[
{
"path": ".gitignore",
"content": "# -*- mode: gitignore; -*-\n*~\n\\#*\\#\n"
},
{
"path": "ackermann_cmd_mux/.cproject",
"content": "\n\n\t\n\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\t\n\t\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\t\n\t\t\t\t\t\n\t\t\t\t\n\t\t\t\n\t\t\t\n\t\t\n\t\n\t\n\t\t\n\t\n\t\n\t\t\n\t\t\n\t\t\t\n\t\t\n\t\t\n\t\t\t\n\t\t\n\t\n\t\n\t\t\n\t\t\t\n\t\t\n\t\n\t\n\n"
},
{
"path": "ackermann_cmd_mux/.gitignore",
"content": "/bin\n/build\n/lib\n"
},
{
"path": "ackermann_cmd_mux/.project",
"content": "\n\n\tackermann_cmd_mux\n\t\n\t\n\t\n\t\n\t\t\n\t\t\torg.python.pydev.PyDevBuilder\n\t\t\t\n\t\t\t\n\t\t\n\t\t\n\t\t\torg.eclipse.cdt.managedbuilder.core.genmakebuilder\n\t\t\tclean,full,incremental,\n\t\t\t\n\t\t\t\t\n\t\t\t\t\t?name?\n\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.append_environment\n\t\t\t\t\ttrue\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.autoBuildTarget\n\t\t\t\t\tall\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.buildArguments\n\t\t\t\t\t\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.buildCommand\n\t\t\t\t\tmake\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.cleanBuildTarget\n\t\t\t\t\tclean\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.contents\n\t\t\t\t\torg.eclipse.cdt.make.core.activeConfigSettings\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.enableAutoBuild\n\t\t\t\t\tfalse\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.enableCleanBuild\n\t\t\t\t\ttrue\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.enableFullBuild\n\t\t\t\t\ttrue\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.fullBuildTarget\n\t\t\t\t\tall\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.stopOnError\n\t\t\t\t\ttrue\n\t\t\t\t\n\t\t\t\t\n\t\t\t\t\torg.eclipse.cdt.make.core.useDefaultBuildCmd\n\t\t\t\t\ttrue\n\t\t\t\t\n\t\t\t\n\t\t\n\t\t\n\t\t\torg.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder\n\t\t\tfull,incremental,\n\t\t\t\n\t\t\t\n\t\t\n\t\n\t\n\t\torg.eclipse.cdt.core.cnature\n\t\torg.eclipse.cdt.core.ccnature\n\t\torg.eclipse.cdt.managedbuilder.core.managedBuildNature\n\t\torg.eclipse.cdt.managedbuilder.core.ScannerConfigNature\n\t\torg.python.pydev.pythonNature\n\t\n\n"
},
{
"path": "ackermann_cmd_mux/.pydevproject",
"content": "\n\n\n\nDefault\npython 2.7\n\n"
},
{
"path": "ackermann_cmd_mux/.settings/language.settings.xml",
"content": "\n\n\t\n\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\t\n\t\t\n\t\n\n"
},
{
"path": "ackermann_cmd_mux/CHANGELOG.rst",
"content": "^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\nChangelog for package ackermann_cmd_mux\n^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^\n\n0.6.3 (2014-12-05)\n------------------\n\n0.6.2 (2014-11-30)\n------------------\n* ackermann_cmd_mux: fixes node handle for output pub\n to keep backwards compatibility\n* adds a little launcher restructing for muxer and smoother\n* Contributors: Marcus Liebhardt\n\n0.6.0 (2014-07-08)\n------------------\n* updating package informations. remove email for authors. updating maintainer\n* Contributors: Jihoon Lee\n\n0.5.3 (2014-03-24)\n------------------\n* Added support for YAML-CPP 0.5+.\n The new yaml-cpp API removes the \"node >> outputvar;\" operator, and\n it has a new way of loading documents. There's no version hint in the\n library's headers, so I'm getting the version number from pkg-config.\n This part of the patch is a port of the ones created by @ktossell for\n map_server and other packages.\n The new yaml-cpp also does not have FindValue.\n* Contributors: Scott K Logan\n\n0.5.2 (2013-11-05)\n------------------\n\n0.5.1 (2013-10-14)\n------------------\n* Unify naming politics for binaries and plugins.\n\n0.5.0 (2013-10-11)\n------------------\n* Renamed as ackermann_cmd_mux.\n\n0.4.1 (2013-10-08)\n------------------\n\n0.4.0 (2013-08-29)\n------------------\n* Add bugtracker and repo info URLs.\n* Changelogs at package level.\n* License link fixed.\n\n0.3.0 (2013-07-02)\n------------------\n\n0.2.3 (2013-04-15)\n------------------\n\n0.2.2 (2013-02-10)\n------------------\n\n0.2.1 (2013-02-08)\n------------------\n\n0.2.0 (2013-02-07)\n------------------\n* Catkinized.\n\n0.1.3 (2013-01-08)\n------------------\n* More generous description.\n\n0.1.2 (2013-01-02)\n------------------\n* Dynamically reconfigurable.\n* Upgraded to new groovy plugin formats.\n* Add reconfigure launcher and parameter file.\n* Add a dynamic reconfigure script to accept a yaml filename.\n\n0.1.1 (2012-12-21)\n------------------\n\n0.1.0 (2012-12-05)\n------------------\n* Initial version.\n"
},
{
"path": "ackermann_cmd_mux/CMakeLists.txt",
"content": "cmake_minimum_required(VERSION 2.8.3)\nproject(ackermann_cmd_mux)\nfind_package(catkin REQUIRED COMPONENTS \n\troscpp \n\tpluginlib \n\tnodelet \n\tdynamic_reconfigure \n\tackermann_msgs\n\tstd_msgs\n\trospy\n)\n\n# pkg-config support\nfind_package(PkgConfig)\npkg_search_module(yaml-cpp REQUIRED yaml-cpp)\n\nif(NOT ${yaml-cpp_VERSION} VERSION_LESS \"0.5\")\nadd_definitions(-DHAVE_NEW_YAMLCPP)\nendif()\n\n# Dynamic reconfigure support\ngenerate_dynamic_reconfigure_options(cfg/reload.cfg)\n\ncatkin_package(\n INCLUDE_DIRS include\n LIBRARIES ${PROJECT_NAME}_nodelet\n CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs rospy std_msgs\n DEPENDS yaml-cpp\n)\n\ninclude_directories(include ${catkin_INCLUDE_DIRS} ${yaml-cpp_INCLUDE_DIRS})\n\n# Nodelet library\nadd_library(${PROJECT_NAME}_nodelet src/ackermann_cmd_mux_nodelet.cpp src/ackermann_cmd_subscribers.cpp)\n#add_dependencies(${PROJECT_NAME}_nodelet ackermann_msgs)\nadd_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_gencfg)\n\ntarget_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} ${yaml-cpp_LIBRARIES})\n\ninstall(TARGETS ${PROJECT_NAME}_nodelet\n DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}\n)\ninstall(DIRECTORY include/${PROJECT_NAME}/\n DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}\n)\ninstall(DIRECTORY plugins\n DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n)\ninstall(DIRECTORY launch\n DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n)\ninstall(DIRECTORY param\n DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}\n)\n"
},
{
"path": "ackermann_cmd_mux/LICENSE",
