[ { "path": ".gitignore", "content": "# Backup files\n*~\n" }, { "path": ".rosinstall", "content": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robotnik_msgs.git'}\n" }, { "path": "README.md", "content": "agvs\n====\n\nROS package for the robot AGVS, intended for indoor transportation tasks\n\nList of packages\n\n### agvs_complete\n\nIt contains multiple launch files to perform different tasks, from creating a map with gmapping to launching amcl.\n\n### agvs_description\n\nRobot description. Urdf and mesh files.\n\n### agvs_pad \n\nComponent to move the robot by using a ps3 pad.\n\n### planner_msgs\n\nMessages and actions for planning the autonomous movement of the robot.\n\n### agvs_control\n\nConfig files used for Gazebo motor controllers.\n\n### agvs_gazebo \n\nLaunch files and worlds to run Gazebo.\n\n### agvs_robot_control\n\nRobot controller that interacts with Gazebo motor controllers.\n\n### purepursuit_planner\n\nPlanner to follow a list of waypoints implementing the PurePursuit algorithm.\n" }, { "path": "agvs/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs)\nfind_package(catkin REQUIRED)\ncatkin_metapackage()\n" }, { "path": "agvs/package.xml", "content": "\n\n agvs\n 0.1.0\n The agvs package. This package contains all the components to simulate the AGVS robot. An ackermann type robot intended for logistics transport.\n\n \n Román Navarro\n Roberto Guzmán\n\n Román Navarro\n \n BSD\n\n http://wiki.ros.org/agvs\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n catkin\n \n agvs_complete\n agvs_control\n agvs_description\n agvs_gazebo\n agvs_pad\n agvs_robot_control\n planner_msgs\n purepursuit_planner\n\n \n\n" }, { "path": "agvs.rosinstall", "content": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robotnik_msgs.git'}\n" }, { "path": "agvs_complete/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_complete)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED)\n\n## System dependencies are found with CMake's conventions\n# find_package(Boost REQUIRED COMPONENTS system)\n\n\n## Uncomment this if the package has a setup.py. This macro ensures\n## modules and global scripts declared therein get installed\n## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\n# catkin_python_setup()\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n## To declare and build messages, services or actions from within this\n## package, follow these steps:\n## * Let MSG_DEP_SET be the set of packages whose message types you use in\n## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\n## * In the file package.xml:\n## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\n## * If MSG_DEP_SET isn't empty the following dependencies might have been\n## pulled in transitively but can be declared for certainty nonetheless:\n## * add a build_depend tag for \"message_generation\"\n## * add a run_depend tag for \"message_runtime\"\n## * In this file (CMakeLists.txt):\n## * add \"message_generation\" and every package in MSG_DEP_SET to\n## find_package(catkin REQUIRED COMPONENTS ...)\n## * add \"message_runtime\" and every package in MSG_DEP_SET to\n## catkin_package(CATKIN_DEPENDS ...)\n## * uncomment the add_*_files sections below as needed\n## and list every .msg/.srv/.action file to be processed\n## * uncomment the generate_messages entry below\n## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\n\n## Generate messages in the 'msg' folder\n# add_message_files(\n# FILES\n# Message1.msg\n# Message2.msg\n# )\n\n## Generate services in the 'srv' folder\n# add_service_files(\n# FILES\n# Service1.srv\n# Service2.srv\n# )\n\n## Generate actions in the 'action' folder\n# add_action_files(\n# FILES\n# Action1.action\n# Action2.action\n# )\n\n## Generate added messages and services with any dependencies listed here\n# generate_messages(\n# DEPENDENCIES\n# std_msgs # Or other packages containing msgs\n# )\n\n###################################\n## catkin specific configuration ##\n###################################\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES agvs_complete\n# CATKIN_DEPENDS other_catkin_pkg\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\n\n## Declare a cpp library\n# add_library(agvs_complete\n# src/${PROJECT_NAME}/agvs_complete.cpp\n# )\n\n## Declare a cpp executable\n# add_executable(agvs_complete_node src/agvs_complete_node.cpp)\n\n## Add cmake target dependencies of the executable/library\n## as an example, message headers may need to be generated before nodes\n# add_dependencies(agvs_complete_node agvs_complete_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(agvs_complete_node\n# ${catkin_LIBRARIES}\n# )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS agvs_complete agvs_complete_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_agvs_complete.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "agvs_complete/launch/agvs_complete.launch", "content": "\n\n\n \n \n\t\n \n \n \n \n \n\n \n \n\t\n\t\n \n\n \n \n\t\n\t\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n\n\n \n\n \n \n\t \n\t \n\t \n \n\n\n" }, { "path": "agvs_complete/launch/agvs_gmapping.launch", "content": "\n\n \n \n \n\n\n\n" }, { "path": "agvs_complete/launch/agvs_hector_mapping.launch", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n\n" }, { "path": "agvs_complete/launch/amcl_diff.launch", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n" }, { "path": "agvs_complete/launch/amcl_diff_2.launch", "content": "\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n" }, { "path": "agvs_complete/launch/map_server.launch", "content": "\n\n \n \n \n \n\n\n\n\n" }, { "path": "agvs_complete/launch/purepursuit_nav.rviz", "content": "Panels:\n - Class: rviz/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Global Options1\n - /Status1\n - /InteractiveMarkers1\n - /PoseArray1\n Splitter Ratio: 0.5\n Tree Height: 669\n - Class: rviz/Selection\n Name: Selection\n - Class: rviz/Tool Properties\n Expanded:\n - /2D Pose Estimate1\n - /2D Nav Goal1\n - /Publish Point1\n Name: Tool Properties\n Splitter Ratio: 0.588679\n - Class: rviz/Views\n Expanded:\n - /Current View1\n Name: Views\n Splitter Ratio: 0.5\n - Class: rviz/Time\n Experimental: false\n Name: Time\n SyncMode: 0\n SyncSource: LaserScan\nVisualization Manager:\n Class: \"\"\n Displays:\n - Alpha: 0.5\n Cell Size: 1\n Class: rviz/Grid\n Color: 160; 160; 164\n Enabled: true\n Line Style:\n Line Width: 0.03\n Value: Lines\n Name: Grid\n Normal Cell Count: 0\n Offset:\n X: 0\n Y: 0\n Z: 0\n Plane: XY\n Plane Cell Count: 10\n Reference Frame: \n Value: true\n - Alpha: 1\n Class: rviz/RobotModel\n Collision Enabled: false\n Enabled: true\n Links:\n All Links Enabled: true\n Expand Joint Details: false\n Expand Link Details: false\n Expand Tree: false\n Link Tree Style: Links in Alphabetic Order\n back_motor_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n back_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_footprint:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n base_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n elevator_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n front_motor_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n front_wheel:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n imu_link:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n laser_back:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n laser_front:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n side_wheel_left:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n side_wheel_right:\n Alpha: 1\n Show Axes: false\n Show Trail: false\n Value: true\n Name: RobotModel\n Robot Description: robot_description\n TF Prefix: \"\"\n Update Interval: 0\n Value: true\n Visual Enabled: true\n - Alpha: 0.7\n Class: rviz/Map\n Color Scheme: map\n Draw Behind: false\n Enabled: true\n Name: Map\n Topic: /map\n Value: true\n - Alpha: 1\n Autocompute Intensity Bounds: true\n Autocompute Value Bounds:\n Max Value: 10\n Min Value: -10\n Value: true\n Axis: Z\n Channel Name: intensity\n Class: rviz/LaserScan\n Color: 255; 255; 255\n Color Transformer: Intensity\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 255; 255\n Max Intensity: 2.70451e-43\n Min Color: 0; 0; 0\n Min Intensity: 0\n Name: LaserScan\n Position Transformer: XYZ\n Queue Size: 10\n Selectable: true\n Size (Pixels): 3\n Size (m): 0.01\n Style: Flat Squares\n Topic: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n - Class: rviz/InteractiveMarkers\n Enable Transparency: true\n Enabled: true\n Name: InteractiveMarkers\n Show Axes: false\n Show Descriptions: true\n Show Visual Aids: false\n Update Topic: /path_marker/update\n Value: true\n - Arrow Length: 0.3\n Class: rviz/PoseArray\n Color: 255; 25; 0\n Enabled: true\n Name: PoseArray\n Topic: /particlecloud\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: map\n Frame Rate: 30\n Name: root\n Tools:\n - Class: rviz/Interact\n Hide Inactive Objects: true\n - Class: rviz/MoveCamera\n - Class: rviz/Select\n - Class: rviz/FocusCamera\n - Class: rviz/Measure\n - Class: rviz/SetInitialPose\n Topic: /initialpose\n - Class: rviz/SetGoal\n Topic: /move_base_simple/goal\n - Class: rviz/PublishPoint\n Single click: true\n Topic: /clicked_point\n Value: true\n Views:\n Current:\n Class: rviz/Orbit\n Distance: 10.1054\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.06\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Focal Point:\n X: 0\n Y: 0\n Z: 0\n Name: Current View\n Near Clip Distance: 0.01\n Pitch: 0.645398\n Target Frame: \n Value: Orbit (rviz)\n Yaw: 3.1954\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 950\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd00000004000000000000013c0000032cfc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000280000032c000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d006100670065000000028f000000c50000000000000000000000010000010f0000032cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000280000032c000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000006af0000003efc0100000002fb0000000800540069006d00650100000000000006af000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004580000032c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Time:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1711\n X: 58\n Y: 60\n" }, { "path": "agvs_complete/launch/robot_pose_ekf.launch", "content": "\n\n\n\n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n\n\n\n\n\n" }, { "path": "agvs_complete/maps/willow.yaml", "content": "image: willow.pgm\nresolution: 0.050000\norigin: [-100.000000, -100.000000, 0.000000]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n" }, { "path": "agvs_complete/package.xml", "content": "\n\n agvs_complete\n 0.1.0\n The agvs_complete package. It contains multiple launch files to perform different tasks, from creating a map with gmapping to launching amcl.\n\n\n Roberto Guzmán\n Román Navarro\n\n BSD\n\n\n http://wiki.ros.org/agvs_complete\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n\n Román Navarro \n\n catkin\n\n\n \n \n\n" }, { "path": "agvs_complete/scripts/save_map.sh", "content": "#!/bin/sh\n# parameter $1: name of the map\n\nrosrun map_server map_saver -f $1\n" }, { "path": "agvs_control/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_control)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\n#find_package(catkin REQUIRED COMPONENTS\n# ros_control\n# ros_controllers\n#)\n\n## System dependencies are found with CMake's conventions\n# find_package(Boost REQUIRED COMPONENTS system)\n\n\n## Uncomment this if the package has a setup.py. This macro ensures\n## modules and global scripts declared therein get installed\n## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\n# catkin_python_setup()\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n## To declare and build messages, services or actions from within this\n## package, follow these steps:\n## * Let MSG_DEP_SET be the set of packages whose message types you use in\n## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\n## * In the file package.xml:\n## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\n## * If MSG_DEP_SET isn't empty the following dependencies might have been\n## pulled in transitively but can be declared for certainty nonetheless:\n## * add a build_depend tag for \"message_generation\"\n## * add a run_depend tag for \"message_runtime\"\n## * In this file (CMakeLists.txt):\n## * add \"message_generation\" and every package in MSG_DEP_SET to\n## find_package(catkin REQUIRED COMPONENTS ...)\n## * add \"message_runtime\" and every package in MSG_DEP_SET to\n## catkin_package(CATKIN_DEPENDS ...)\n## * uncomment the add_*_files sections below as needed\n## and list every .msg/.srv/.action file to be processed\n## * uncomment the generate_messages entry below\n## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\n\n## Generate messages in the 'msg' folder\n# add_message_files(\n# FILES\n# Message1.msg\n# Message2.msg\n# )\n\n## Generate services in the 'srv' folder\n# add_service_files(\n# FILES\n# Service1.srv\n# Service2.srv\n# )\n\n## Generate actions in the 'action' folder\n# add_action_files(\n# FILES\n# Action1.action\n# Action2.action\n# )\n\n## Generate added messages and services with any dependencies listed here\n# generate_messages(\n# DEPENDENCIES\n# std_msgs # Or other packages containing msgs\n# )\n\n###################################\n## catkin specific configuration ##\n###################################\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES agvs_control\n# CATKIN_DEPENDS ros_control ros_controllers\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n)\n\n## Declare a cpp library\n# add_library(agvs_control\n# src/${PROJECT_NAME}/agvs_control.cpp\n# )\n\n## Declare a cpp executable\n# add_executable(agvs_control_node src/agvs_control_node.cpp)\n\n## Add cmake target dependencies of the executable/library\n## as an example, message headers may need to be generated before nodes\n# add_dependencies(agvs_control_node agvs_control_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(agvs_control_node\n# ${catkin_LIBRARIES}\n# )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS agvs_control agvs_control_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_agvs_control.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "agvs_control/config/agvs_control.yaml", "content": "agvs:\n# Velocity controllers\n# joint_back_wheel_effort_controller:\n# type: effort_controllers/JointEffortController\n# joint: joint_back_wheel\n# pid: {p: 1000.0, i: 500, d: 500.0}\n\n joint_back_wheel_controller:\n type: velocity_controllers/JointVelocityController\n joint: joint_back_wheel\n pid: {p: 1000.0, i: 0.01, d: 100.0}\n\n# joint_front_wheel_effort_controller:\n# type: effort_controllers/JointEffortController\n# joint: joint_front_wheel\n# pid: {p: 1000.0, i: 500, d: 500.0}\n\n joint_front_wheel_controller:\n type: velocity_controllers/JointVelocityController\n joint: joint_front_wheel\n pid: {p: 1000.0, i: 0.01, d: 100.0}\n\n# Position controllers\n joint_back_motor_wheel_controller:\n type: effort_controllers/JointPositionController\n joint: joint_back_motor_wheel\n pid: {p: 100.0, i: 0.01, d: 10.0}\n# Be careful with the selection of the pid values, e.g. d: 50.0 produces a nan in the velocity ???\n\n joint_front_motor_wheel_controller:\n type: effort_controllers/JointPositionController\n joint: joint_front_motor_wheel\n pid: {p: 100.0, i: 0.01, d: 10.0}\n \n joint_elevator_controller:\n type: effort_controllers/JointPositionController\n joint: elevator_joint\n pid: {p: 10000.0, i: 10000.0, d: 500.0}\n \n joint_read_state_controller:\n type: joint_state_controller/JointStateController \n publish_rate: 100.0\n" }, { "path": "agvs_control/launch/agvs_control.launch", "content": "\n\n\n \n \n\n \n \n\n \n \n \n \n \n \n\n\n" }, { "path": "agvs_control/package.xml", "content": "\n\n agvs_control\n 0.1.0\n The agvs_control package. Config files used for Gazebo motor controllers.\n\n Román Navarro\n Roberto Guzmán\n\n\n BSD\n\n http://wiki.ros.org/agvs_control\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n Roberto Guzmán\n\n \n catkin\n ros_controllers\n ros_control\n ros_controllers\n ros_control\n\n \n \n\n \n\n" }, { "path": "agvs_description/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_description)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED COMPONENTS\n message_runtime\n roscpp\n std_msgs\n std_srvs\n tf\n)\n\n## System dependencies are found with CMake's conventions\n# find_package(Boost REQUIRED COMPONENTS system)\n\n\n## Uncomment this if the package has a setup.py. This macro ensures\n## modules and global scripts declared therein get installed\n## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\n# catkin_python_setup()\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n## To declare and build messages, services or actions from within this\n## package, follow these steps:\n## * Let MSG_DEP_SET be the set of packages whose message types you use in\n## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\n## * In the file package.xml:\n## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\n## * If MSG_DEP_SET isn't empty the following dependencies might have been\n## pulled in transitively but can be declared for certainty nonetheless:\n## * add a build_depend tag for \"message_generation\"\n## * add a run_depend tag for \"message_runtime\"\n## * In this file (CMakeLists.txt):\n## * add \"message_generation\" and every package in MSG_DEP_SET to\n## find_package(catkin REQUIRED COMPONENTS ...)