elevator_controller:
type: effort_controllers/JointPositionController
joint: elevator_joint
pid: {p: 10000.0, i: 10000.0, d: 500.0}
joint_read_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 100.0
================================================
FILE: agvs_control/launch/agvs_control.launch
================================================
<?xml version="1.0"?>
<launch>
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/agvs" args="--namespace=/agvs
joint_back_wheel_controller
joint_front_wheel_controller
joint_back_motor_wheel_controller
joint_front_motor_wheel_controller
joint_elevator_controller
joint_read_state_controller
"/>
<!-- Load joint controller configurations from YAcd .ML file to parameter server -->
<rosparam file="$(find agvs_control)/config/agvs_control.yaml" command="load"/>
<!-- once the joint_state is published, run the robot_state_publisher, the namespace has to be adapted -->
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/agvs/joint_states" />
</node>
</launch>
================================================
FILE: agvs_control/package.xml
================================================
<?xml version="1.0"?>
<package>
<name>agvs_control</name>
<version>0.1.0</version>
<description>The agvs_control package. Config files used for Gazebo motor controllers.</description>
<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
<maintainer email="rguzman@robotnik.es">Roberto Guzmán</maintainer>
<license>BSD</license>
<url type="website">http://wiki.ros.org/agvs_control</url>
<url type="repository">https://github.com/RobotnikAutomation/agvs</url>
<url type="bugtracker">https://github.com/RobotnikAutomation/agvs/issues</url>
<author email="rguzman@robotnik.es">Roberto Guzmán</author>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>ros_controllers</build_depend>
<build_depend>ros_control</build_depend>
<run_depend>ros_controllers</run_depend>
<run_depend>ros_control</run_depend>
<export>
</export>
</package>
================================================
FILE: agvs_description/CMakeLists.txt
================================================
cmake_minimum_required(VERSION 2.8.3)
project(agvs_description)
## 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
message_runtime
roscpp
std_msgs
std_srvs
tf
)
## 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 and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_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
# )
###################################
## 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 you 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 agvs_description
# CATKIN_DEPENDS gazebo_ros message_runtime roscpp std_msgs std_srvs tf
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
## Declare a cpp library
# add_library(agvs_description
# src/${PROJECT_NAME}/agvs_description.cpp
# )
## Declare a cpp executable
# add_executable(agvs_description_node src/agvs_description_node.cpp)
## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(agvs_description_node agvs_description_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(agvs_description_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 agvs_description agvs_description_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_agvs_description.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
================================================
FILE: agvs_description/launch/agvs.launch
================================================
<?xml version="1.0"?>
<launch>
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find agvs_description)/urdf/agvs.urdf.xacro'" />
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
</launch>
================================================
FILE: agvs_description/launch/agvs_state.launch
================================================
<?xml version="1.0"?>
<launch>
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find agvs_description)/urdf/agvs.urdf.xacro'" />
<!-- send fake joint values>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node-->
<!-- Combine joint values -->
<!-- node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/ -->
<!-- Show in Rviz -->
<!--node name="rviz" pkg="rviz" type="rviz"/--> <!-- args="-d $(find rrbot_description)/launch/rrbot.rviz"/ -->
</launch>
================================================
FILE: agvs_description/launch/rviz_agvs.launch
================================================
<?xml version="1.0"?>
<launch>
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find agvs_description)/urdf/agvs.urdf.xacro'" />
<!-- send fake joint values>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node-->
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!-- Show in Rviz -->
<!--node name="rviz" pkg="rviz" type="rviz"/--> <!-- args="-d $(find rrbot_description)/launch/rrbot.rviz"/ -->
</launch>
================================================
FILE: agvs_description/launch/rviz_agvs_alone.launch
================================================
<?xml version="1.0"?>
<launch>
<param name="robot_description"
command="$(find xacro)/xacro.py '$(find agvs_description)/urdf/agvs.urdf.xacro'" />
<!-- send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<!-- Combine joint values -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!-- Show in Rviz -->