"content": "# Software License Agreement (BSD License)\n#\n# Copyright (c) 2012 Yujin Robot, Daniel Stonier, Jorge Santos\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\n# 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\n# copyright notice, this list of conditions and the following\n# disclaimer in the documentation and/or other materials provided\n# with the distribution.\n# * Neither the name of Yujin Robot nor the names of its\n# contributors may be used to endorse or promote products derived\n# from this software without specific prior written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n# \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n"
},
{
"path": "ackermann_cmd_mux/cfg/reload.cfg",
"content": "#!/usr/bin/env python2\n\nPACKAGE = \"ackermann_cmd_mux\"\n\nfrom dynamic_reconfigure.parameter_generator_catkin import *\n\ngen = ParameterGenerator()\n\ngen.add(\"yaml_cfg_file\", str_t, 0, \"Pathname to a yaml file for re-configuration of the mux\", \"\")\n\n# Second arg is node name it will run in (doc purposes only), third is generated filename prefix\nexit(gen.generate(PACKAGE, \"ackermann_cmd_mux_reload\", \"reload\"))\n"
},
{
"path": "ackermann_cmd_mux/include/ackermann_cmd_mux/ackermann_cmd_mux_nodelet.hpp",
"content": "/**\n * @file /include/ackermann_cmd_mux/ackermann_cmd_mux_nodelet.hpp\n *\n * @brief Structure for the ackermann_cmd_mux.\n *\n * License: BSD\n * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_ackermann_cmd_mux/LICENSE\n **/\n/*****************************************************************************\n ** Ifdefs\n *****************************************************************************/\n\n#ifndef RACECAR_ACKERMANN_CMD_MUX_HPP_\n#define RACECAR_ACKERMANN_CMD_MUX_HPP_\n\n/*****************************************************************************\n ** Includes\n *****************************************************************************/\n\n#include \n#include \n#include \n\n#include \"ackermann_cmd_mux/reloadConfig.h\"\n#include \"ackermann_cmd_mux/ackermann_cmd_subscribers.hpp\"\n\n/*****************************************************************************\n** Namespaces\n*****************************************************************************/\n\nnamespace ackermann_cmd_mux {\n\n/*****************************************************************************\n ** AckermannCmdMux\n *****************************************************************************/\n\nclass AckermannCmdMuxNodelet : public nodelet::Nodelet\n{\npublic:\n virtual void onInit();\n\n AckermannCmdMuxNodelet()\n {\n dynamic_reconfigure_server = NULL;\n }\n\n ~AckermannCmdMuxNodelet()\n {\n if (dynamic_reconfigure_server != NULL)\n delete dynamic_reconfigure_server;\n }\n\nprivate:\n AckermannCmdSubscribers ackermann_cmd_sub; /**< Pool of ackermann_cmd topics subscribers */\n ros::Publisher mux_ackermann_cmd_pub; /**< Multiplexed ackermann command topic */\n ros::Publisher active_subscriber; /**< Currently allowed ackermann_cmd subscriber */\n\n void timerCallback(const ros::TimerEvent& event, unsigned int idx);\n void ackermannCmdCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr& msg, unsigned int idx);\n\n /*********************\n ** Dynamic Reconfigure\n **********************/\n dynamic_reconfigure::Server * dynamic_reconfigure_server;\n dynamic_reconfigure::Server::CallbackType dynamic_reconfigure_cb;\n void reloadConfiguration(ackermann_cmd_mux::reloadConfig &config, uint32_t unused_level);\n\n /*********************\n ** Private Classes\n **********************/\n // Functor assigned to each incoming ackermann command topic to bind it to ackermann_cmd callback\n class AckermannCmdFunctor\n {\n private:\n unsigned int idx;\n AckermannCmdMuxNodelet* node;\n\n public:\n AckermannCmdFunctor(unsigned int idx, AckermannCmdMuxNodelet* node) :\n idx(idx), node(node)\n {\n }\n\n void operator()(const ackermann_msgs::AckermannDriveStamped::ConstPtr& msg)\n {\n node->ackermannCmdCallback(msg, idx);\n }\n };\n\n // Functor assigned to each ackermann command messages source to bind it to timer callback\n class TimerFunctor\n {\n private:\n unsigned int idx;\n AckermannCmdMuxNodelet* node;\n\n public:\n TimerFunctor(unsigned int idx, AckermannCmdMuxNodelet* node) :\n idx(idx), node(node)\n {\n }\n\n void operator()(const ros::TimerEvent& event)\n {\n node->timerCallback(event, idx);\n }\n };\n};\n\n} // namespace ackermann_cmd_mux\n\n#endif /* RACECAR_ACKERMANN_CMD_MUX_HPP_ */\n"
},
{
"path": "ackermann_cmd_mux/include/ackermann_cmd_mux/ackermann_cmd_subscribers.hpp",
"content": "/**\n * @file /include/ackermann_cmd_mux/ackermann_cmd_subscribers.hpp\n *\n * @brief Structure for the ackermann_cmd_mux.\n *\n * License: BSD\n * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_ackermann_cmd_mux/LICENSE\n **/\n/*****************************************************************************\n** Ifdefs\n*****************************************************************************/\n\n#ifndef RACECAR_ACKERMANN_CMD_SUBSCRIBERS_HPP_\n#define RACECAR_ACKERMANN_CMD_SUBSCRIBERS_HPP_\n\n/*****************************************************************************\n** Includes\n*****************************************************************************/\n\n#include \n#include \n#include \n\n#ifdef HAVE_NEW_YAMLCPP\n// The >> operator disappeared in yaml-cpp 0.5, so this function is\n// added to provide support for code written under the yaml-cpp 0.3 API.\ntemplate\nvoid operator >> (const YAML::Node& node, T& i)\n{\n i = node.as();\n}\n#endif\n\n/*****************************************************************************\n** Preprocessing\n*****************************************************************************/\n\n// move to a static const?\n#define VACANT std::numeric_limits::max()\n\n/*****************************************************************************\n** Namespaces\n*****************************************************************************/\n\nnamespace ackermann_cmd_mux {\n\n/*****************************************************************************\n** AckermannCmdSubscribers\n*****************************************************************************/\n\n/**\n * Pool of ackermann_cmd topics subscribers\n */\nclass AckermannCmdSubscribers\n{\npublic:\n\n /**\n * Inner class describing an individual subscriber to a ackermann_cmd topic\n */\n class AckermannCmdSubs\n {\n public:\n unsigned int idx; /**< Index; assigned according to the order on YAML file */\n std::string name; /**< Descriptive name */\n ros::Subscriber subs; /**< The subscriber itself */\n std::string topic; /**< The name of the topic */\n ros::Timer timer; /**< No incoming messages timeout */\n double timeout; /**< Timer's timeout, in seconds */\n unsigned int priority; /**< UNIQUE integer from 0 (lowest priority) to MAX_INT */\n std::string short_desc; /**< Short description (optional) */\n bool active; /**< Whether this source is active */\n\n AckermannCmdSubs(unsigned int idx) : idx(idx), active(false) {};\n\n void operator << (const YAML::Node& node);\n };\n\n AckermannCmdSubscribers() : allowed(VACANT) { }\n ~AckermannCmdSubscribers() { }\n\n std::vector::size_type size() { return list.size(); };\n AckermannCmdSubs& operator [] (unsigned int idx) { return list[idx]; };\n\n /**\n * @brief Configures the subscribers from a yaml file.