\n## * add \"message_runtime\" and every package in MSG_DEP_SET to\n## catkin_package(CATKIN_DEPENDS ...)\n## * uncomment the add_*_files sections below as needed\n## and list every .msg/.srv/.action file to be processed\n## * uncomment the generate_messages entry below\n## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\n\n## Generate messages in the 'msg' folder\n# add_message_files(\n# FILES\n# Message1.msg\n# Message2.msg\n# )\n\n## Generate services in the 'srv' folder\n# add_service_files(\n# FILES\n# Service1.srv\n# Service2.srv\n# )\n\n## Generate actions in the 'action' folder\n# add_action_files(\n# FILES\n# Action1.action\n# Action2.action\n# )\n\n## Generate added messages and services with any dependencies listed here\n# generate_messages(\n# DEPENDENCIES\n# std_msgs\n# )\n\n###################################\n## catkin specific configuration ##\n###################################\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES agvs_description\n# CATKIN_DEPENDS gazebo_ros message_runtime roscpp std_msgs std_srvs tf\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n)\n\n## Declare a cpp library\n# add_library(agvs_description\n# src/${PROJECT_NAME}/agvs_description.cpp\n# )\n\n## Declare a cpp executable\n# add_executable(agvs_description_node src/agvs_description_node.cpp)\n\n## Add cmake target dependencies of the executable/library\n## as an example, message headers may need to be generated before nodes\n# add_dependencies(agvs_description_node agvs_description_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(agvs_description_node\n# ${catkin_LIBRARIES}\n# )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS agvs_description agvs_description_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_agvs_description.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "agvs_description/launch/agvs.launch", "content": "\n\n \n\n \n \n\n\n\n" }, { "path": "agvs_description/launch/agvs_state.launch", "content": "\n\n \n\n \n\n \n \n\n \n \n\n\n\n" }, { "path": "agvs_description/launch/rviz_agvs.launch", "content": "\n\n \n\n \n\n \n \n\n \n \n\n\n\n" }, { "path": "agvs_description/launch/rviz_agvs_alone.launch", "content": "\n\n \n\n \n \n \n \n\n \n \n\n \n \n\n\n\n" }, { "path": "agvs_description/meshes/agvs_top.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n Wed Feb 26 13:35:02 2014\n Wed Feb 26 13:35:02 2014\n \n \n \n \n \n \n \n \n -0.55 -0.304 0.1945 -0.616979 -0.293453 0.1945 -0.681901 -0.273895 0.1945 -0.73767 -0.235331 0.1945 -0.739541 -0.237677 0.1945 -0.821192 -0.130599 0.1945 -0.843453 -0.0669788 0.1945 -0.851 2.23517e-10 0.1945 -0.854 2.23517e-10 0.1945 -0.843453 0.0669788 0.1945 -0.821192 0.130599 0.1945 -0.785331 0.18767 0.1945 -0.787677 0.189541 0.1945 -0.739541 0.237677 0.1945 -0.616979 0.293453 0.1945 -0.538 0.298 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416 212 416 209 417 212 417 211 417 211 418 212 418 207 418 211 419 207 419 213 419 213 420 207 420 214 420 213 421 214 421 210 421 210 422 214 422 217 422 210 423 217 423 212 423 214 424 207 424 16 424 16 425 207 425 15 425 219 426 215 426 217 426 217 427 215 427 212 427 16 428 178 428 214 428 214 429 178 429 216 429 214 430 216 430 217 430 217 431 216 431 218 431 217 432 218 432 219 432 219 433 218 433 177 433 222 434 210 434 223 434 223 435 210 435 209 435 220 436 213 436 222 436 222 437 213 437 210 437 221 438 211 438 220 438 220 439 211 439 213 439 223 440 209 440 221 440 221 441 209 441 211 441 220 442 222 442 221 442 221 443 222 443 223 443

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "agvs_description/meshes/agvs_wheel.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n Wed Feb 26 13:35:29 2014\n Wed Feb 26 13:35:29 2014\n \n \n \n \n \n \n \n \n -0.065 0.035 0 -0.1 0.035 1.38778e-17 -0.0525861 0.035 -0.038206 -0.0593805 0.035 -0.0264379 -0.0939693 0.035 -0.034202 -0.0434935 0.035 -0.0483044 -0.0597159 0.035 -0.0802123 -0.0325 0.035 -0.0562917 -0.05 0.035 -0.0866025 0.0525861 0.035 0.038206 -0.0200861 0.035 0.0618187 -0.0173648 0.035 0.0984808 0.0173648 0.035 -0.0984808 0.00679435 0.035 -0.0646439 -0.0286803 0.035 -0.095799 0.039608 0.035 -0.0918216 0.0286803 0.035 -0.095799 -0.0993238 0.035 0.0116093 -0.0635796 0.035 0.0135143 -0.0593805 0.035 0.0264379 0.0325 0.035 0.0562917 0.039608 0.035 0.0918216 0.0597159 0.035 0.0802123 -0.00581448 0.035 0.0998308 0.00679435 0.035 0.0646439 0.0200861 0.035 0.0618187 -0.0597159 0.035 0.0802123 -0.0686242 0.035 0.0727374 0.0434935 0.035 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624 1328 624 1329 732 1329 678 1329 624 1330 678 1330 679 1330 679 1331 678 1331 733 1331 679 1332 733 1332 680 1332 680 1333 733 1333 734 1333 680 1334 734 1334 627 1334 627 1335 734 1335 736 1335 627 1336 736 1336 681 1336 681 1337 736 1337 682 1337 681 1338 682 1338 683 1338 683 1339 682 1339 739 1339 683 1340 739 1340 684 1340 684 1341 739 1341 741 1341 684 1342 741 1342 685 1342 685 1343 741 1343 686 1343 685 1344 686 1344 687 1344 687 1345 686 1345 688 1345 687 1346 688 1346 689 1346 689 1347 688 1347 690 1347 689 1348 690 1348 632 1348 632 1349 690 1349 744 1349 632 1350 744 1350 691 1350 691 1351 744 1351 746 1351 691 1352 746 1352 692 1352 692 1353 746 1353 747 1353 692 1354 747 1354 635 1354 635 1355 747 1355 693 1355 635 1356 693 1356 694 1356 694 1357 693 1357 749 1357 694 1358 749 1358 695 1358 695 1359 749 1359 696 1359 695 1360 696 1360 637 1360 637 1361 696 1361 697 1361 637 1362 697 1362 639 1362 639 1363 697 1363 698 1363 639 1364 698 1364 699 1364 699 1365 698 1365 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735 1439 733 1440 735 1440 734 1440 734 1441 735 1441 156 1441 734 1442 156 1442 736 1442 736 1443 156 1443 737 1443 736 1444 737 1444 682 1444 682 1445 737 1445 738 1445 682 1446 738 1446 739 1446 739 1447 738 1447 740 1447 739 1448 740 1448 741 1448 741 1449 740 1449 742 1449 741 1450 742 1450 686 1450 686 1451 742 1451 743 1451 686 1452 743 1452 688 1452 688 1453 743 1453 187 1453 688 1454 187 1454 690 1454 690 1455 187 1455 185 1455 690 1456 185 1456 744 1456 744 1457 185 1457 745 1457 744 1458 745 1458 746 1458 746 1459 745 1459 184 1459 746 1460 184 1460 747 1460 747 1461 184 1461 748 1461 747 1462 748 1462 693 1462 693 1463 748 1463 176 1463 693 1464 176 1464 749 1464 749 1465 176 1465 178 1465 749 1466 178 1466 696 1466 696 1467 178 1467 183 1467 696 1468 183 1468 697 1468 697 1469 183 1469 182 1469 697 1470 182 1470 698 1470 698 1471 182 1471 750 1471 698 1472 750 1472 752 1472 752 1473 750 1473 751 1473 752 1474 751 1474 700 1474 700 1475 751 1475 179 1475 700 1476 179 1476 703 1476 703 1477 179 1477 138 1477 703 1478 138 1478 705 1478 705 1479 138 1479 163 1479 705 1480 163 1480 753 1480 753 1481 163 1481 754 1481 753 1482 754 1482 706 1482 706 1483 754 1483 756 1483 706 1484 756 1484 755 1484 755 1485 756 1485 757 1485 755 1486 757 1486 707 1486 707 1487 757 1487 164 1487 707 1488 164 1488 708 1488 708 1489 164 1489 758 1489 708 1490 758 1490 709 1490 709 1491 758 1491 141 1491 709 1492 141 1492 710 1492 710 1493 141 1493 143 1493 710 1494 143 1494 712 1494 712 1495 143 1495 759 1495 712 1496 759 1496 760 1496 760 1497 759 1497 762 1497 760 1498 762 1498 761 1498 761 1499 762 1499 146 1499 142 1500 764 1500 763 1500 763 1501 764 1501 18 1501 763 1502 18 1502 166 1502 166 1503 18 1503 19 1503 166 1504 19 1504 150 1504 150 1505 19 1505 765 1505 150 1506 765 1506 148 1506 148 1507 765 1507 767 1507 148 1508 767 1508 766 1508 766 1509 767 1509 768 1509 766 1510 768 1510 769 1510 769 1511 768 1511 10 1511 769 1512 10 1512 770 1512 770 1513 10 1513 772 1513 770 1514 772 1514 771 1514 771 1515 772 1515 24 1515 771 1516 24 1516 155 1516 155 1517 24 1517 25 1517 155 1518 25 1518 773 1518 773 1519 25 1519 20 1519 773 1520 20 1520 774 1520 774 1521 20 1521 775 1521 774 1522 775 1522 172 1522 172 1523 775 1523 9 1523 172 1524 9 1524 776 1524 776 1525 9 1525 31 1525 776 1526 31 1526 159 1526 159 1527 31 1527 777 1527 159 1528 777 1528 157 1528 157 1529 777 1529 778 1529 157 1530 778 1530 779 1530 779 1531 778 1531 780 1531 779 1532 780 1532 175 1532 175 1533 780 1533 781 1533 175 1534 781 1534 174 1534 174 1535 781 1535 36 1535 174 1536 36 1536 186 1536 186 1537 36 1537 28 1537 186 1538 28 1538 782 1538 782 1539 28 1539 30 1539 782 1540 30 1540 783 1540 783 1541 30 1541 784 1541 783 1542 784 1542 177 1542 177 1543 784 1543 13 1543 177 1544 13 1544 181 1544 181 1545 13 1545 785 1545 181 1546 785 1546 180 1546 180 1547 785 1547 786 1547 180 1548 786 1548 139 1548 139 1549 786 1549 7 1549 139 1550 7 1550 162 1550 162 1551 7 1551 5 1551 162 1552 5 1552 165 1552 165 1553 5 1553 2 1553 165 1554 2 1554 787 1554 787 1555 2 1555 3 1555 787 1556 3 1556 140 1556 140 1557 3 1557 788 1557 140 1558 788 1558 142 1558 142 1559 788 1559 764 1559