<node name="rviz" pkg="rviz" type="rviz"/> <!-- args="-d $(find agvs_description)/launch/agvs.rviz"/ -->
</launch>
================================================
FILE: agvs_description/meshes/agvs_top.dae
================================================
<?xml version="1.0" encoding="UTF-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>VCGLab</author>
<authoring_tool>VCGLib | MeshLab</authoring_tool>
</contributor>
<up_axis>Y_UP</up_axis>
<created>Wed Feb 26 13:35:02 2014</created>
<modified>Wed Feb 26 13:35:02 2014</modified>
</asset>
<library_images/>
<library_materials/>
<library_effects/>
<library_geometries>
<geometry id="shape0-lib" name="shape0">
<mesh>
<source id="shape0-lib-positions" name="position">
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================================================
FILE: agvs_description/meshes/agvs_wheel.dae
================================================
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================================================
FILE: agvs_description/meshes/chassis_agvs.dae
================================================
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<created>Wed Feb 26 13:36:10 2014</created>
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gitextract_j8ip6dps/
├── .gitignore
├── .rosinstall
├── README.md
├── agvs/
│ ├── CMakeLists.txt
│ └── package.xml
├── agvs.rosinstall
├── agvs_complete/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_complete.launch
│ │ ├── agvs_gmapping.launch
│ │ ├── agvs_hector_mapping.launch
│ │ ├── amcl_diff.launch
│ │ ├── amcl_diff_2.launch
│ │ ├── map_server.launch
│ │ ├── purepursuit_nav.rviz
│ │ └── robot_pose_ekf.launch
│ ├── maps/
│ │ ├── willow.pgm
│ │ └── willow.yaml
│ ├── package.xml
│ └── scripts/
│ └── save_map.sh
├── agvs_control/
│ ├── CMakeLists.txt
│ ├── config/
│ │ └── agvs_control.yaml
│ ├── launch/
│ │ └── agvs_control.launch
│ └── package.xml
├── agvs_description/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs.launch
│ │ ├── agvs_state.launch
│ │ ├── rviz_agvs.launch
│ │ └── rviz_agvs_alone.launch
│ ├── meshes/
│ │ ├── agvs_top.dae
│ │ ├── agvs_top.stl
│ │ ├── agvs_wheel.dae
│ │ ├── agvs_wheel.stl
│ │ ├── chassis_agvs.dae
│ │ ├── chassis_agvs.stl
│ │ ├── motor_wheel.dae
│ │ ├── motor_wheel.stl
│ │ ├── side_wheel_agvs.dae
│ │ └── side_wheel_agvs.stl
│ ├── package.xml
│ ├── urdf/
│ │ ├── agvs.gazebo
│ │ ├── agvs.urdf
│ │ ├── agvs.urdf.xacro
│ │ ├── vrep/
│ │ │ ├── agvs_vrep.urdf
│ │ │ ├── agvs_vrep.urdf.xacro
│ │ │ └── xacro2urdf.sh
│ │ └── xacro2urdf.sh
│ └── vrep/
│ ├── AGVS.ttm
│ └── AGVS.ttt
├── agvs_gazebo/
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs.launch
│ │ ├── agvs_office.launch
│ │ └── agvs_sim_complete.launch
│ ├── package.xml
│ └── worlds/
│ ├── agvs.world
│ └── agvs_office.world
├── agvs_pad/
│ ├── .rosinstall
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_pad.launch
│ │ └── agvs_pad.yaml
│ ├── package.xml
│ └── src/
│ └── agvs_pad_node.cpp
├── agvs_robot_control/
│ ├── .rosinstall
│ ├── CMakeLists.txt
│ ├── launch/
│ │ ├── agvs_robot_control.launch
│ │ └── agvs_robot_control.yaml
│ ├── msg/
│ │ ├── AckermannDrive.msg
│ │ └── AckermannDriveStamped.msg
│ ├── package.xml
│ └── src/
│ └── agvs_robot_control.cpp
├── planner_msgs/
│ ├── CMakeLists.txt
│ ├── action/
│ │ └── GoTo.action
│ ├── generate_msgs.sh
│ ├── msg/
│ │ ├── GoToAction.msg
│ │ ├── GoToActionFeedback.msg
│ │ ├── GoToActionGoal.msg
│ │ ├── GoToActionResult.msg
│ │ ├── GoToFeedback.msg
│ │ ├── GoToGoal.msg
│ │ ├── GoToResult.msg
│ │ └── goal.msg
│ └── package.xml
└── purepursuit_planner/
├── CMakeLists.txt
├── action/
│ └── GoTo.action
├── generate_msgs.sh
├── include/
│ └── purepursuit_planner/
│ └── Component.h
├── launch/
│ ├── purepursuit.launch
│ └── purepursuit_marker.launch
├── msg/
│ ├── GoToAction.msg
│ ├── GoToActionFeedback.msg
│ ├── GoToActionGoal.msg
│ ├── GoToActionResult.msg
│ ├── GoToFeedback.msg
│ ├── GoToGoal.msg
│ ├── GoToResult.msg
│ └── goal.msg
├── package.xml
├── scripts/
│ └── purepursuit_planner/
│ ├── __init__.py
│ ├── path_marker_1.py
│ ├── path_marker_2.py
│ ├── planner_test_client.py
│ ├── purepursuit_client.py
│ └── waypoints.txt
├── setup.py
└── src/
├── Component.cc
└── purepursuit_planner.cpp
SYMBOL INDEX (169 symbols across 9 files)
FILE: agvs_pad/src/agvs_pad_node.cpp
class Button (line 75) | class Button{
method Button (line 81) | Button(){
method Press (line 86) | void Press(int value){
method IsPressed (line 97) | int IsPressed(){
method IsReleased (line 101) | bool IsReleased(){
class AgvsPad (line 111) | class AgvsPad
function main (line 434) | int main(int argc, char** argv)
FILE: agvs_robot_control/src/agvs_robot_control.cpp
class AGVSControllerClass (line 68) | class AGVSControllerClass {
method AGVSControllerClass (line 190) | AGVSControllerClass(ros::NodeHandle h) : diagnostic_(),
method starting (line 305) | int starting()
method UpdateOdometry (line 330) | void UpdateOdometry(){
method PublishOdometry (line 381) | void PublishOdometry()
method UpdateControl (line 447) | void UpdateControl()
method SetElevatorPosition (line 484) | void SetElevatorPosition(double val){
method stopping (line 494) | void stopping()
method check_command_subscriber (line 501) | void check_command_subscriber(diagnostic_updater::DiagnosticStatusWrap...