\n *\n * @exception FileNotFoundException : yaml file not found\n * @exception YamlException : problem parsing the yaml\n * @exception EmptyCfgException : empty configuration file\n * @param node : node holding all the subscriber configuration\n */\n void configure(const YAML::Node& node);\n\n unsigned int allowed;\n\nprivate:\n std::vector list;\n};\n\n} // namespace ackermann_cmd_mux\n\n#endif /* ACKERMANN_CMD_SUBSCRIBERS_HPP_ */\n"
},
{
"path": "ackermann_cmd_mux/include/ackermann_cmd_mux/exceptions.hpp",
"content": "/**\n * @file /ackermann_cmd_mux/include/ackermann_cmd_mux/exceptions.hpp\n *\n * @brief Exception classes for ackermann_cmd_mux.\n *\n * License: BSD\n * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_ackermann_cmd_mux/LICENSE\n **/\n/*****************************************************************************\n** Ifdefs\n*****************************************************************************/\n\n#ifndef RACECAR_ACKERMANN_CMD_EXCEPTIONS_HPP_\n#define RACECAR_ACKERMANN_CMD_EXCEPTIONS_HPP_\n\n/*****************************************************************************\n** Includes\n*****************************************************************************/\n\n#include \n\n/*****************************************************************************\n** Namespaces\n*****************************************************************************/\n\nnamespace ackermann_cmd_mux {\n\n/*****************************************************************************\n** Exceptions\n*****************************************************************************/\n\nclass FileNotFoundException: public std::runtime_error {\npublic:\n FileNotFoundException(const std::string& msg)\n : std::runtime_error(msg) {}\n virtual ~FileNotFoundException() throw() {}\n};\n\nclass EmptyCfgException: public std::runtime_error {\npublic:\n EmptyCfgException()\n : std::runtime_error(\"\") {}\n virtual ~EmptyCfgException() throw() {}\n};\n\nclass YamlException: public std::runtime_error {\npublic:\n YamlException(const std::string& msg)\n : std::runtime_error(msg) {}\n virtual ~YamlException() throw() {}\n};\n\n} // namespace ackermann_cmd_mux\n\n#endif /* RACECAR_ACKERMANN_CMD_EXCEPTIONS_HPP_ */\n"
},
{
"path": "ackermann_cmd_mux/launch/ackermann_cmd_mux.launch",
"content": "\n\n\n \n \n\n \n \n \n\n"
},
{
"path": "ackermann_cmd_mux/launch/reconfigure.launch",
"content": "\n\n \n \n \n"
},
{
"path": "ackermann_cmd_mux/launch/standalone.launch",
"content": "\n\n \n \n \n \n \n \n \n \n \n \n \n"
},
{
"path": "ackermann_cmd_mux/package.xml",
"content": "\n ackermann_cmd_mux\n 0.7.0\n \n A multiplexer for ackermann command velocity inputs. Arbitrates incoming ackermann_cmd messages from\n several topics, allowing one topic at a time to command the robot, based on priorities. It also\n deallocates current allowed topic if no messages are received after a configured timeout. All topics,\n together with their priority and timeout are configured through a YAML file, that can be reload at\n runtime. Blatantly derived / copied from yujin_ocs/yocs_cmd_vel_mux.\n \n Jorge Santos Simon\n Michael Boulet\n Michael Boulet\n BSD\n http://ros.org/wiki/ackermann_cmd_mux\n https://github.mit.edu/racecar/racecar\n https://github.mit.edu/racecar/racecar/issues\n \n catkin\n\n roscpp\n nodelet\n dynamic_reconfigure\n pluginlib\n ackermann_msgs\n yaml-cpp\n rospy\n std_msgs\n\n roscpp\n ackermann_msgs\n pluginlib\n nodelet\n dynamic_reconfigure\n yaml-cpp\n rospy\n std_msgs\n\n \n \n \n\n"
},
{
"path": "ackermann_cmd_mux/param/example.yaml",
"content": "# Created on: Oct 29, 2012\n# Author: jorge\n# Configuration for subscribers to ackermann_cmd sources. This file is provided just as an example.\n# Typically automatic controllers, as ROS navigation stack should have the minimum priority\n#\n# Used with example.launch\n#\n# Individual subscriber configuration:\n# name: Source name\n# topic: The topic that provides ackermann_cmd messages\n# timeout: Time in seconds without incoming messages to consider this topic inactive\n# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT \n# short_desc: Short description (optional)\n\nsubscribers:\n - name: \"Default input\"\n topic: \"input/default\"\n timeout: 0.1\n priority: 0\n short_desc: \"The default ackermann_cmd, controllers unaware that we are multiplexing ackermann_cmd should come here\"\n - name: \"Navigation stack\"\n topic: \"input/navigation\"\n timeout: 0.5\n priority: 1\n short_desc: \"Navigation stack controller\"\n - name: \"Onboard joystick\"\n topic: \"input/joystick\"\n timeout: 0.1\n priority: 10\n - name: \"Remote control\"\n topic: \"input/remote\"\n timeout: 0.1\n priority: 9\n - name: \"Web application\"\n topic: \"input/webapp\"\n timeout: 0.3\n priority: 8\n - name: \"Keyboard operation\"\n topic: \"input/keyop\"\n timeout: 0.1\n priority: 7\npublisher: \"output/ackermann_cmd\""
},
{
"path": "ackermann_cmd_mux/param/reconfigure.yaml",
"content": "# Another example configuration file, though this one is used to test the dynamic reconfiguration\n# of the ackermann_cmd_mux. Used with reconfigure.launch.\n\nsubscribers:\n - name: \"Default input\"\n topic: \"input/default\"\n timeout: 0.1\n priority: 0\n short_desc: \"The default ackermann_cmd, controllers unaware that we are multiplexing ackermann_cmd should come here\"\n - name: \"Navigation stack\"\n topic: \"input/navigation\"\n timeout: 0.5\n priority: 1\n short_desc: \"Navigation stack controller\"\n - name: \"Safety controller\"\n topic: \"input/safety\"\n timeout: 0.1\n priority: 10\n short_desc: \"Used with the reactive velocity control provided by the bumper/cliff sensor safety controller\"\n"
},
{
"path": "ackermann_cmd_mux/plugins/nodelets.xml",
"content": "\n \n \n Implementation for the ackermann command multiplexer as a nodelet.\n \n \n\n\n"
},
{
"path": "ackermann_cmd_mux/src/ackermann_cmd_mux_nodelet.cpp",