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "agvs_description/meshes/chassis_agvs.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n Wed Feb 26 13:36:10 2014\n Wed Feb 26 13:36:10 2014\n \n \n \n \n \n \n \n \n -0.55 0.224 0.281297 -0.55 0.224 0.3335 0.4615 0.224 0.272 0.3455 0.224 0.272 0.153 0.224 0.272 -0.4615 0.224 0.0335 -0.461 0.224 0.055 -0.3455 0.224 0.0335 0.4615 0.224 0.085 0.361 0.224 0.055 0.361 0.224 0.085 0.461 0.224 0.085 -0.06 0.224 0.1595 -0.5495 0.224 0.272 -0.5495 0.224 0.281297 -0.153 0.224 0.272 -0.4615 0.224 0.272 0.74 -0.0825 0.273 0.74 -0.0825 0.272 0.74 -0.0795 0.272 0.5495 0.204 0.272 0.5495 0.204 0.085 0.5495 0.205 0.272 0.5495 0.205 0.085 0.5495 -0.204 0.272 -0.74 -0.0825 0.272 -0.5495 0.204 0.085 -0.5495 0.204 0.272 -0.5495 -0.205 0.272 -0.5495 -0.204 0.085 -0.4615 0.204 0.085 0.4615 0.224 0.0335 0.4615 -0.204 0.0335 -0.4615 -0.204 0.085 -0.74 0.0825 0.272 -0.69 -0.0945 0.272 -0.676101 0.0825 0.272 -0.4915 0.224 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1719 3875 1719 3876 1896 3876 1897 3876 1719 3877 1897 3877 1730 3877 1902 3878 1899 3878 1898 3878 1898 3879 1899 3879 51 3879 38 3880 1901 3880 1900 3880 1900 3881 1901 3881 252 3881 1901 3882 1902 3882 252 3882 252 3883 1902 3883 1898 3883 1901 3884 38 3884 1902 3884 1902 3885 38 3885 1899 3885

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "agvs_description/meshes/motor_wheel.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n Wed Feb 26 13:37:22 2014\n Wed Feb 26 13:37:22 2014\n \n \n \n \n \n \n \n \n -0.0213922 0.0718844 0.124 -0.0373933 0.0650134 0.124 0.0448857 0.0600856 0.124 -0.0625938 0.0413161 0.124 -0.0745071 -0.00858459 0.1305 0.104576 -0.072062 0.1305 0.0900279 -0.0895766 0.1305 0.044688 -0.0602327 0.1305 0.0725866 -0.104212 0.1305 -0.0201823 0.125386 0.1305 -0.00423786 0.0748802 0.1305 0.00253057 0.126975 0.1305 0.0251621 0.124482 0.1305 0.0298191 0.0688173 0.1305 0.046985 0.117989 0.1305 -0.0766812 -0.101237 0.1305 -0.0935255 -0.0859184 0.1305 -0.117751 -0.0475773 0.1305 -0.12696 -0.00316868 0.1305 0.0448857 0.0600856 0.1305 0.0854473 0.0939561 0.1305 0.121542 0.0368306 0.1305 0.115762 -0.0522312 0.1305 -0.00448385 -0.0748658 0.1305 -0.0362193 -0.121726 0.1305 -0.0376066 -0.0648902 0.1305 -0.110614 0.0623978 0.1305 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0.425779 0.770513 0 0.637424 0.770513 0 0.637424 0.587785 0 0.809017 0.587785 0 0.809017 0.368125 0 0.929777 0.368125 0 0.929777 0.125334 0 0.992115 0.125334 0 0.992115 -0.125334 -5.48288e-11 0.992115 -0.125334 0 0.992115 -0.368125 0 0.929777 -0.368125 0 0.929777 -0.587785 0 0.809017 -0.587785 3.72134e-08 0.809017 -0.770513 5.97997e-08 0.637424 -0.770513 0 0.637424 -0.904827 0 0.425779 -0.904827 -6.51235e-08 0.425779 -0.982287 -7.62355e-08 0.187381 -0.982287 1.53505e-07 0.187382 -0.999507 1.55144e-07 0.0314105 -0.997995 -0.0080055 -0.0627892 2.39588e-09 1 -7.62382e-08 0 1 -5.72728e-08 0 1 6.01013e-08 7.91756e-09 1 -2.57257e-09 7.91756e-09 1 -6.26739e-08 -9.29772e-09 1 7.35991e-08 -9.29772e-09 1 7.3599e-08 1.21882e-08 1 -9.64792e-08 1.21882e-08 1 -9.64792e-08 -1.94609e-08 1 1.54049e-07 -1.94609e-08 1 1.54049e-07 5.71598e-08 1 -4.52466e-07 0 1 0 0 1 5.81905e-08 -7.5327e-09 1 -1.43694e-09 -7.5327e-09 1 -5.96274e-08 0 1 0 0 1 0 0 1 0 0 1 0 1.48707e-08 1 1.17714e-07 1.48707e-08 1 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155 0 157 0 0 0 0 1 157 1 158 1 0 2 158 2 1 2 1 3 158 3 2 3 1 4 2 4 152 4 152 5 2 5 159 5 152 6 159 6 3 6 3 7 159 7 160 7 3 8 160 8 151 8 4 9 18 9 183 9 183 10 18 10 129 10 183 11 129 11 150 11 150 12 129 12 128 12 150 13 128 13 27 13 170 14 5 14 171 14 171 15 5 15 6 15 171 16 6 16 7 16 7 17 6 17 8 17 7 18 8 18 178 18 178 19 8 19 142 19 178 20 142 20 176 20 29 21 9 21 10 21 10 22 9 22 11 22 10 23 11 23 156 23 156 24 11 24 12 24 156 25 12 25 13 25 13 26 12 26 14 26 13 27 14 27 19 27 25 28 15 28 172 28 172 29 15 29 16 29 172 30 16 30 186 30 186 31 16 31 132 31 186 32 132 32 185 32 185 33 132 33 17 33 185 34 17 34 4 34 4 35 17 35 130 35 4 36 130 36 18 36 14 37 118 37 19 37 19 38 118 38 20 38 19 39 20 39 161 39 161 40 20 40 116 40 161 41 116 41 162 41 162 42 116 42 114 42 162 43 114 43 163 43 163 44 114 44 21 44 163 45 21 45 166 45 166 46 21 46 111 46 166 47 111 47 167 47 167 48 111 48 148 48 167 49 148 49 168 49 168 50 148 50 147 50 168 51 147 51 170 51 170 52 147 52 22 52 170 53 22 53 5 53 142 54 141 54 176 54 176 55 141 55 138 55 176 56 138 56 23 56 23 57 138 57 137 57 23 58 137 58 175 58 175 59 137 59 24 59 175 60 24 60 25 60 25 61 24 61 135 61 25 62 135 62 15 62 128 63 26 63 27 63 27 64 26 64 124 64 27 65 124 65 153 65 153 66 124 66 28 66 153 67 28 67 154 67 154 68 28 68 123 68 154 69 123 69 29 69 29 70 123 70 121 70 29 71 121 71 9 71 78 72 30 72 31 72 31 73 30 73 77 73 31 74 77 74 92 74 92 75 77 75 32 75 92 76 32 76 91 76 91 77 32 77 34 77 91 78 34 78 33 78 33 79 34 79 35 79 33 80 35 80 37 80 37 81 35 81 36 81 37 82 36 82 38 82 38 83 36 83 74 83 38 84 74 84 39 84 39 85 74 85 72 85 39 86 72 86 40 86 40 87 72 87 41 87 40 88 41 88 42 88 42 89 41 89 73 89 42 90 73 90 43 90 43 91 73 91 44 91 43 92 44 92 108 92 108 93 44 93 75 93 108 94 75 94 45 94 45 95 75 95 76 95 45 96 76 96 46 96 46 97 76 97 47 97 46 98 47 98 106 98 106 99 47 99 48 99 106 100 48 100 49 100 49 101 48 101 50 101 49 102 50 102 105 102 105 103 50 103 52 103 105 104 52 104 51 104 51 105 52 105 86 105 51 106 86 106 53 106 53 107 86 107 87 107 53 108 87 108 54 108 54 109 87 109 56 109 54 110 56 110 55 110 55 111 56 111 57 111 55 112 57 112 58 112 58 113 57 113 82 113 58 114 82 114 59 114 59 115 82 115 83 115 59 116 83 116 102 116 102 117 83 117 61 117 102 118 61 118 60 118 60 119 61 119 79 119 60 120 79 120 62 120 62 121 79 121 80 121 62 122 80 122 63 122 63 123 80 123 64 123 63 124 64 124 100 124 100 125 64 125 81 125 100 126 81 126 99 126 99 127 81 127 65 127 99 128 65 128 66 128 66 129 65 129 85 129 66 130 85 130 97 130 97 131 85 131 84 131 97 132 84 132 67 132 67 133 84 133 69 133 67 134 69 134 68 134 68 135 69 135 70 135 68 136 70 136 71 136 71 137 70 137 78 137 71 138 78 138 31 138 41 139 72 139 73 139 73 140 72 140 74 140 73 141 74 141 44 141 44 142 74 142 36 142 44 143 36 143 75 143 75 144 36 144 35 144 75 145 35 145 76 145 76 146 35 146 34 146 76 147 34 147 47 147 47 148 34 148 32 148 47 149 32 149 48 149 48 150 32 150 77 150 48 151 77 151 50 151 50 152 77 152 30 152 50 153 30 153 52 153 30 154 78 154 52 154 52 155 78 155 70 155 52 156 70 156 69 156 82 157 57 157 85 157 85 158 57 158 56 158 85 159 56 159 87 159 79 160 61 160 80 160 80 161 61 161 81 161 80 162 81 162 64 162 85 163 65 163 82 163 82 164 65 164 81 164 82 165 81 165 83 165 83 166 81 166 61 166 69 167 84 167 52 167 52 168 84 168 85 168 52 169 85 169 86 169 86 170 85 170 87 170 42 171 88 171 40 171 40 172 88 172 122 172 40 173 122 173 39 173 39 174 122 174 89 174 39 175 89 175 38 175 38 176 89 176 125 176 38 177 125 177 37 177 37 178 125 178 90 178 37 179 90 179 33 179 33 180 90 180 126 180 33 181 126 181 91 181 91 182 126 182 127 182 91 183 127 183 92 183 92 184 127 184 93 184 92 185 93 185 31 185 31 186 93 186 94 186 31 187 94 187 71 187 71 188 94 188 95 188 71 189 95 189 68 189 68 190 95 190 131 190 68 191 131 191 67 191 67 192 131 192 96 192 67 193 96 193 97 193 97 194 96 194 133 194 97 195 133 195 66 195 66 196 133 