method srvCallback_SetOdometry (line 517) | bool srvCallback_SetOdometry(robotnik_msgs::set_odometry::Request &req...
method srvCallback_RaiseElevator (line 529) | bool srvCallback_RaiseElevator(std_srvs::Empty::Request &request, std_...
method srvCallback_LowerElevator (line 538) | bool srvCallback_LowerElevator(std_srvs::Empty::Request &request, std_...
method jointStateCallback (line 547) | void jointStateCallback(const sensor_msgs::JointStateConstPtr& msg)
method commandCallback (line 554) | void commandCallback(const ackermann_msgs::AckermannDriveStamped::Cons...
method imuCallback (line 567) | void imuCallback( const sensor_msgs::Imu& imu_msg){
method saturation (line 583) | double saturation(double u, double min, double max)
method radnorm (line 593) | static inline void radnorm(double* radians)
method radnorm2 (line 603) | static inline double radnorm2( double value )
method spin (line 610) | bool spin()
function main (line 642) | int main(int argc, char** argv)
FILE: purepursuit_planner/include/purepursuit_planner/Component.h
type ReturnValue (line 33) | enum ReturnValue{
type States (line 44) | enum States{
type timespec (line 58) | struct timespec
function tsnorm (line 62) | static inline void tsnorm(struct timespec *ts)
function radnorm (line 70) | static inline void radnorm(double* radians)
function radnorm2 (line 81) | static inline void radnorm2(double* radians)
function calcdiff (line 91) | static inline long calcdiff(struct timespec t1, struct timespec t2)
type thread_param (line 99) | struct thread_param{
type thread_data (line 104) | typedef struct thread_data{
function class (line 121) | class Component{
FILE: purepursuit_planner/scripts/purepursuit_planner/path_marker_1.py
class PurepursuitClient (line 43) | class PurepursuitClient():
method __init__ (line 45) | def __init__(self, planner_name):
method goTo (line 53) | def goTo(self, goal_list):
method cancel (line 70) | def cancel(self):
method getState (line 81) | def getState(self):
method getResult (line 85) | def getResult(self):
class PointPath (line 94) | class PointPath(InteractiveMarker):
method __init__ (line 96) | def __init__(self, frame_id, name, description, is_manager = False):
method processFeedback (line 132) | def processFeedback(self, feedback):
class PointPathManager (line 139) | class PointPathManager(InteractiveMarkerServer):
method __init__ (line 141) | def __init__(self, name, frame_id, planner):
method createNewPoint (line 172) | def createNewPoint(self):
method newPointCB (line 202) | def newPointCB(self, feedback):
method deletePointCB (line 207) | def deletePointCB(self, feedback):
method deleteAllPointsCB (line 217) | def deleteAllPointsCB(self, feedback):
method startRouteCB (line 228) | def startRouteCB(self, feedback):
method reverseRouteCB (line 235) | def reverseRouteCB(self, feedback):
method stopRouteCB (line 242) | def stopRouteCB(self, feedback):
method convertListOfPointPathIntoGoal (line 247) | def convertListOfPointPathIntoGoal(self, inverse = False):
FILE: purepursuit_planner/scripts/purepursuit_planner/path_marker_2.py
class PurepursuitClient (line 44) | class PurepursuitClient():
method __init__ (line 46) | def __init__(self, planner_name):
method goTo (line 54) | def goTo(self, goal_list):
method cancel (line 71) | def cancel(self):
method getState (line 82) | def getState(self):
method getResult (line 86) | def getResult(self):
class PointPath (line 95) | class PointPath(InteractiveMarker):
method __init__ (line 97) | def __init__(self, frame_id, name, description, is_manager = False, sp...