"content": "/**\n * @file /src/ackermann_cmd_mux_nodelet.cpp\n *\n * @brief Implementation for the ackermann command multiplexer\n *\n * License: BSD\n * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_ackermann_cmd_mux/LICENSE\n **/\n/*****************************************************************************\n ** Includes\n *****************************************************************************/\n\n#include \n#include \n#include \n\n#include \"ackermann_cmd_mux/ackermann_cmd_mux_nodelet.hpp\"\n#include \"ackermann_cmd_mux/exceptions.hpp\"\n\n/*****************************************************************************\n** Namespaces\n*****************************************************************************/\n\nnamespace ackermann_cmd_mux {\n\n/*****************************************************************************\n ** Implementation\n *****************************************************************************/\n\nvoid AckermannCmdMuxNodelet::ackermannCmdCallback(const ackermann_msgs::AckermannDriveStamped::ConstPtr& msg, unsigned int idx)\n{\n\t// Reset timer for this source\n\tackermann_cmd_sub[idx].timer.stop();\n\tackermann_cmd_sub[idx].timer.start();\n\n\tackermann_cmd_sub[idx].active = true; // obviously his source is sending commands, so active\n\n\t// Give permit to publish to this source if it's the only active or is\n\t// already allowed or has higher priority that the currently allowed\n\tif ((ackermann_cmd_sub.allowed == VACANT) ||\n\t\t\t(ackermann_cmd_sub.allowed == idx) ||\n\t\t\t(ackermann_cmd_sub[idx].priority > ackermann_cmd_sub[ackermann_cmd_sub.allowed].priority))\n\t{\n\t\tif (ackermann_cmd_sub.allowed != idx)\n\t\t{\n\t\t\tackermann_cmd_sub.allowed = idx;\n\n\t\t\t// Notify the world that a new ackermann_cmd source took the control\n\t\t\tstd_msgs::StringPtr acv_msg(new std_msgs::String);\n\t\t\tacv_msg->data = ackermann_cmd_sub[idx].name;\n\t\tif (active_subscriber) {\n\t\t\t\tactive_subscriber.publish(acv_msg);\n\t\t\t}\n\t\t}\n\n\tif (mux_ackermann_cmd_pub){\n\t\t\tmux_ackermann_cmd_pub.publish(msg);\n\t\t}\n\t}\n}\n\nvoid AckermannCmdMuxNodelet::timerCallback(const ros::TimerEvent& event, unsigned int idx)\n{\n\tif (ackermann_cmd_sub.allowed == idx)\n\t{\n\t\t// No ackermann_cmd messages timeout happened to currently active source, so...\n\t\tackermann_cmd_sub.allowed = VACANT;\n\n\t\t// ...notify the world that nobody is publishing on ackermann_cmd; its vacant\n\t\tstd_msgs::StringPtr acv_msg(new std_msgs::String);\n\t\tacv_msg->data = \"idle\";\n\t\tif (active_subscriber){\n\t\t\tactive_subscriber.publish(acv_msg);\n\t\t}\n\t}\n\n\tackermann_cmd_sub[idx].active = false;\n}\n\nvoid AckermannCmdMuxNodelet::onInit()\n{\n\tros::NodeHandle &nh = this->getPrivateNodeHandle();\n\n\t/*********************\n\t** Dynamic Reconfigure\n\t**********************/\n\tdynamic_reconfigure_cb = boost::bind(&AckermannCmdMuxNodelet::reloadConfiguration, this, _1, _2);\n\tdynamic_reconfigure_server = new dynamic_reconfigure::Server(nh);\n\tdynamic_reconfigure_server->setCallback(dynamic_reconfigure_cb);\n\n\tactive_subscriber = nh.advertise (\"active\", 1, true); // latched topic\n\n\t// Notify the world that by now nobody is publishing on ackermann_cmd yet\n\tstd_msgs::StringPtr active_msg(new std_msgs::String);\n\tactive_msg->data = \"idle\";\n\tif (active_subscriber) {\n\t\tactive_subscriber.publish(active_msg);\n\t}\n\n\t// could use a call to reloadConfiguration here, but it seems to automatically call it once with defaults anyway.\n\tNODELET_DEBUG(\"AckermannCmdMux : successfully initialised\");\n}\n\nvoid AckermannCmdMuxNodelet::reloadConfiguration(ackermann_cmd_mux::reloadConfig &config, uint32_t unused_level)\n{\n\tstd::string yaml_cfg_file;\n\tros::NodeHandle &nh = this->getNodeHandle();\n\tros::NodeHandle &nh_priv = this->getPrivateNodeHandle();\n\tif( config.yaml_cfg_file == \"\" )\n\t{\n\t\t// typically fired on startup, so look for a parameter to set a default\n\t\tnh_priv.getParam(\"yaml_cfg_file\", yaml_cfg_file);\n\t}\n\telse\n\t{\n\t\tyaml_cfg_file = config.yaml_cfg_file;\n\t}\n\n\t/*********************\n\t** Yaml File Parsing\n\t**********************/\n\tstd::ifstream ifs(yaml_cfg_file.c_str(), std::ifstream::in);\n\tif (ifs.good() == false)\n\t{\n\t\tNODELET_ERROR_STREAM(\"AckermannCmdMux : configuration file not found [\" << yaml_cfg_file << \"]\");\n\t\treturn;\n\t}\n\t// probably need to bring the try catches back here\n\tYAML::Node doc;\n#ifdef HAVE_NEW_YAMLCPP\n\tdoc = YAML::Load(ifs);\n#else\n\tYAML::Parser parser(ifs);\n\tparser.GetNextDocument(doc);\n#endif\n\n\t/*********************\n\t** Output Publisher\n\t**********************/\n\tstd::string output_name(\"output\");\n#ifdef HAVE_NEW_YAMLCPP\n\tif ( doc[\"publisher\"] ) {\n\t\tdoc[\"publisher\"] >> output_name;\n\t}\n#else\n\tconst YAML::Node *node = doc.FindValue(\"publisher\");\n\tif ( node != NULL ) {\n\t\t*node >> output_name;\n\t}\n#endif\n\tmux_ackermann_cmd_pub = nh_priv.advertise (output_name, 10);\n\n\t/*********************\n\t** Input Subscribers\n\t**********************/\n\ttry {\n\t\tackermann_cmd_sub.configure(doc[\"subscribers\"]);\n\t}\n\tcatch(EmptyCfgException& e) {\n\t\tNODELET_WARN(\"AckermannCmdMux : yaml configured zero subscribers, check yaml content.\");\n\t}\n\tcatch(YamlException& e) {\n\t\tNODELET_ERROR_STREAM(\"AckermannCmdMux : yaml parsing problem [\" << std::string(e.what()) + \"]\");\n\t}\n\n\t// Publishers and subscribers\n\tfor (unsigned int i = 0; i < ackermann_cmd_sub.size(); i++)\n\t{\n\t\tackermann_cmd_sub[i].subs =\n\t\t\t\tnh_priv.subscribe(ackermann_cmd_sub[i].topic, 10, AckermannCmdFunctor(i, this));\n\n\t\t// Create (stopped by now) a one-shot timer for every subscriber\n\t\tackermann_cmd_sub[i].timer =\n\t\t\t\tnh_priv.createTimer(ros::Duration(ackermann_cmd_sub[i].timeout), TimerFunctor(i, this), true, false);\n\n\t\tNODELET_DEBUG(\"AckermannCmdMux : subscribed to '%s' on topic '%s'. pr: %d, to: %.2f\",\n\t\t\t\t\t\t\tackermann_cmd_sub[i].name.c_str(), ackermann_cmd_sub[i].topic.c_str(),\n\t\t\t\t\t\t\tackermann_cmd_sub[i].priority, ackermann_cmd_sub[i].timeout);\n\t}\n\n\tNODELET_INFO_STREAM(\"AckermannCmdMux : (re)configured [\" << yaml_cfg_file << \"]\");\n\tifs.close();\n}\n\n} // namespace ackermann_cmd_mux\n\nPLUGINLIB_EXPORT_CLASS(ackermann_cmd_mux::AckermannCmdMuxNodelet, nodelet::Nodelet);\n"
},
{
"path": "ackermann_cmd_mux/src/ackermann_cmd_subscribers.cpp",