196 98 196 66 197 98 197 99 197 99 198 98 198 134 198 99 199 134 199 100 199 100 200 134 200 136 200 100 201 136 201 63 201 136 202 101 202 63 202 63 203 101 203 139 203 63 204 139 204 62 204 62 205 139 205 140 205 62 206 140 206 60 206 60 207 140 207 143 207 60 208 143 208 102 208 102 209 143 209 144 209 102 210 144 210 59 210 59 211 144 211 103 211 59 212 103 212 58 212 58 213 103 213 104 213 58 214 104 214 55 214 55 215 104 215 145 215 55 216 145 216 54 216 54 217 145 217 146 217 54 218 146 218 53 218 53 219 146 219 149 219 53 220 149 220 51 220 51 221 149 221 112 221 51 222 112 222 105 222 105 223 112 223 113 223 105 224 113 224 49 224 49 225 113 225 115 225 49 226 115 226 106 226 106 227 115 227 107 227 106 228 107 228 46 228 46 229 107 229 117 229 46 230 117 230 45 230 45 231 117 231 119 231 45 232 119 232 108 232 108 233 119 233 109 233 108 234 109 234 43 234 43 235 109 235 120 235 43 236 120 236 42 236 42 237 120 237 110 237 42 238 110 238 88 238 149 239 111 239 112 239 112 240 111 240 21 240 112 241 21 241 113 241 113 242 21 242 114 242 113 243 114 243 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287 136 288 24 288 137 288 136 289 137 289 101 289 101 290 137 290 138 290 101 291 138 291 139 291 139 292 138 292 141 292 139 293 141 293 140 293 140 294 141 294 142 294 140 295 142 295 143 295 143 296 142 296 8 296 143 297 8 297 144 297 144 298 8 298 6 298 144 299 6 299 103 299 103 300 6 300 5 300 103 301 5 301 104 301 104 302 5 302 22 302 104 303 22 303 145 303 145 304 22 304 147 304 145 305 147 305 146 305 146 306 147 306 148 306 146 307 148 307 149 307 149 308 148 308 111 308 150 309 27 309 151 309 151 310 27 310 3 310 3 311 27 311 153 311 3 312 153 312 152 312 152 313 153 313 154 313 152 314 154 314 1 314 1 315 154 315 29 315 1 316 29 316 0 316 0 317 29 317 10 317 0 318 10 318 155 318 155 319 10 319 156 319 155 320 156 320 157 320 157 321 156 321 13 321 157 322 13 322 158 322 158 323 13 323 19 323 158 324 19 324 2 324 2 325 19 325 161 325 2 326 161 326 159 326 159 327 161 327 160 327 160 328 161 328 162 328 160 329 162 329 164 329 164 330 162 330 163 330 164 331 163 331 165 331 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250 499 210 499 210 500 250 500 251 500 210 501 251 501 211 501 211 502 251 502 252 502 211 503 252 503 253 503 253 504 252 504 279 504 253 505 279 505 254 505 254 506 279 506 278 506 254 507 278 507 255 507 255 508 278 508 277 508 255 509 277 509 202 509 202 510 277 510 276 510 202 511 276 511 256 511 256 512 276 512 275 512 256 513 275 513 200 513 200 514 275 514 273 514 200 515 273 515 257 515 257 516 273 516 280 516 257 517 280 517 258 517 258 518 280 518 281 518 258 519 281 519 259 519 259 520 281 520 260 520 259 521 260 521 203 521 203 522 260 522 283 522 203 523 283 523 205 523 205 524 283 524 284 524 205 525 284 525 213 525 213 526 284 526 285 526 213 527 285 527 261 527 261 528 285 528 286 528 261 529 286 529 214 529 214 530 286 530 262 530 214 531 262 531 215 531 215 532 262 532 282 532 215 533 282 533 263 533 263 534 282 534 265 534 263 535 265 535 264 535 264 536 265 536 266 536 264 537 266 537 267 537 267 538 266 538 268 538 267 539 268 539 207 539 207 540 268 540 269 540 207 541 269 541 208 541 208 542 269 542 271 542 208 543 271 543 270 543 271 544 280 544 272 544 272 545 280 545 273 545 272 546 273 546 247 546 247 547 273 547 275 547 247 548 275 548 274 548 274 549 275 549 276 549 274 550 276 550 250 550 250 551 276 551 277 551 250 552 277 552 251 552 251 553 277 553 278 553 251 554 278 554 252 554 252 555 278 555 279 555 271 556 269 556 280 556 280 557 269 557 268 557 280 558 268 558 281 558 281 559 268 559 266 559 281 560 266 560 260 560 260 561 266 561 265 561 260 562 265 562 283 562 283 563 265 563 282 563 283 564 282 564 284 564 284 565 282 565 262 565 284 566 262 566 285 566 285 567 262 567 286 567 193 568 287 568 188 568 188 569 287 569 224 569 188 570 224 570 198 570 198 571 224 571 197 571 227 572 288 572 226 572 226 573 288 573 204 573

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "agvs_description/meshes/side_wheel_agvs.dae", "content": "\n\n \n \n VCGLab\n VCGLib | MeshLab\n \n Y_UP\n Wed Feb 26 13:37:49 2014\n Wed Feb 26 13:37:49 2014\n \n \n \n \n \n \n \n \n -0.0112288 -0.01 0.0690935 -0.0221668 -0.01 0.0663975 -0.0167521 -0.01 -0.0679659 -0.0274377 -0.01 -0.0643986 -0.0325306 -0.01 0.0619819 -0.042052 -0.01 0.055961 -0.0464186 -0.01 -0.0523958 -0.0504842 -0.01 0.0484907 -0.0542223 -0.01 -0.0442712 -0.0606218 -0.01 -0.035 -0.0632415 -0.01 0.0300085 -0.0672363 -0.01 0.0194752 -0.00563266 -0.01 -0.069773 8.57253e-18 -0.01 -0.07 0 -0.01 0.07 0.00563266 -0.01 -0.069773 0.0167521 -0.01 -0.0679659 0.0221668 -0.01 0.0663975 0.0274377 -0.01 -0.0643986 0.0325306 -0.01 0.0619819 0.0464186 -0.01 -0.0523958 0.0606218 -0.01 -0.035 0.0654511 -0.01 -0.0248223 0.0685853 -0.01 -0.0140018 0.0672363 -0.01 0.0194752 2.57176e-17 -0.01 -0.07 8.57253e-18 0.01 -0.07 -0.00563266 0.01 -0.069773 0.00563266 0.01 -0.069773 0.0374126 -0.01 -0.0591633 0.0374126 0.01 -0.0591633 0.0464186 0.01 -0.0523958 0.0542223 -0.01 -0.0442712 0.0542223 0.01 -0.0442712 0.0654511 0.01 -0.0248223 0.0699432 0.01 -0.00281862 0.0699432 -0.01 -0.00281862 0.0694896 -0.01 0.00843757 0.0672363 0.01 0.0194752 0.0632415 -0.01 0.0300085 0.0576089 -0.01 0.0397645 0.0504842 -0.01 0.0484907 0.0504842 0.01 0.0484907 0.042052 0.01 0.055961 0.042052 -0.01 0.055961 0.0221668 0.01 0.0663975 0.0112288 -0.01 0.0690935 0.0112288 0.01 0.0690935 0 0.01 0.07 -0.0112288 0.01 0.0690935 -0.0325306 0.01 0.0619819 -0.0504842 0.01 0.0484907 -0.0576089 -0.01 0.0397645 -0.0632415 0.01 0.0300085 -0.0694896 -0.01 0.00843757 -0.0694896 0.01 0.00843757 -0.0699432 0.01 -0.00281862 -0.0699432 -0.01 -0.00281862 -0.0685853 -0.01 -0.0140018 -0.0654511 0.01 -0.0248223 -0.0654511 -0.01 -0.0248223 -0.0606218 0.01 -0.035 -0.0374126 0.01 -0.0591633 -0.0374126 -0.01 -0.0591633 -0.0274377 0.01 -0.0643986 -0.0167521 0.01 -0.0679659 0.0694896 0.01 0.00843757 0.0685853 0.01 -0.0140018 0.0632415 0.01 0.0300085 0.0606218 0.01 -0.035 0.0576089 0.01 0.0397645 0.0325306 0.01 0.0619819 0.0274377 0.01 -0.0643986 0.0167521 0.01 -0.0679659 2.57176e-17 0.01 -0.07 -0.0672363 0.01 0.0194752 -0.0464186 0.01 -0.0523958 -0.0542223 0.01 -0.0442712 -0.0685853 0.01 -0.0140018 -0.0576089 0.01 0.0397645 -0.042052 0.01 0.055961 -0.0221668 0.01 0.0663975\n \n \n \n \n \n \n \n \n \n 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0.0402661 0 -0.999189 -0.0402661 -3.45182e-17 -0.999189 0.0402661 0 -0.999189 0.160411 0 -0.98705 0.160411 0 -0.98705 0.316667 0 -0.948537 0.316667 0 -0.948537 0.464723 0 -0.885456 0.464723 0 -0.885456 0.600742 0 -0.799443 0.600742 0 -0.799443 0.721202 0 -0.692724 0.721202 0 -0.692724 0.822984 0 -0.568065 0.822984 0 -0.568065 0.90345 0 -0.428693 0.90345 0 -0.428693 0.960518 0 -0.278217 0.960518 0 -0.278217 0.992709 0 -0.120537 0.992709 0 -0.120537 0.999189 0 0.0402657 0.999189 0 0.0402657 0.979791 0 0.200026 0.979791 0 0.200026 0.935016 0 0.354604 0.935016 0 0.354604 0.866025 0 0.5 0.866025 0 0.5 0.774605 0 0.632445 0.774605 0 0.632445 0.663123 0 0.748511 0.663123 0 0.748511 0.534466 0 0.84519 0.534466 0 0.84519 0.391967 0 0.91998 0.391967 0 0.91998 0.239316 0 0.970942 0.239316 0 0.970942 0.0804666 0 0.996757 0.0804666 0 0.996757 -0.0804666 0 0.996757 -0.0804666 0 0.996757 -0.239316 0 0.970942 -0.239316 0 0.970942 -0.391967 0 0.91998 -0.391967 0 0.91998 -0.534466 0 0.84519 -0.534466 0 0.84519 -0.663123 0 0.748511 -0.663123 0 0.748511 -0.774605 0 0.632445 -0.774605 0 0.632445 -0.866025 0 0.5 -0.866025 0 0.5 -0.935016 0 0.354604 -0.935016 0 0.354604 -0.979791 0 0.200026 -0.979791 0 0.200026 -0.999189 0 0.0402657 -0.999189 0 0.0402657 -0.992709 0 -0.120537 -0.992709 0 -0.120537 -0.960518 0 -0.278217 -0.960518 0 -0.278217 -0.90345 0 -0.428693 -0.90345 0 -0.428693 -0.822984 0 -0.568065 -0.822984 0 -0.568065 -0.721202 0 -0.692724 -0.721202 0 -0.692724 -0.600742 0 -0.799443 -0.600742 0 -0.799443 -0.464723 0 -0.885456 -0.464723 0 -0.885456 -0.316667 0 -0.948537 -0.316667 0 -0.948537 -0.160411 0 -0.98705 -0.160411 0 -0.98705 -0.0402661 0 -0.999189 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n