method processFeedback (line 133) | def processFeedback(self, feedback):
class PointPathManager (line 140) | class PointPathManager(InteractiveMarkerServer):
method __init__ (line 142) | def __init__(self, name, frame_id, planner):
method createNewPoint (line 187) | def createNewPoint(self, speed = 0.2):
method newPointCB (line 217) | def newPointCB(self, feedback):
method newPointCB_02 (line 221) | def newPointCB_02(self, feedback):
method newPointCB_04 (line 225) | def newPointCB_04(self, feedback):
method newPointCB_06 (line 229) | def newPointCB_06(self, feedback):
method deletePointCB (line 234) | def deletePointCB(self, feedback):
method deleteAllPoints (line 244) | def deleteAllPoints(self):
method deleteAllPointsCB (line 253) | def deleteAllPointsCB(self, feedback):
method savePointsCB (line 257) | def savePointsCB(self, feedback):
method loadPointsCB (line 275) | def loadPointsCB(self, feedback):
method startRouteCB (line 319) | def startRouteCB(self, feedback):
method reverseRouteCB (line 326) | def reverseRouteCB(self, feedback):
method stopRouteCB (line 333) | def stopRouteCB(self, feedback):
method convertListOfPointPathIntoGoal (line 338) | def convertListOfPointPathIntoGoal(self, inverse = False):
method goService (line 351) | def goService(self, param):
method goBackService (line 359) | def goBackService(self, param):
method cancelService (line 367) | def cancelService(self, param):
FILE: purepursuit_planner/scripts/purepursuit_planner/planner_test_client.py
function purepursuit_client (line 13) | def purepursuit_client():
FILE: purepursuit_planner/scripts/purepursuit_planner/purepursuit_client.py
function purepursuit_client (line 15) | def purepursuit_client():
FILE: purepursuit_planner/src/Component.cc
function ReturnValue (line 63) | ReturnValue Component::Setup(){
function ReturnValue (line 107) | ReturnValue Component::ShutDown(){
function ReturnValue (line 142) | ReturnValue Component::Configure(){
function ReturnValue (line 151) | ReturnValue Component::Allocate(){
function ReturnValue (line 160) | ReturnValue Component::Free(){
function ReturnValue (line 170) | ReturnValue Component::Open(){
function ReturnValue (line 180) | ReturnValue Component::Close(){
function ReturnValue (line 191) | ReturnValue Component::Start(){
function ReturnValue (line 237) | ReturnValue Component::Stop(){
type sched_param (line 262) | struct sched_param
type timespec (line 264) | struct timespec
type timespec (line 265) | struct timespec
function States (line 384) | States Component::GetState(){
function ReturnValue (line 467) | ReturnValue Component::GetThreadData(thread_data *data){
function ReturnValue (line 500) | ReturnValue Component::CreateTask(int prio, double frec, void *(*start_r...
FILE: purepursuit_planner/src/purepursuit_planner.cpp
type MagnetStruct (line 65) | struct MagnetStruct{
type Waypoint (line 75) | struct Waypoint{
class Path (line 89) | class Path{
method Path (line 109) | Path(){
method ReturnValue (line 121) | ReturnValue AddWaypoint(Waypoint point){
method ReturnValue (line 144) | ReturnValue AddWaypoint(vector <Waypoint> po){
method ReturnValue (line 156) | ReturnValue AddMagnet(MagnetStruct magnet){
method ReturnValue (line 168) | ReturnValue AddMagnet(vector <MagnetStruct> po){
method Clear (line 180) | void Clear(){
method Size (line 191) | unsigned int Size(){
method ReturnValue (line 196) | ReturnValue GetNextWaypoint(Waypoint *wp){
method ReturnValue (line 212) | ReturnValue BackWaypoint(Waypoint *wp){
method ReturnValue (line 226) | ReturnValue GetCurrentWaypoint(Waypoint *wp){
method ReturnValue (line 240) | ReturnValue GetWaypoint(int index, Waypoint *wp){
method GetCurrentWaypointIndex (line 254) | int GetCurrentWaypointIndex(){
method ReturnValue (line 259) | ReturnValue SetCurrentWaypoint(int index){
method NextWaypoint (line 273) | void NextWaypoint(){
method NumOfWaypoints (line 280) | int NumOfWaypoints(){
method ReturnValue (line 285) | ReturnValue GetNextMagnet(MagnetStruct *mg){
method ReturnValue (line 301) | ReturnValue BackMagnet(MagnetStruct * mg){
method ReturnValue (line 315) | ReturnValue GetCurrentMagnet( MagnetStruct * mg ){
method ReturnValue (line 329) | ReturnValue GetPreviousMagnet( MagnetStruct * mg ){
method GetCurrentMagnetIndex (line 343) | int GetCurrentMagnetIndex(){
method ReturnValue (line 348) | ReturnValue SetCurrentMagnet(int index){
method NextMagnet (line 361) | void NextMagnet(){
method ReturnValue (line 368) | ReturnValue GetLastMagnet( MagnetStruct * mg ){
method NumOfMagnets (line 382) | int NumOfMagnets(){
method Path (line 387) | Path &operator+=(const Path &a){
method dot2 (line 394) | double dot2( Waypoint w, Waypoint v) {
method Waypoint (line 404) | Waypoint PosOnQuadraticBezier(Waypoint cp0, Waypoint cp1, Waypoint cp2...
method DistForSpeed (line 419) | double DistForSpeed(double target_speed){
method ReturnValue (line 433) | ReturnValue Optimize(double distance){
method Print (line 662) | void Print(){
class purepursuit_planner_node (line 675) | class purepursuit_planner_node: public Component
method purepursuit_planner_node (line 758) | purepursuit_planner_node(ros::NodeHandle h) : node_handle_(h), private...