"content": "/**\n * @file /src/ackermann_cmd_subscribers.cpp\n *\n * @brief Subscriber handlers for the ackermann_cmd_mux\n *\n * License: BSD\n * https://raw.github.com/yujinrobot/yujin_ocs/hydro/yocs_ackermann_cmd_mux/LICENSE\n **/\n/*****************************************************************************\n ** Includes\n *****************************************************************************/\n\n#include \n\n#include \"ackermann_cmd_mux/ackermann_cmd_subscribers.hpp\"\n#include \"ackermann_cmd_mux/exceptions.hpp\"\n\n/*****************************************************************************\n** Namespaces\n*****************************************************************************/\n\nnamespace ackermann_cmd_mux {\n\n/*****************************************************************************\n ** Implementation\n *****************************************************************************/\n\nvoid AckermannCmdSubscribers::AckermannCmdSubs::operator << (const YAML::Node& node)\n{\n node[\"name\"] >> name;\n node[\"topic\"] >> topic;\n node[\"timeout\"] >> timeout;\n node[\"priority\"] >> priority;\n#ifdef HAVE_NEW_YAMLCPP\n if (node[\"short_desc\"]) {\n#else\n if (node.FindValue(\"short_desc\") != NULL) {\n#endif\n node[\"short_desc\"] >> short_desc;\n }\n}\n\nvoid AckermannCmdSubscribers::configure(const YAML::Node& node) {\n\n list.clear();\n try\n {\n if ( node.size() == 0 ) {\n throw EmptyCfgException();\n }\n\n for (unsigned int i = 0; i < node.size(); i++)\n {\n // Parse every entries on YAML\n AckermannCmdSubs subscriber(i);\n subscriber << node[i];\n list.push_back(subscriber);\n }\n }\n catch(EmptyCfgException& e) {\n throw e;\n }\n catch(YAML::ParserException& e)\n {\n throw YamlException(e.what());\n }\n catch(YAML::RepresentationException& e)\n {\n throw YamlException(e.what());\n }\n}\n\n\n} // namespace ackermann_cmd_mux\n"
},
{
"path": "ackermann_cmd_mux/src/throttle_interpolator.py",
"content": "#!/usr/bin/env python\nimport rospy\n\nfrom std_msgs.msg import Float64\n\n# import some utils.\nimport numpy as np\nimport copy as copy\n\nclass InterpolateThrottle:\n def __init__(self):\n\n # Allow our topics to be dynamic.\n self.rpm_input_topic = rospy.get_param('~rpm_input_topic', '/vesc/commands/motor/unsmoothed_speed')\n self.rpm_output_topic = rospy.get_param('~rpm_output_topic', '/vesc/commands/motor/speed')\n\n self.servo_input_topic = rospy.get_param('~servo_input_topic', '/vesc/commands/servo/unsmoothed_position')\n self.servo_output_topic = rospy.get_param('~servo_output_topic', '/vesc/commands/servo/position')\n\n self.max_acceleration = rospy.get_param('/vesc/max_acceleration')\n self.max_rpm = rospy.get_param('/vesc/vesc_driver/speed_max')\n self.min_rpm = rospy.get_param('/vesc/vesc_driver/speed_min')\n self.throttle_smoother_rate = rospy.get_param('/vesc/throttle_smoother_rate')\n self.speed_to_erpm_gain = rospy.get_param('/vesc/speed_to_erpm_gain')\n\n self.max_servo_speed = rospy.get_param('/vesc/max_servo_speed')\n self.steering_angle_to_servo_gain = rospy.get_param('/vesc/steering_angle_to_servo_gain')\n self.servo_smoother_rate = rospy.get_param('/vesc/servo_smoother_rate')\n self.max_servo = rospy.get_param('/vesc/vesc_driver/servo_max')\n self.min_servo = rospy.get_param('/vesc/vesc_driver/servo_min')\n\n # Variables\n self.last_rpm = 0\n self.desired_rpm = self.last_rpm\n \n self.last_servo = rospy.get_param('/vesc/steering_angle_to_servo_offset')\n self.desired_servo_position = self.last_servo\n\n # Create topic subscribers and publishers\n self.rpm_output = rospy.Publisher(self.rpm_output_topic, Float64,queue_size=1)\n self.servo_output = rospy.Publisher(self.servo_output_topic, Float64,queue_size=1)\n \n rospy.Subscriber(self.rpm_input_topic, Float64, self._process_throttle_command)\n rospy.Subscriber(self.servo_input_topic, Float64, self._process_servo_command)\n\n self.max_delta_servo = abs(self.steering_angle_to_servo_gain * self.max_servo_speed / self.servo_smoother_rate)\n rospy.Timer(rospy.Duration(1.0/self.servo_smoother_rate), self._publish_servo_command)\n\n self.max_delta_rpm = abs(self.speed_to_erpm_gain * self.max_acceleration / self.throttle_smoother_rate)\n rospy.Timer(rospy.Duration(1.0/self.max_delta_rpm), self._publish_throttle_command)\n \n # run the node\n self._run()\n\n # Keep the node alive\n def _run(self):\n rospy.spin()\n\n def _publish_throttle_command(self, evt):\n desired_delta = self.desired_rpm-self.last_rpm\n clipped_delta = max(min(desired_delta, self.max_delta_rpm), -self.max_delta_rpm)\n smoothed_rpm = self.last_rpm + clipped_delta\n self.last_rpm = smoothed_rpm \n # print self.desired_rpm, smoothed_rpm\n self.rpm_output.publish(Float64(smoothed_rpm))\n \n def _process_throttle_command(self,msg):\n input_rpm = msg.data\n # Do some sanity clipping\n input_rpm = min(max(input_rpm, self.min_rpm), self.max_rpm)\n self.desired_rpm = input_rpm\n\n def _publish_servo_command(self, evt):\n desired_delta = self.desired_servo_position-self.last_servo\n clipped_delta = max(min(desired_delta, self.max_delta_servo), -self.max_delta_servo)\n smoothed_servo = self.last_servo + clipped_delta\n self.last_servo = smoothed_servo \n self.servo_output.publish(Float64(smoothed_servo))\n\n def _process_servo_command(self,msg):\n input_servo = msg.data\n # Do some sanity clipping\n input_servo = min(max(input_servo, self.min_servo), self.max_servo)\n # set the target servo position\n self.desired_servo_position = input_servo\n\n# Boilerplate node spin up. \nif __name__ == '__main__':\n try:\n rospy.init_node('Throttle_Interpolator')\n p = InterpolateThrottle()\n except rospy.ROSInterruptException:\n pass\n"
},
{
"path": "racecar/CMakeLists.txt",
"content": "cmake_minimum_required(VERSION 2.8.3)\nproject(racecar)\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 racecar_launch\n CATKIN_DEPENDS\n razor_imu_9dof\n tf\n tf2_ros\n urg_node\n joy\n rosbag\n rostopic\n rviz\n # specific to racecar-v1\n #pointgrey_camera_driver\n #px4flow\n #pwm_sysfs_driver\n # specific to racecar-v2\n # mapping\n gmapping\n hector_mapping\n robot_pose_ekf\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(racecar_launch\n# src/${PROJECT_NAME}/racecar_launch.cpp\n# )\n\n## Declare a cpp executable\n# add_executable(racecar_launch_node src/racecar_launch_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(racecar_launch_node racecar_launch_generate_messages_cpp)\n\n## Specify libraries to link a library or executable target against\n# target_link_libraries(racecar_launch_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 racecar_launch racecar_launch_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\ninstall(DIRECTORY launch\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_racecar_launch.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": "racecar/LICENSE",