12 0 14 0 0 0 12 1 0 1 2 1 2 2 0 2 1 2 2 3 1 3 3 3 3 4 1 4 4 4 3 5 4 5 63 5 63 6 4 6 5 6 63 7 5 7 6 7 6 8 5 8 7 8 6 9 7 9 8 9 8 10 7 10 52 10 8 11 52 11 9 11 9 12 52 12 10 12 9 13 10 13 60 13 60 14 10 14 11 14 60 15 11 15 58 15 58 16 11 16 54 16 58 17 54 17 57 17 12 18 13 18 14 18 14 19 13 19 15 19 14 20 15 20 16 20 19 21 17 21 46 21 18 22 19 22 16 22 16 23 19 23 46 23 16 24 46 24 14 24 18 25 29 25 19 25 19 26 29 26 20 26 19 27 20 27 32 27 32 28 21 28 19 28 19 29 21 29 22 29 19 30 22 30 23 30 23 31 36 31 37 31 23 32 37 32 19 32 19 33 37 33 24 33 19 34 24 34 39 34 39 35 40 35 19 35 19 36 40 36 41 36 19 37 41 37 44 37 15 38 25 38 26 38 26 39 25 39 27 39 26 40 28 40 15 40 15 41 28 41 73 41 15 42 73 42 16 42 16 43 73 43 72 43 16 44 72 44 18 44 18 45 72 45 30 45 18 46 30 46 29 46 29 47 30 47 31 47 29 48 31 48 20 48 20 49 31 49 33 49 20 50 33 50 32 50 32 51 33 51 69 51 32 52 69 52 21 52 21 53 69 53 34 53 21 54 34 54 22 54 22 55 34 55 67 55 22 56 67 56 23 56 23 57 67 57 35 57 23 58 35 58 36 58 36 59 35 59 66 59 36 60 66 60 37 60 37 61 66 61 38 61 37 62 38 62 24 62 24 63 38 63 68 63 24 64 68 64 39 64 39 65 68 65 70 65 39 66 70 66 40 66 40 67 70 67 42 67 40 68 42 68 41 68 41 69 42 69 43 69 41 70 43 70 44 70 44 71 43 71 71 71 44 72 71 72 19 72 19 73 71 73 45 73 19 74 45 74 17 74 17 75 45 75 47 75 17 76 47 76 46 76 46 77 47 77 48 77 46 78 48 78 14 78 14 79 48 79 49 79 14 80 49 80 0 80 0 81 49 81 81 81 0 82 81 82 1 82 1 83 81 83 50 83 1 84 50 84 4 84 4 85 50 85 80 85 4 86 80 86 5 86 5 87 80 87 51 87 5 88 51 88 7 88 7 89 51 89 79 89 7 90 79 90 52 90 52 91 79 91 53 91 52 92 53 92 10 92 10 93 53 93 75 93 10 94 75 94 11 94 11 95 75 95 55 95 11 96 55 96 54 96 54 97 55 97 56 97 54 98 56 98 57 98 57 99 56 99 78 99 57 100 78 100 58 100 58 101 78 101 59 101 58 102 59 102 60 102 60 103 59 103 61 103 60 104 61 104 9 104 9 105 61 105 77 105 9 106 77 106 8 106 8 107 77 107 76 107 8 108 76 108 6 108 6 109 76 109 62 109 6 110 62 110 63 110 63 111 62 111 64 111 63 112 64 112 3 112 3 113 64 113 65 113 3 114 65 114 2 114 2 115 65 115 27 115 2 116 27 116 12 116 12 117 27 117 25 117 66 118 35 118 67 118 66 119 67 119 38 119 38 120 67 120 34 120 38 121 34 121 68 121 68 122 34 122 69 122 68 123 69 123 70 123 70 124 69 124 33 124 70 125 33 125 42 125 42 126 33 126 31 126 42 127 31 127 43 127 43 128 31 128 30 128 43 129 30 129 71 129 71 130 30 130 72 130 71 131 72 131 45 131 45 132 72 132 73 132 45 133 73 133 47 133 47 134 73 134 28 134 47 135 28 135 48 135 48 136 28 136 74 136 48 137 74 137 27 137 64 138 62 138 75 138 75 139 62 139 76 139 75 140 76 140 77 140 59 141 78 141 56 141 75 142 53 142 64 142 64 143 53 143 79 143 64 144 79 144 51 144 77 145 61 145 75 145 75 146 61 146 59 146 75 147 59 147 55 147 55 148 59 148 56 148 51 149 80 149 64 149 64 150 80 150 50 150 64 151 50 151 81 151 27 152 65 152 48 152 48 153 65 153 64 153 48 154 64 154 49 154 49 155 64 155 81 155

\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n" }, { "path": "agvs_description/package.xml", "content": "\n\n agvs_description\n 0.1.0\n The agvs_description package. Robot description. Urdf and mesh files.\n\n Roberto Guzmán\n Román Navarro\n\n BSD\n\n http://wiki.ros.org/agvs_description\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n Román Navarro \n Roberto Guzmán\n\n\n catkin\n roscpp\n std_msgs\n std_srvs\n tf\n message_runtime\n roscpp\n std_msgs\n std_srvs\n tf\n\n\n \n\n \n\n" }, { "path": "agvs_description/urdf/agvs.gazebo", "content": "\n\n \n \n \n /agvs\n 0.001\n\t gazebo_ros_control/DefaultRobotHWSim\n \n \n\n \n Gazebo/Green\n \n \n \n Gazebo/Red\n \n\n \n \n \n \n \n \n Gazebo/Grey\n \n\n \n \n \n \n \n \n Gazebo/Grey\n \n\n \n Gazebo/Blue\n \n\n \n Gazebo/Blue\n \n\n \n \n \n \n \n \n \n \n \n Gazebo/Grey\n \n\n \n \n \n \n \n \n Gazebo/Grey\n \n\n \n Gazebo/Grey\n \n \n \n\n \n \n \n \n 0 0 0 0 0 0\n false\n 30\n \n \n \n 720\n 1\n -1.570796\n 1.570796\n \n \n \n \n 0.10\n 10.0\n 0.01\n \n \n gaussian\n 0.0\n 0.01\n \n \n \n \n /scan\n laser_front\n \n \n \n\n\n \n \n\n\n\n\n\n\n\n \n \n \n /agvs\n imu_data\n\t\timu_link \n\t\t/imu_service\n 0.005\t\t\n \n \n \n\n" }, { "path": "agvs_description/urdf/agvs.urdf", "content": "\n\n\n\n\n\n \n \n \n /agvs\n 0.001\n gazebo_ros_control/DefaultRobotHWSim\n \n \n \n Gazebo/Green\n \n \n Gazebo/Red\n \n \n \n \n \n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n Gazebo/Grey\n \n \n \n \n \n \n \n Gazebo/Grey\n \n \n 0.2\n 0.2\n Gazebo/Red\n \n 30.0\n \n 1.3962634\n \n 800\n 800\n R8G8B8\n \n \n 0.02\n 300\n \n \n gaussian\n \n 0.0\n 0.007\n \n \n \n true\n 0.0\n /agvs/camera1\n image_raw\n camera_info\n camera_tilt_link\n 0.07\n 0.0\n 0.0\n 0.0\n 0.0\n 0.0\n \n \n \n \n \n \n 0 0 0 0 0 0\n false\n 30\n \n \n \n \n 1081\n 1\n 2.35619449\n \n -2.35619449\n \n \n \n 0.10\n 30.0\n 0.01\n \n \n gaussian\n 0.0\n 0.01\n \n \n \n \n /scan\n hokuyo_laser_link\n \n \n \n \n \n /agvs\n imu_data\n imu_link \n /imu_service\n 0.005\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n \n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n" }, { "path": "agvs_description/urdf/agvs.urdf.xacro", "content": "\n \n\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n\n \n \n \n \n \n \n \n \n \n\n \n \n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\t \n ${motor_wheel_mechanical_reduction}\n \n \n\n\n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t\t \n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t \n\t VelocityJointInterface\n ${wheel_mechanical_reduction}\n \n \n\n \n \n \n \n \n \n \n \n \n \n\t \n \n\t\n\t\t\n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${motor_wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t\n\t\t\n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t \n\t VelocityJointInterface\n ${wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${wheel_mechanical_reduction}\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t\tEffortJointInterface\n\t\t1000.0\n\t \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n" }, { "path": "agvs_description/urdf/vrep/agvs_vrep.urdf", "content": "\n\n\n\n\n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 100.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n \n VelocityJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 100.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n \n VelocityJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 1.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n transmission_interface/SimpleTransmission\n \n \n EffortJointInterface\n 100.0\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n" }, { "path": "agvs_description/urdf/vrep/agvs_vrep.urdf.xacro", "content": "\n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n\n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\t \n ${motor_wheel_mechanical_reduction}\n \n \n\n\n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t\t \n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t \n\t VelocityJointInterface\n ${wheel_mechanical_reduction}\n \n \n\n \n \n \n \n \n \n \n \n \n \n\t \n \n\t\n\t\t\n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${motor_wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t\n\t\t\n \t\n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t \n\t VelocityJointInterface\n ${wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${wheel_mechanical_reduction}\n \n \n\n \n \n \n \n \n \n \n \n \n \n \n\t \n \n\t \n\t \n \n \n \n \n \n\t \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n\t transmission_interface/SimpleTransmission\n \n \n\t EffortJointInterface\n ${wheel_mechanical_reduction}\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\t \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n\n \n\t transmission_interface/SimpleTransmission\n \n \n\t\tEffortJointInterface\n\t\t100.0\n\t \n \n \n \n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n\n\n \n \n \n \n \n \n \n\n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n \n\n\n\n" }, { "path": "agvs_description/urdf/vrep/xacro2urdf.sh", "content": "#!/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", "content": "#!