method ROSSetup (line 786) | void ROSSetup(){
method ReturnValue (line 848) | ReturnValue Setup(){
method ReadAndPublish (line 867) | int ReadAndPublish()
method ReturnValue (line 877) | ReturnValue Start(){
method ReturnValue (line 892) | ReturnValue Stop(){
method ControlThread (line 908) | void ControlThread()
method InitState (line 959) | void InitState(){
method StandbyState (line 975) | void StandbyState(){
method ReadyState (line 992) | void ReadyState(){
method UpdateLookAhead (line 1037) | void UpdateLookAhead(){
method Dot2 (line 1061) | double Dot2( double x1, double y1, double x2, double y2) {
method Dist (line 1069) | double Dist(double x1, double y1, double x2, double y2) {
method DistP2S (line 1080) | double DistP2S( geometry_msgs::Pose2D current_position, Waypoint s0, W...
method ReturnValue (line 1125) | ReturnValue PointDlh(geometry_msgs::Pose2D current_position, geometry_...
method PurePursuit (line 1231) | int PurePursuit(){
method CancelPath (line 1357) | void CancelPath(){
method SetRobotSpeed (line 1372) | void SetRobotSpeed(double speed, double angle){
method ShutDownState (line 1388) | void ShutDownState(){
method EmergencyState (line 1398) | void EmergencyState(){
method FailureState (line 1408) | void FailureState(){
method AllState (line 1414) | void AllState(){
method OdomCallback (line 1445) | void OdomCallback(const nav_msgs::Odometry::ConstPtr& odom_value)
method CheckOdomReceive (line 1469) | int CheckOdomReceive()
method executeCB (line 1483) | void executeCB(const planner_msgs::GoToGoalConstPtr &goal)
method CalculateDirectionSpeed (line 1493) | int CalculateDirectionSpeed(Waypoint target_position){
method CalculateDirectionSpeed (line 1568) | int CalculateDirectionSpeed(geometry_msgs::Pose2D target_position){
method ReturnValue (line 1641) | ReturnValue MergePath(){
method GoalCB (line 1717) | void GoalCB()
method PreemptCB (line 1727) | void PreemptCB()
method AnalyseCB (line 1735) | void AnalyseCB(){
method SetLaserFront (line 1754) | bool SetLaserFront(){
method SetLaserBack (line 1769) | bool SetLaserBack(){
function main (line 1784) | int main(int argc, char** argv)
Condensed preview — 105 files, each showing path, character count, and a content snippet. Download the .json file or copy for the full structured content (727K chars).
[
{
"path": ".gitignore",
"chars": 18,
"preview": "# Backup files\n*~\n"
},
{
"path": ".rosinstall",
"chars": 135,
"preview": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robot"
},
{
"path": "README.md",
"chars": 783,
"preview": "agvs\n====\n\nROS package for the robot AGVS, intended for indoor transportation tasks\n\nList of packages\n\n### agvs_complete"
},
{
"path": "agvs/CMakeLists.txt",
"chars": 103,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs)\nfind_package(catkin REQUIRED)\ncatkin_metapackage()\n"
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"chars": 135,
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"chars": 5162,
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"chars": 2419,
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"chars": 271,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n <node pkg=\"gmapping\" type=\"slam_gmapping\" args=\"scan:=/scan\" name=\"slam_gmapping\" outpu"
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"chars": 2268,
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"chars": 7002,
"preview": "Panels:\n - Class: rviz/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n "
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{
"path": "agvs_complete/scripts/save_map.sh",
"chars": 77,
"preview": "#!/bin/sh\n# parameter $1: name of the map\n\nrosrun map_server map_saver -f $1\n"
},
{
"path": "agvs_control/CMakeLists.txt",
"chars": 5257,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_control)\n\n## Find catkin macros and libraries\n## if COMPONENTS list l"
},
{
"path": "agvs_control/config/agvs_control.yaml",
"chars": 1384,
"preview": "agvs:\n# Velocity controllers\n# joint_back_wheel_effort_controller:\n# type: effort_controllers/JointEffortController\n"
},
{
"path": "agvs_control/launch/agvs_control.launch",
"chars": 1108,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- load the controllers -->\n <node name=\"controller_spawner\" pkg=\"controller_manage"
},
{
"path": "agvs_control/package.xml",
"chars": 898,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>agvs_control</name>\n <version>0.1.0</version>\n <description>The agvs_control p"
},
{
"path": "agvs_description/CMakeLists.txt",
"chars": 5313,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_description)\n\n## Find catkin macros and libraries\n## if COMPONENTS li"
},
{
"path": "agvs_description/launch/agvs.launch",
"chars": 288,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n <param name=\"robot_description\"\n command=\"$(find xacro)/xacro.py '$(find agvs_descri"
},
{
"path": "agvs_description/launch/agvs_state.launch",
"chars": 618,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n <param name=\"robot_description\"\n command=\"$(find xacro)/xacro.py '$(find agvs_descri"