"content": "# Software License Agreement (BSD License)\n#\n# Copyright (c) 2016 Massachusetts Institute of Technology.\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\n# 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\n# copyright notice, this list of conditions and the following\n# disclaimer in the documentation and/or other materials provided\n# with the distribution.\n# * Neither the name of Massachusetts Institute of Technology nor the\n# names of its contributors may be used to endorse or promote\n# products derived from this software without specific prior\n# written permission.\n#\n# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS\n# \"AS IS\" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT\n# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS\n# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE\n# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,\n# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,\n# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;\n# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER\n# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT\n# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN\n# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE\n# POSSIBILITY OF SUCH DAMAGE.\n"
},
{
"path": "racecar/config/racecar-v2/high_level_mux.yaml",
"content": "# Individual subscriber configuration:\n# name: Source name\n# topic: The topic that provides ackermann_cmd messages\n# timeout: Time in seconds without incoming messages to consider this topic inactive\n# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT \n# short_desc: Short description (optional)\n\nsubscribers:\n - name: \"Nav_0\"\n topic: \"input/nav_0\"\n timeout: 0.2\n priority: 20\n short_desc: \"Input for autonomous navigation, highest priority\"\n\n - name: \"Nav_1\"\n topic: \"input/nav_1\"\n timeout: 0.2\n priority: 15\n short_desc: \"Input for autonomous navigation\"\n\n - name: \"Nav_2\"\n topic: \"input/nav_2\"\n timeout: 0.2\n priority: 10\n short_desc: \"Input for autonomous navigation\"\n\n - name: \"Nav_3\"\n topic: \"input/nav_3\"\n timeout: 0.2\n priority: 5\n short_desc: \"Input for autonomous navigation\"\n\n - name: \"Default\"\n topic: \"input/default\"\n timeout: 1.0\n priority: 0\n short_desc: \"Default input, lowest priority\"\npublisher: \"output\""
},
{
"path": "racecar/config/racecar-v2/joy_teleop.yaml",
"content": "joy_node:\n deadzone: 0.01\n autorepeat_rate: 20\n coalesce_interval: 0.01\n\nteleop:\n # Default mode - Stop for safety\n default:\n type: topic\n is_default: true\n message_type: ackermann_msgs/AckermannDriveStamped\n topic_name: low_level/ackermann_cmd_mux/input/teleop\n message_value:\n -\n target: drive.speed\n value: 0.0\n -\n target: drive.steering_angle\n value: 0.0\n\n # Enable Human control by holding Left Bumper\n human_control:\n type: topic\n message_type: ackermann_msgs/AckermannDriveStamped\n topic_name: low_level/ackermann_cmd_mux/input/teleop\n deadman_buttons: [4]\n axis_mappings:\n -\n axis: 1\n target: drive.speed\n scale: 2.0 # joystick will command plus or minus 2 meters / second\n offset: 0.0\n -\n axis: 3\n target: drive.steering_angle\n scale: 0.34 # joystick will command plus or minus ~20 degrees steering angle\n offset: 0.0\n\n # Enable autonomous control by pressing right bumper\n # This switch causes the joy_teleop to stop sending messages to input/teleop\n # And send messages to /dev/null (an unused ROS topic)\n autonomous_control:\n type: topic\n message_type: std_msgs/Int8\n topic_name: /dev/null\n deadman_buttons: [5]\n message_value:\n -\n target: data\n value: 0\n"
},
{
"path": "racecar/config/racecar-v2/low_level_mux.yaml",
"content": "# Individual subscriber configuration:\n# name: Source name\n# topic: The topic that provides ackermann_cmd messages\n# timeout: Time in seconds without incoming messages to consider this topic inactive\n# priority: Priority: an UNIQUE unsigned integer from 0 (lowest) to MAX_INT \n# short_desc: Short description (optional)\n\nsubscribers:\n - name: \"Teleoperation\"\n topic: \"input/teleop\"\n timeout: 0.2\n priority: 10\n short_desc: \"Input for human teleoperation (joystick). Highest priority.\"\n \n - name: \"Safety\"\n topic: \"input/safety\"\n timeout: 0.2\n priority: 5\n short_desc: \"Input for safety monitor.\"\n\n - name: \"Navigation\"\n topic: \"input/navigation\"\n timeout: 0.2\n priority: 0\n short_desc: \"Input for autonomous navigation\"\n \npublisher: \"output\""
},
{
"path": "racecar/config/racecar-v2/sensors.yaml",
"content": "\nlaser_node:\n ip_address: 192.168.0.10\n\nimu_node:\n device: /dev/imu\n port: /dev/ttyIMU\n"
},
{
"path": "racecar/config/racecar-v2/vesc.yaml",
"content": "\n# erpm (electrical rpm) = speed_to_erpm_gain * speed (meters / second) + speed_to_erpm_offset\n# for offset=0. speed_to_erpm_gain = num_motor_poles*60/circumference_wheel_in_meters\nspeed_to_erpm_gain: 4614\nspeed_to_erpm_offset: 0.0\n\ntachometer_ticks_to_meters_gain: 0.00225\n# servo smoother - limits rotation speed and smooths anything above limit\nmax_servo_speed: 3.2 # radians/second\nservo_smoother_rate: 75.0 # messages/sec\n\n# servo smoother - limits acceleration and smooths anything above limit\nmax_acceleration: 3.5 # meters/second^2\nthrottle_smoother_rate: 75.0 # messages/sec\n\n# servo value (0 to 1) = steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset\nsteering_angle_to_servo_gain: -1.2135\nsteering_angle_to_servo_offset: 0.5304\n\n# publish odom to base link tf\nvesc_to_odom/publish_tf: false\n\n# car wheelbase is about 25cm \nwheelbase: .25\n\nvesc_driver:\n port: /dev/ttyVESC\n duty_cycle_min: 0.0\n duty_cycle_max: 0.0\n current_min: 0.0\n current_max: 20.0\n brake_min: -20000.0\n brake_max: 200000.0\n speed_min: -3250\n speed_max: 10000\n position_min: 0.0\n position_max: 0.0\n servo_min: 0.15\n servo_max: 0.85\n"
},
{
"path": "racecar/launch/includes/common/joy_teleop.launch.xml",
"content": "\n\n \n \n\n \n\n \n\n \n\n\n"
},
{
"path": "racecar/launch/includes/common/sensors.launch.xml",
"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"
},
{
"path": "racecar/launch/includes/racecar-v2/static_transforms.launch.xml",
"content": "\n\n\n \n\n \n\n \n\n \n \n\n\n"
},
{
"path": "racecar/launch/includes/racecar-v2/velodyne.launch.xml",
"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"
},
{