/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", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_gazebo)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED COMPONENTS\n agvs_description\n gazebo_ros\n roscpp\n std_msgs\n std_srvs\n tf\n joint_state_controller\n velocity_controllers\n effort_controllers\n)\n\n## System dependencies are found with CMake's conventions\n# find_package(Boost REQUIRED COMPONENTS system)\n\n\n## Uncomment this if the package has a setup.py. This macro ensures\n## modules and global scripts declared therein get installed\n## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\n# catkin_python_setup()\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n## To declare and build messages, services or actions from within this\n## package, follow these steps:\n## * Let MSG_DEP_SET be the set of packages whose message types you use in\n## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\n## * In the file package.xml:\n## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\n## * If MSG_DEP_SET isn't empty the following dependencies might have been\n## pulled in transitively but can be declared for certainty nonetheless:\n## * add a build_depend tag for \"message_generation\"\n## * add a run_depend tag for \"message_runtime\"\n## * In this file (CMakeLists.txt):\n## * add \"message_generation\" and every package in MSG_DEP_SET to\n## find_package(catkin REQUIRED COMPONENTS ...)\n## * add \"message_runtime\" and every package in MSG_DEP_SET to\n## catkin_package(CATKIN_DEPENDS ...)\n## * uncomment the add_*_files sections below as needed\n## and list every .msg/.srv/.action file to be processed\n## * uncomment the generate_messages entry below\n## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\n\n## Generate messages in the 'msg' folder\n# add_message_files(\n# FILES\n# Message1.msg\n# Message2.msg\n# )\n\n## Generate services in the 'srv' folder\n# add_service_files(\n# FILES\n# Service1.srv\n# Service2.srv\n# )\n\n## Generate actions in the 'action' folder\n# add_action_files(\n# FILES\n# Action1.action\n# Action2.action\n# )\n\n## Generate added messages and services with any dependencies listed here\n# generate_messages(\n# DEPENDENCIES\n# std_msgs\n# )\n\n###################################\n## catkin specific configuration ##\n###################################\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES agvs_gazebo\n# CATKIN_DEPENDS agvs_description gazebo_ros roscpp std_msgs std_srvs tf\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n)\n\n## Declare a cpp library\n# add_library(agvs_gazebo\n# src/${PROJECT_NAME}/agvs_gazebo.cpp\n# )\n\n## Declare a cpp executable\n# add_executable(agvs_gazebo_node src/agvs_gazebo_node.cpp)\n\n## Add cmake target dependencies of the executable/library\n## as an example, message headers may need to be generated before nodes\n# add_dependencies(agvs_gazebo_node agvs_gazebo_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(agvs_gazebo_node\n# ${catkin_LIBRARIES}\n# )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS agvs_gazebo agvs_gazebo_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_agvs_gazebo.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "agvs_gazebo/launch/agvs.launch", "content": "\n\n\n \n \n\n \n \n \n\n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n\n\n" }, { "path": "agvs_gazebo/launch/agvs_office.launch", "content": "\n\n\n \n \n\n \n \n \n\n \n \n \n \n \n \n \n \n \n\n \n \n \n \n \n\n \n \n\n\n" }, { "path": "agvs_gazebo/launch/agvs_sim_complete.launch", "content": "\n\n\n \n \n \n \n \n \n\n" }, { "path": "agvs_gazebo/package.xml", "content": "\n\n agvs_gazebo\n 0.1.0\n The agvs_gazebo package. Launch files and worlds to run Gazebo.\n\n \n Roberto Guzmán\n Román Navarro\n\n BSD\n \n http://wiki.ros.org/agvs_gazebo\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n Roberto Guzmán\n\n\n \n catkin\n agvs_description\n gazebo_ros\n roscpp\n std_msgs\n std_srvs\n tf\n joint_state_controller\n velocity_controllers\n effort_controllers\n agvs_description\n gazebo_ros\n roscpp\n std_msgs\n std_srvs\n tf\n joint_state_controller\n velocity_controllers\n effort_controllers\n\n\n \n\n \n\n" }, { "path": "agvs_gazebo/worlds/agvs.world", "content": "\n\n \n \n 0 0 -9.8\n \n \n quick\n
0.001
\n 20\n 1.0\n \n \n 0.0\n 0.2\n 100.0\n 0.001\n \n \n \n \n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n \n 0.000000 0.000000 1.000000\n 200 200\n \n \n \n \n \n 50.000000\n 50.000000\n 0.000000 0.000000 0.000000\n 0.000000\n 0.000000\n \n \n \n 0.000000\n 100000.000000\n \n \n \n 0.000000\n 0.200000\n 1000000000.000000\n 1.000000\n 100.000000\n 0.001000\n \n \n \n 0.000000\n \n 1\n 0\n 0\n \n 1\n \n \n \n \n model://sun\n \n \n \n \n \n\n" }, { "path": "agvs_gazebo/worlds/agvs_office.world", "content": "\n\n \n \n 0 0 -9.8\n \n \n quick\n
0.001
\n 20\n 1.0\n \n \n 0.0\n 0.2\n 100.0\n 0.001\n \n \n \n\n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n 0.000000 0.000000 0.000000 0.000000 -0.000000 0.000000\n \n \n 0 0 1\n 400 400\n \n \n \n \n \n 50.000000\n 50.000000\n 0.000000 0.000000 0.000000\n 0.000000\n 0.000000\n \n \n \n 0.000000\n 100000.000000\n \n \n \n 0.000000\n 0.200000\n 1000000000.000000\n 1.000000\n 100.000000\n 0.001000\n \n \n \n 0.000000\n \n\t\n\t\tfalse\n\t\t\n\t\t \n\t\t 0 0 1\n\t\t 400 400\n\t\t \n\t\t\n\t\t\n\t\t \n\t\t\n \t\n 1\n 0\n 0\n \n 1\n \n \n \n model://sun\n \n \n \n model://willowgarage\n -16 -24 -0.05 0 0 0\n \n \n\n" }, { "path": "agvs_pad/.rosinstall", "content": "# Robotnik stacks\n\n- git: {local-name: robotnik_msgs, version: master, uri: 'https://github.com/RobotnikAutomation/robotnik_msgs.git'}\n" }, { "path": "agvs_pad/CMakeLists.txt", "content": "cmake_minimum_required(VERSION 2.8.3)\nproject(agvs_pad)\n\n## Find catkin macros and libraries\n## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)\n## is used, also find other catkin packages\nfind_package(catkin REQUIRED COMPONENTS\n geometry_msgs\n std_msgs\n sensor_msgs\n \n #agvs_controller\n agvs_robot_control\n \n diagnostic_msgs\n diagnostic_updater\n robotnik_msgs\n ackermann_msgs\n std_srvs\n)\n\n## System dependencies are found with CMake's conventions\n# find_package(Boost REQUIRED COMPONENTS system)\n\n\n## Uncomment this if the package has a setup.py. This macro ensures\n## modules and global scripts declared therein get installed\n## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html\n# catkin_python_setup()\n\n################################################\n## Declare ROS messages, services and actions ##\n################################################\n\n## To declare and build messages, services or actions from within this\n## package, follow these steps:\n## * Let MSG_DEP_SET be the set of packages whose message types you use in\n## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).\n## * In the file package.xml:\n## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET\n## * If MSG_DEP_SET isn't empty the following dependencies might have been\n## pulled in transitively but can be declared for certainty nonetheless:\n## * add a build_depend tag for \"message_generation\"\n## * add a run_depend tag for \"message_runtime\"\n## * In this file (CMakeLists.txt):\n## * add \"message_generation\" and every package in MSG_DEP_SET to\n## find_package(catkin REQUIRED COMPONENTS ...)\n## * add \"message_runtime\" and every package in MSG_DEP_SET to\n## catkin_package(CATKIN_DEPENDS ...)\n## * uncomment the add_*_files sections below as needed\n## and list every .msg/.srv/.action file to be processed\n## * uncomment the generate_messages entry below\n## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)\n\n## Generate messages in the 'msg' folder\n# add_message_files(\n# FILES\n# Message1.msg\n# Message2.msg\n# )\n\n## Generate services in the 'srv' folder\n# add_service_files(\n# FILES\n# Service1.srv\n# Service2.srv\n# )\n\n## Generate actions in the 'action' folder\n# add_action_files(\n# FILES\n# Action1.action\n# Action2.action\n# )\n\n## Generate added messages and services with any dependencies listed here\n# generate_messages(\n# DEPENDENCIES\n# geometry_msgs# std_msgs\n# )\n\n###################################\n## catkin specific configuration ##\n###################################\n## The catkin_package macro generates cmake config files for your package\n## Declare things to be passed to dependent projects\n## INCLUDE_DIRS: uncomment this if you package contains header files\n## LIBRARIES: libraries you create in this project that dependent projects also need\n## CATKIN_DEPENDS: catkin_packages dependent projects also need\n## DEPENDS: system dependencies of this project that dependent projects also need\ncatkin_package(\n# INCLUDE_DIRS include\n# LIBRARIES agvs_pad\n CATKIN_DEPENDS robotnik_msgs ackermann_msgs\n# DEPENDS system_lib\n)\n\n###########\n## Build ##\n###########\n\n## Specify additional locations of header files\n## Your package locations should be listed before other locations\n# include_directories(include)\ninclude_directories(\n ${catkin_INCLUDE_DIRS}\n)\n\n## Declare a cpp library\n# add_library(agvs_pad\n# src/${PROJECT_NAME}/agvs_pad.cpp\n# )\n\n## Declare a cpp executable\nadd_executable(agvs_pad_node src/agvs_pad_node.cpp)\n\n## Add cmake target dependencies of the executable/library\n## as an example, message headers may need to be generated before nodes\nadd_dependencies(agvs_pad_node agvs_pad_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\ntarget_link_libraries(agvs_pad_node\n ${catkin_LIBRARIES}\n )\n\n#############\n## Install ##\n#############\n\n# all install targets should use catkin DESTINATION variables\n# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html\n\n## Mark executable scripts (Python etc.) for installation\n## in contrast to setup.py, you can choose the destination\n# install(PROGRAMS\n# scripts/my_python_script\n# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark executables and/or libraries for installation\n# install(TARGETS agvs_pad agvs_pad_node\n# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}\n# )\n\n## Mark cpp header files for installation\n# install(DIRECTORY include/${PROJECT_NAME}/\n# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n# FILES_MATCHING PATTERN \"*.h\"\n# PATTERN \".svn\" EXCLUDE\n# )\n\n## Mark other files for installation (e.g. launch and bag files, etc.)\n# install(FILES\n# # myfile1\n# # myfile2\n# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n# )\n\n#############\n## Testing ##\n#############\n\n## Add gtest based cpp test target and link libraries\n# catkin_add_gtest(${PROJECT_NAME}-test test/test_agvs_pad.cpp)\n# if(TARGET ${PROJECT_NAME}-test)\n# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})\n# endif()\n\n## Add folders to be run by python nosetests\n# catkin_add_nosetests(test)\n" }, { "path": "agvs_pad/launch/agvs_pad.launch", "content": "\n\n\n \n \n \n \n \n \n \n \n \n\t\n\t\n \t\n \n \t\n \n \n\n\n" }, { "path": "agvs_pad/launch/agvs_pad.yaml", "content": "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: 10.0\n\n# m/s\nmax_linear_speed: 10.0\n# rad/s\nmax_angular_position: 1.57\naxis_linear_speed: 1\naxis_angular_position: 2\n\n# GENERAL\n#button_dead_man: 11\n#button_speed_up: 12\n#button_speed_down: 14\n\nbutton_dead_man: 10\nbutton_speed_up: 11\nbutton_speed_down: 9\nbutton_up_car: 12\nbutton_down_car: 14\n\n\n" }, { "path": "agvs_pad/package.xml", "content": "\n\n agvs_pad\n 0.1.0\n The agvs_pad package.Component to control the robot by using a ps3 pad.\n\n Román Navarro\n \n\n BSD\n\n http://wiki.ros.org/agvs_pad\n https://github.com/RobotnikAutomation/agvs\n https://github.com/RobotnikAutomation/agvs/issues\n\n\n Román Navarro\n\n\n\n catkin\n geometry_msgs\n std_msgs\n sensor_msgs\n\n agvs_robot_control \n diagnostic_msgs\n diagnostic_updater\n robotnik_msgs\n ackermann_msgs\n std_srvs\n\n geometry_msgs\n std_msgs\n sensor_msgs\n agvs_robot_control\n diagnostic_msgs\n diagnostic_updater\n robotnik_msgs\n ackermann_msgs\n std_srvs\n\n \n\n \n\n" }, { "path": "agvs_pad/src/agvs_pad_node.cpp", "content": "/*\n * agvs_pad\n * Copyright (c) 2013, Robotnik Automation, SLL\n * All rights reserved.\n *\n * Redistribution and use in source and binary forms, with or without\n * modification, are permitted provided that the following conditions are met:\n *\n * * Redistributions of source code must retain the above copyright\n * notice, this list of conditions and the following disclaimer.\n * * Redistributions in binary form must reproduce the above copyright\n * notice, this list of conditions and the following disclaimer in the\n * documentation and/or other materials provided with the distribution.\n * * Neither the name of the Robotnik Automation, SLL. nor the names of its\n * contributors may be used to endorse or promote products derived from\n * this software without specific prior written permission.\n *\n * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS \"AS IS\"\n * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE\n * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE\n * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE\n * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR\n * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF\n * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS\n * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN\n * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)\n * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n * POSSIBILITY OF SUCH DAMAGE.\n *\n * \\author Robotnik Automation, SLL\n * \\brief Allows to use a pad with the robot controller, sending the messages received from the joystick device\n */\n\n\n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \n#include \"diagnostic_msgs/DiagnosticStatus.h\"\n#include \"diagnostic_updater/diagnostic_updater.h\"\n#include \"diagnostic_updater/update_functions.h\"\n#include \"diagnostic_updater/DiagnosticStatusWrapper.h\"\n#include \"diagnostic_updater/publisher.h\"\n// #include \n//#include \n#include \"ackermann_msgs/AckermannDriveStamped.h\"\n#include \n\n#define DEFAULT_MAX_SKID_LINEAR_SPEED\t2.0 //m/s\n#define DEFAULT_MAX_ANGULAR_POSITION\t2.0 // rads/s\n\n#define MAX_NUM_OF_BUTTONS\t\t\t16\n#define MAX_NUM_OF_AXES\t\t\t\t8\n#define MAX_NUM_OF_BUTTONS_PS3\t\t19\n#define MAX_NUM_OF_AXES_PS3\t\t\t20\n\n#define DEFAULT_NUM_OF_BUTTONS\t\t16\n#define DEFAULT_NUM_OF_AXES\t\t\t8\n\n#define DEFAULT_AXIS_LINEAR_X\t\t1\n#define DEFAULT_AXIS_ANGULAR\t\t0\t\n#define DEFAULT_SCALE_LINEAR\t\t1.0\n#define DEFAULT_SCALE_ANGULAR\t\t1.0\n\n\n#define DEFAULT_JOY\t\t\t\"/joy\"\n\n#define DEFAULT_HZ\t\t\t50.0\n\n//! Class to save the state of the buttons\nclass Button{\n\tint iPressed;\n\tbool bReleased;\n\t\n\tpublic:\n\t\n\tButton(){\n\t\tiPressed = 0;\n\t\tbReleased = false;\n\t}\n\t//! Set the button as 'pressed'/'released'\n\tvoid Press(int value){\t\t\n\t\tif(iPressed and !value){\n\t\t\tbReleased = true;\n\t\t\t\n\t\t}else if(bReleased and value)\n\t\t\tbReleased = false;\n\t\t\t\n\t\tiPressed = value;\n\t\t\t\n\t}\n\t\n\tint IsPressed(){\n\t\treturn iPressed;\n\t}\n\t\n\tbool IsReleased(){\n\t\tbool b = bReleased;\n\t\tbReleased = false;\n\t\treturn b;\n\t}\n};\n\n////////////////////////////////////////////////////////////////////////\n// \t\t //\n////////////////////////////////////////////////////////////////////////\nclass AgvsPad\n{\n\tpublic:\n\t\n\tAgvsPad();\n\t\n\tvoid ControlLoop();\n\tint SetStateMode(int state, int arm_mode, int platform_mode);\n\t\n\tprivate:\n\t\n\tvoid joyCallback(const sensor_msgs::Joy::ConstPtr& joy);\n\t\n\tchar * StateToString(int state);\n\tint SwitchToState(int new_state);\n\t\n\tvoid PublishState();\n\t//! Enables/Disables the joystick\n\tbool EnableDisable(robotnik_msgs::enable_disable::Request &req, robotnik_msgs::enable_disable::Response &res );\n\tvoid Update();\n\t\nprivate:\t\n\t\n\tros::NodeHandle nh_;\n\t\n\tint axis_linear_speed_, axis_angular_position_;\n\tdouble l_scale_, a_scale_;\n\tdouble current_speed_lvl;\n\t//! Set the max speed sent to the robot\n\tdouble max_linear_speed_, max_angular_position_;\n\t//! Desired component's freq\n\tdouble desired_freq_;\n\t\n\t// TOPICS\n\t//! It will publish into command velocity (for the robot)\n\tros::Publisher vel_pub_;\n\t\n\t//! they will be suscribed to the joysticks\n\tros::Subscriber joy_sub_;\n\t//! // Name of the joystick's topic\n\tstd::string joy_topic_;\t\n\t//! Name of the topic where it will be publishing the velocity\n\tstd::string cmd_topic_vel;\n\t//! Name of the service where it will be modifying the digital outputs\n\tstd::string cmd_service_io_;\n\t//! topic name for the state\n\tstd::string topic_state_;\n\t//! Topic to publish the state\n\tros::Publisher state_pub_;\n\n\t//! Name of the service called to raise the elevator\n\tstd::string service_raise_elevator_;\n\t//! Name of the service called to lower the elevator\n\tstd::string service_lower_elevator_;\n\n\t// SERVICES\n\t//! Service clients\n\tros::ServiceServer enable_disable_srv_;\t\n\tros::ServiceClient set_digital_outputs_client_; \n\tros::ServiceClient raise_elevator_client_; \n\tros::ServiceClient lower_elevator_client_; \n\n\t\n\t// JOYSTICK\n\t//! Current number of buttons of the joystick\n\tint num_of_buttons_;\n\tint num_of_axes_;\n\t\n\t//! Vector to save the axis values\n\tstd::vector fAxes;\n\t//! Vector to save and control the axis values\n\tstd::vector