},
{
"path": "agvs_description/launch/rviz_agvs.launch",
"chars": 611,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n <param name=\"robot_description\"\n command=\"$(find xacro)/xacro.py '$(find agvs_descri"
},
{
"path": "agvs_description/launch/rviz_agvs_alone.launch",
"chars": 605,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n <param name=\"robot_description\"\n command=\"$(find xacro)/xacro.py '$(find agvs_descri"
},
{
"path": "agvs_description/meshes/agvs_top.dae",
"chars": 27251,
"preview": "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "agvs_description/meshes/agvs_wheel.dae",
"chars": 102051,
"preview": "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "agvs_description/meshes/chassis_agvs.dae",
"chars": 236455,
"preview": "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "agvs_description/meshes/motor_wheel.dae",
"chars": 32356,
"preview": "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "agvs_description/meshes/side_wheel_agvs.dae",
"chars": 9888,
"preview": "<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n<COLLADA xmlns=\"http://www.collada.org/2005/11/COLLADASchema\" version=\"1.4.1\">\n "
},
{
"path": "agvs_description/package.xml",
"chars": 1120,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>agvs_description</name>\n <version>0.1.0</version>\n <description>The agvs_descr"
},
{
"path": "agvs_description/urdf/agvs.gazebo",
"chars": 4431,
"preview": "<?xml version=\"1.0\"?>\n<robot>\n <!-- ros_control plugin -->\n <gazebo>\n <plugin name=\"ros_control\" filename=\"libgazeb"
},
{
"path": "agvs_description/urdf/agvs.urdf",
"chars": 16197,
"preview": "<?xml version=\"1.0\" ?>\n<!-- =================================================================================== -->\n<!--"
},
{
"path": "agvs_description/urdf/agvs.urdf.xacro",
"chars": 15726,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"agvs\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\"> \n\n <!-- Import all Gazebo-customi"
},
{
"path": "agvs_description/urdf/vrep/agvs_vrep.urdf",
"chars": 12900,
"preview": "<?xml version=\"1.0\" ?>\n<!-- =================================================================================== -->\n<!--"
},
{
"path": "agvs_description/urdf/vrep/agvs_vrep.urdf.xacro",
"chars": 14725,
"preview": "<?xml version=\"1.0\"?>\n<robot name=\"agvs\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\"> \n\n <!-- Robot mechanical and moto"
},
{
"path": "agvs_description/urdf/vrep/xacro2urdf.sh",
"chars": 119,
"preview": "#!/bin/bash\n# usage xacro2urdf file1.xacro file2.urdf\necho \"Converting file $1 in $2\" \nrosrun xacro xacro.py $1 > $2\n\n"
},
{
"path": "agvs_description/urdf/xacro2urdf.sh",
"chars": 119,
"preview": "#!/bin/bash\n# usage xacro2urdf file1.xacro file2.urdf\necho \"Converting file $1 in $2\" \nrosrun xacro xacro.py $1 > $2\n\n"
},
{
"path": "agvs_gazebo/CMakeLists.txt",
"chars": 5337,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_gazebo)\n\n## Find catkin macros and libraries\n## if COMPONENTS list li"
},
{
"path": "agvs_gazebo/launch/agvs.launch",
"chars": 1443,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- We resume the logic in empty_world.launch, changing only the name of the world to"
},
{
"path": "agvs_gazebo/launch/agvs_office.launch",
"chars": 1442,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- We resume the logic in empty_world.launch, changing only the name of the world to"
},
{
"path": "agvs_gazebo/launch/agvs_sim_complete.launch",
"chars": 253,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <include file=\"$(find agvs_gazebo)/launch/agvs.launch\" />\n \n <include file=\"$(find a"
},
{
"path": "agvs_gazebo/package.xml",
"chars": 1475,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>agvs_gazebo</name>\n <version>0.1.0</version>\n <description>The agvs_gazebo pac"
},
{
"path": "agvs_gazebo/worlds/agvs.world",
"chars": 2442,
"preview": "<?xml version=\"1.0\" ?>\n<sdf version=\"1.3\">\n <world name=\"default\">\n <physics type=\"ode\">\n <gravity>0 0 -9.8</gr"
},
{
"path": "agvs_gazebo/worlds/agvs_office.world",
"chars": 2670,
"preview": "<?xml version=\"1.0\" ?>\n<sdf version=\"1.3\">\n <world name=\"default\">\n <physics type=\"ode\">\n <gravity>0 0 -9.8</gr"
},
{
"path": "agvs_pad/.rosinstall",
"chars": 135,
"preview": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robot"
},
{
"path": "agvs_pad/CMakeLists.txt",
"chars": 5315,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_pad)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like "
},
{
"path": "agvs_pad/launch/agvs_pad.launch",
"chars": 804,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- joy node -->\n <node name=\"joy\" pkg=\"joy\" type=\"joy_node\" respawn=\"true\">\n <par"
},
{
"path": "agvs_pad/launch/agvs_pad.yaml",
"chars": 413,
"preview": "scale_linear: 2.25\nscale_angular: 2.0 \n\nbutton_output_1: -1\nbutton_output_2: -1\noutput_1: 1 \noutput_2: 2\ndesired_freq: 1"
},
{
"path": "agvs_pad/package.xml",