"path": "racecar/launch/includes/racecar-v2/vesc.launch.xml",
"content": "\n\n \n\n \n \n\n \n \n \n \n \n \n \n \n\n \n \n \n\n\n"
},
{
"path": "racecar/launch/includes/racecar-v2-teleop.launch.xml",
"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"
},
{
"path": "racecar/launch/known_map_localization.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\n"
},
{
"path": "racecar/launch/mux.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"
},
{
"path": "racecar/launch/replay_bag_file/replay_bag_file.launch",
"content": "\n\n \n \n \n \n\n \n \n \n\n"
},
{
"path": "racecar/launch/replay_bag_file/replay_bag_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 \n \n \n \n\n \n\n \n \n \n \n \n \n \n \n\n \n\n \n\n"
},
{
"path": "racecar/launch/replay_bag_file/replay_bag_with_lidar_processing.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"
},
{
"path": "racecar/launch/teleop.launch",
"content": "\n\n \n \n\n\n \n \n \n \n\n\n"
},
{
"path": "racecar/maps/basement_hallways_10cm.yaml",
"content": "image: basement_hallways_10cm.png\nresolution: 0.100000\norigin: [-30.000000, -30.000000, 0.000000]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n"
},
{
"path": "racecar/maps/basement_hallways_5cm.yml",
"content": "image: basement_hallways_5cm.png\nresolution: 0.050000\norigin: [-30.000000, -30.000000, 0.000000]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n"
},
{
"path": "racecar/maps/short-course-33.yml",
"content": "image: short-course-33.png\nresolution: 0.025000\norigin: [-11.50000, -5.000000, -0.090000]\nnegate: 0\noccupied_thresh: 0.65\nfree_thresh: 0.196\n\n"
},
{
"path": "racecar/package.xml",
"content": "\n\n racecar\n 0.0.1\n RACECAR launch scripts\n\n Michael Boulet\n Michael Boulet\n BSD\n\n \n\n \n\n catkin\n\n \n\n razor_imu_9dof\n tf\n tf2_ros\n urg_node\n joy\n rosbag\n rostopic\n rviz\n\n \n \n \n \n\n \n\n \n gmapping\n hector_mapping\n robot_pose_ekf\n\n \n \n\n"
},
{
"path": "racecar/rviz/known_map_localization.rviz",
"content": "Panels:\n - Class: rviz/Displays\n Help Height: 78\n Name: Displays\n Property Tree Widget:\n Expanded:\n - /Global Options1\n - /TF1/Tree1/map1\n - /TF1/Tree1/map1/odom1\n - /TF1/Tree1/map1/odom1/base_footprint1\n - /TF1/Tree1/map1/odom1/base_footprint1/base_link1\n Splitter Ratio: 0.5\n Tree Height: 531\n - Class: rviz/Selection\n Name: Selection\n - Class: rviz/Tool Properties\n Expanded:\n - /2D Pose Estimate1\n - /2D Nav Goal1\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: map\n Value: true\n - Class: rviz/TF\n Enabled: false\n Frame Timeout: 15\n Frames:\n All Enabled: false\n base_footprint:\n Value: true\n base_link:\n Value: false\n camera_depth_frame:\n Value: false\n camera_depth_optical_frame:\n Value: false\n camera_link:\n Value: false\n camera_rgb_frame:\n Value: false\n camera_rgb_optical_frame:\n Value: false\n caster_back_link:\n Value: false\n caster_front_link:\n Value: false\n cliff_sensor_front_link:\n Value: false\n cliff_sensor_left_link:\n Value: false\n cliff_sensor_right_link:\n Value: false\n gyro_link:\n Value: false\n map:\n Value: true\n odom:\n Value: true\n plate_bottom_link:\n Value: false\n plate_middle_link:\n Value: false\n plate_top_link:\n Value: false\n pole_bottom_0_link:\n Value: false\n pole_bottom_1_link:\n Value: false\n pole_bottom_2_link:\n Value: false\n pole_bottom_3_link:\n Value: false\n pole_bottom_4_link:\n Value: false\n pole_bottom_5_link:\n Value: false\n pole_kinect_0_link:\n Value: false\n pole_kinect_1_link:\n Value: false\n pole_middle_0_link:\n Value: false\n pole_middle_1_link:\n Value: false\n pole_middle_2_link:\n Value: false\n pole_middle_3_link:\n Value: false\n pole_top_0_link:\n Value: false\n pole_top_1_link:\n Value: false\n pole_top_2_link:\n Value: false\n pole_top_3_link:\n Value: false\n wheel_left_link:\n Value: false\n wheel_right_link:\n Value: false\n Marker Scale: 1\n Name: TF\n Show Arrows: true\n Show Axes: true\n Show Names: true\n Tree:\n map:\n odom:\n base_footprint:\n base_link:\n camera_rgb_frame:\n camera_depth_frame:\n camera_depth_optical_frame:\n {}\n camera_link:\n {}\n camera_rgb_optical_frame:\n {}\n caster_back_link:\n {}\n caster_front_link:\n {}\n cliff_sensor_front_link:\n {}\n cliff_sensor_left_link:\n {}\n cliff_sensor_right_link:\n {}\n gyro_link:\n {}\n plate_bottom_link:\n {}\n plate_middle_link:\n {}\n plate_top_link:\n {}\n pole_bottom_0_link:\n {}\n pole_bottom_1_link:\n {}\n pole_bottom_2_link:\n {}\n pole_bottom_3_link:\n {}\n pole_bottom_4_link:\n {}\n pole_bottom_5_link:\n {}\n pole_kinect_0_link:\n {}\n pole_kinect_1_link:\n {}\n pole_middle_0_link:\n {}\n pole_middle_1_link:\n {}\n pole_middle_2_link:\n {}\n pole_middle_3_link:\n {}\n pole_top_0_link:\n {}\n pole_top_1_link:\n {}\n pole_top_2_link:\n {}\n pole_top_3_link:\n {}\n wheel_left_link:\n {}\n wheel_right_link:\n {}\n Update Interval: 0\n Value: false\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; 0; 0\n Color Transformer: FlatColor\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 255; 255\n Max Intensity: 4096\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): 0.03\n Style: Points\n Topic: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: 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 - Arrow Length: 0.2\n Class: rviz/PoseArray\n Color: 0; 192; 0\n Enabled: true\n Name: Amcl Particles\n Topic: /particlecloud\n Value: true\n - Angle Tolerance: 0.1\n Class: rviz/Odometry\n Color: 0; 255; 255\n Enabled: true\n Keep: 500\n Length: 0.1\n Name: Odometry\n Position Tolerance: 0.1\n Topic: /vesc/odom\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/MoveCamera\n - Class: rviz/Interact\n Hide Inactive Objects: true\n - Class: rviz/Select\n - Class: rviz/SetInitialPose\n Topic: /initialpose\n - Class: rviz/SetGoal\n Topic: /move_base_simple/goal\n - Class: rviz/Measure\n Value: true\n Views:\n Current:\n Angle: -1.935\n Class: rviz/TopDownOrtho\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.06\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Name: Current View\n Near Clip Distance: 0.01\n Scale: 100.79\n Target Frame: base_footprint\n Value: TopDownOrtho (rviz)\n X: 1.71641\n Y: 0.715559\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 744\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd000000040000000000000142000002a2fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002a2000000dd00ffffff000000010000010f000002a2fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002a2000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a0000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000002b8000002a200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Time:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1301\n X: 57\n Y: -4\n"