"chars": 1425,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>agvs_pad</name>\n <version>0.1.0</version>\n <description>The agvs_pad package.C"
},
{
"path": "agvs_pad/src/agvs_pad_node.cpp",
"chars": 14323,
"preview": "/*\n * agvs_pad\n * Copyright (c) 2013, Robotnik Automation, SLL\n * All rights reserved.\n *\n * Redistribution and use in s"
},
{
"path": "agvs_robot_control/.rosinstall",
"chars": 135,
"preview": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robot"
},
{
"path": "agvs_robot_control/CMakeLists.txt",
"chars": 1444,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_robot_control)\n\n## Find catkin macros and libraries\n## if COMPONENTS "
},
{
"path": "agvs_robot_control/launch/agvs_robot_control.launch",
"chars": 244,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <rosparam command=\"load\" file=\"$(find agvs_robot_control)/launch/agvs_robot_control.ya"
},
{
"path": "agvs_robot_control/launch/agvs_robot_control.yaml",
"chars": 193,
"preview": "agvs_robot_control:\n\n model: agvs\n\n # kinematic parameters \n agvs_wheel_diameter: 0.2195\n agvs_dist_to_"
},
{
"path": "agvs_robot_control/msg/AckermannDrive.msg",
"chars": 1868,
"preview": "## Driving command for a car-like vehicle using Ackermann steering.\n# $Id: AckermannDrive.msg 1966 2012-02-11 17:52:11Z"
},
{
"path": "agvs_robot_control/msg/AckermannDriveStamped.msg",
"chars": 185,
"preview": "## Time stamped drive command for robots with Ackermann steering.\n# $Id: AckermannDriveStamped.msg 1958 2012-02-11 02:3"
},
{
"path": "agvs_robot_control/package.xml",
"chars": 1393,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>agvs_robot_control</name>\n <version>0.1.0</version>\n <description>The agvs_rob"
},
{
"path": "agvs_robot_control/src/agvs_robot_control.cpp",
"chars": 22516,
"preview": "/*\n * agvs_robot_control\n * Copyright (c) 2014, Robotnik Automation, SLL\n * All rights reserved.\n *\n * Redistribution an"
},
{
"path": "planner_msgs/CMakeLists.txt",
"chars": 4222,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(planner_msgs)\n\n## Find catkin macros and libraries\n## if COMPONENTS list l"
},
{
"path": "planner_msgs/action/GoTo.action",
"chars": 132,
"preview": "# Define the goal\ngoal[] target\n---\n# Define the result\nint32 route_result\n---\n# Define a feedback message\nfloat32 perce"
},
{
"path": "planner_msgs/generate_msgs.sh",
"chars": 72,
"preview": "#!/bin/sh\nrosrun actionlib_msgs genaction.py -o msg/ action/GoTo.action\n"
},
{
"path": "planner_msgs/msg/GoToAction.msg",
"chars": 165,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nGoToActionGoal action_goal\nGoToActionResult acti"
},
{
"path": "planner_msgs/msg/GoToActionFeedback.msg",
"chars": 141,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalStatus status\nG"
},
{
"path": "planner_msgs/msg/GoToActionGoal.msg",
"chars": 130,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalID goal_id\nGoTo"
},
{
"path": "planner_msgs/msg/GoToActionResult.msg",
"chars": 137,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalStatus status\nG"
},
{
"path": "planner_msgs/msg/GoToFeedback.msg",
"chars": 125,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define a feedback message\nfloat32 percent_compl"
},
{
"path": "planner_msgs/msg/GoToGoal.msg",
"chars": 103,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define the goal\ngoal[] target\n"
},
{
"path": "planner_msgs/msg/GoToResult.msg",
"chars": 110,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define the result\nint32 route_result\n"
},
{
"path": "planner_msgs/msg/goal.msg",
"chars": 68,
"preview": "# Position \ngeometry_msgs/Pose2D pose\n# Desired speed\nfloat32 speed\n"
},
{
"path": "planner_msgs/package.xml",
"chars": 1276,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>planner_msgs</name>\n <version>0.1.0</version>\n <description>The planner_msgs p"
},
{
"path": "purepursuit_planner/CMakeLists.txt",
"chars": 5642,
"preview": "cmake_minimum_required(VERSION 2.8.3)\nproject(purepursuit_planner)\n\n## Find catkin macros and libraries\n## if COMPONENTS"
},
{
"path": "purepursuit_planner/action/GoTo.action",
"chars": 132,
"preview": "# Define the goal\ngoal[] target\n---\n# Define the result\nint32 route_result\n---\n# Define a feedback message\nfloat32 perce"
},
{
"path": "purepursuit_planner/generate_msgs.sh",
"chars": 72,
"preview": "#!/bin/sh\nrosrun actionlib_msgs genaction.py -o msg/ action/GoTo.action\n"
},
{
"path": "purepursuit_planner/include/purepursuit_planner/Component.h",
"chars": 6560,
"preview": "/*! \\class Component\n * \\file Component.h\n *\t\\author Robotnik Automation S.L.L\n *\t\\version 1.1.1\n *\t\\date 2014\n * \\bri"
},
{
"path": "purepursuit_planner/launch/purepursuit.launch",
"chars": 522,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- start purepursuit node -->\n <node pkg=\"purepursuit_planner\" type=\"purepursuit_pl"
},
{
"path": "purepursuit_planner/launch/purepursuit_marker.launch",
"chars": 309,
"preview": "<?xml version=\"1.0\"?>\n<launch>\n\n <!-- start purepursuit node -->\n <node pkg=\"purepursuit_planner\" type=\"path_marker_2."
},
{
"path": "purepursuit_planner/msg/GoToAction.msg",
"chars": 165,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nGoToActionGoal action_goal\nGoToActionResult acti"
},
{
"path": "purepursuit_planner/msg/GoToActionFeedback.msg",
"chars": 141,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalStatus status\nG"
},
{
"path": "purepursuit_planner/msg/GoToActionGoal.msg",
"chars": 130,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalID goal_id\nGoTo"
},
{
"path": "purepursuit_planner/msg/GoToActionResult.msg",
"chars": 137,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\nHeader header\nactionlib_msgs/GoalStatus status\nG"
},
{
"path": "purepursuit_planner/msg/GoToFeedback.msg",
"chars": 125,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define a feedback message\nfloat32 percent_compl"
},
{
"path": "purepursuit_planner/msg/GoToGoal.msg",
"chars": 103,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define the goal\ngoal[] target\n"
},
{
"path": "purepursuit_planner/msg/GoToResult.msg",
"chars": 110,
"preview": "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n# Define the result\nint32 route_result\n"
},
{
"path": "purepursuit_planner/msg/goal.msg",
"chars": 68,
"preview": "# Position \ngeometry_msgs/Pose2D pose\n# Desired speed\nfloat32 speed\n"
},
{
"path": "purepursuit_planner/package.xml",
"chars": 1944,
"preview": "<?xml version=\"1.0\"?>\n<package>\n <name>purepursuit_planner</name>\n <version>0.1.0</version>\n <description>The purepur"
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/__init__.py",
"chars": 0,
"preview": ""
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/path_marker_1.py",
"chars": 9802,
"preview": "#!/usr/bin/env python\n\n\"\"\"\nCopyright (c) 2014, Robotnik Automation\nAll rights reserved.\n\nRedistribution and use in sourc"
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/path_marker_2.py",
"chars": 14789,
"preview": "#!/usr/bin/env python\n\n\"\"\"\nCopyright (c) 2014, Robotnik Automation\nAll rights reserved.\n\nRedistribution and use in sourc"
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/planner_test_client.py",
"chars": 1619,
"preview": "#! /usr/bin/env python\n\nimport roslib; roslib.load_manifest('planner_msgs')\nimport rospy\nimport time\n# Brings in the Sim"
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/purepursuit_client.py",
"chars": 2111,
"preview": "#! /usr/bin/env python\n\nimport roslib; roslib.load_manifest('purepursuit_planner')\nimport rospy\nimport time\n# Brings in "
},
{
"path": "purepursuit_planner/scripts/purepursuit_planner/waypoints.txt",
"chars": 171,
"preview": "p0;p0->1.0;1.772;-0.059;1.0\np1;p1->1.0;7.787;-0.287;1.0\np2;p2->1.0;15.862;-0.495;1.0\np3;p3->1.0;23.407;-0.809;1.0\np4;p4-"
},
{
"path": "purepursuit_planner/setup.py",
"chars": 260,
"preview": "from distutils.core import setup\nfrom catkin_pkg.python_setup import generate_distutils_setup\n\n# fetch values from packa"
},
{
"path": "purepursuit_planner/src/Component.cc",
"chars": 14331,
"preview": "/*! \\class Component\n * \\file Component.cc\n *\t\\author Robotnik Automation S.L.L\n *\t\\version 1.0\n *\t\\date 2009\n * \\brie"
},
{
"path": "purepursuit_planner/src/purepursuit_planner.cpp",
"chars": 53612,
"preview": "/** \\file purepursuit_planner.cc\n * \\author Robotnik Automation S.L.L.\n * \\version 1.0\n * \\date 2014\n *\n * \\brief pur"
}
]
// ... and 8 more files (download for full content)
About this extraction
This page contains the full source code of the RobotnikAutomation/agvs GitHub repository, extracted and formatted as plain text for AI agents and large language models (LLMs). The extraction includes 105 files (15.9 MB), approximately 315.8k tokens, and a symbol index with 169 extracted functions, classes, methods, constants, and types. Use this with OpenClaw, Claude, ChatGPT, Cursor, Windsurf, or any other AI tool that accepts text input. You can copy the full output to your clipboard or download it as a .txt file.
Extracted by GitExtract — free GitHub repo to text converter for AI. Built by Nikandr Surkov.