},
{
"path": "racecar/rviz/laser_scan_matcher.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 - /Grid1\n - /LaserScan1\n - /TF1\n - /TF1/Frames1\n Splitter Ratio: 0.5\n Tree Height: 434\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: 0.2\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; 0; 0\n Color Transformer: FlatColor\n Decay Time: 0\n Enabled: true\n Invert Rainbow: false\n Max Color: 255; 0; 0\n Max Intensity: 4096\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): 0.025\n Style: Flat Squares\n Topic: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n - Class: rviz/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: true\n base_link:\n Value: true\n laser:\n Value: true\n world:\n Value: true\n Marker Scale: 1\n Name: TF\n Show Arrows: true\n Show Axes: true\n Show Names: true\n Tree:\n world:\n base_link:\n laser:\n {}\n Update Interval: 0\n Value: true\n Enabled: true\n Global Options:\n Background Color: 0; 0; 0\n Fixed Frame: world\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 Angle: 0\n Class: rviz/TopDownOrtho\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.06\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Name: Current View\n Near Clip Distance: 0.01\n Scale: 150\n Target Frame: \n Value: TopDownOrtho (rviz)\n X: 0\n Y: 0\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 721\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd00000004000000000000013c0000023dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005300fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000360000023d000000b700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000360000023d0000009b00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004000000003efc0100000002fb0000000800540069006d00650100000000000004000000024500fffffffb0000000800540069006d00650100000000000004500000000000000000000001a90000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Time:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1024\n X: -2\n Y: -2\n"
},
{
"path": "racecar/rviz/mapping.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 - /Map1\n - /LaserScan1\n Splitter Ratio: 0.5\n Tree Height: 565\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: 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 - Class: rviz/TF\n Enabled: true\n Frame Timeout: 15\n Frames:\n All Enabled: true\n base_footprint:\n Value: true\n base_imu_link:\n Value: true\n base_link:\n Value: true\n camera:\n Value: true\n gmapping_map:\n Value: true\n hector_map:\n Value: true\n hector_odom:\n Value: true\n hector_scanmatcher_frame:\n Value: true\n laser:\n Value: true\n px4flow:\n Value: true\n Marker Scale: 1\n Name: TF\n Show Arrows: true\n Show Axes: true\n Show Names: true\n Tree:\n gmapping_map:\n hector_map:\n hector_odom:\n base_link:\n base_footprint:\n {}\n base_imu_link:\n {}\n camera:\n {}\n laser:\n {}\n px4flow:\n {}\n hector_scanmatcher_frame:\n {}\n Update Interval: 0\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: 1030\n Min Color: 0; 0; 0\n Min Intensity: 370\n Name: LaserScan\n Position Transformer: XYZ\n Queue Size: 10\n Selectable: true\n Size (Pixels): 3\n Size (m): 0.08\n Style: Flat Squares\n Topic: /scan\n Use Fixed Frame: true\n Use rainbow: true\n Value: true\n Enabled: true\n Global Options:\n Background Color: 48; 48; 48\n Fixed Frame: gmapping_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 Angle: 0\n Class: rviz/TopDownOrtho\n Enable Stereo Rendering:\n Stereo Eye Separation: 0.06\n Stereo Focal Distance: 1\n Swap Stereo Eyes: false\n Value: false\n Name: Current View\n Near Clip Distance: 0.01\n Scale: 8.5022\n Target Frame: \n Value: TopDownOrtho (rviz)\n X: -0.8955\n Y: -15.9022\n Saved: ~\nWindow Geometry:\n Displays:\n collapsed: false\n Height: 846\n Hide Left Dock: false\n Hide Right Dock: false\n QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000\n Selection:\n collapsed: false\n Time:\n collapsed: false\n Tool Properties:\n collapsed: false\n Views:\n collapsed: false\n Width: 1200\n X: 372\n Y: 50\n"
},
{
"path": "racecar/scripts/joy_teleop.py",
"content": "#!/usr/bin/env python\nimport importlib\n\nimport rospy\nimport genpy.message\nfrom rospy import ROSException\nimport sensor_msgs.msg\nimport actionlib\nimport rostopic\nimport rosservice\nfrom threading import Thread\nfrom rosservice import ROSServiceException\n\nimport numpy as np\n\nclass JoyTeleopException(Exception):\n pass\n\n'''\nOriginally from https://github.com/ros-teleop/teleop_tools\nPulled on April 28, 2017.\n\nEdited by Winter Guerra on April 28, 2017 to allow for default actions.\n'''\n\n\nclass JoyTeleop:\n \"\"\"\n Generic joystick teleoperation node.\n Will not start without configuration, has to be stored in 'teleop' parameter.\n See config/joy_teleop.yaml for an example.\n \"\"\"\n def __init__(self):\n if not rospy.has_param(\"teleop\"):\n rospy.logfatal(\"no configuration was found, taking node down\")\n raise JoyTeleopException(\"no config\")\n\n self.publishers = {}\n self.al_clients = {}\n self.srv_clients = {}\n self.service_types = {}\n self.message_types = {}\n self.command_list = {}\n self.offline_actions = []\n self.offline_services = []\n\n self.old_buttons = []\n\n teleop_cfg = rospy.get_param(\"teleop\")\n\n for i in teleop_cfg:\n if i in self.command_list:\n rospy.logerr(\"command {} was duplicated\".format(i))\n continue\n action_type = teleop_cfg[i]['type']\n self.add_command(i, teleop_cfg[i])\n if action_type == 'topic':\n self.register_topic(i, teleop_cfg[i])\n elif action_type == 'action':\n self.register_action(i, teleop_cfg[i])\n elif action_type == 'service':\n self.register_service(i, teleop_cfg[i])\n else:\n rospy.logerr(\"unknown type '%s' for command '%s'\", action_type, i)\n\n # Don't subscribe until everything has been initialized.\n rospy.Subscriber('joy', sensor_msgs.msg.Joy, self.joy_callback)\n\n # Run a low-freq action updater\n rospy.Timer(rospy.Duration(2.0), self.update_actions)\n\n def joy_callback(self, data):\n try:\n for c in self.command_list:\n if self.match_command(c, data.buttons):\n self.run_command(c, data)\n # Only run 1 command at a time\n break\n except JoyTeleopException as e:\n rospy.logerr(\"error while parsing joystick input: %s\", str(e))\n self.old_buttons = data.buttons\n\n def register_topic(self, name, command):\n \"\"\"Add a topic publisher for a joystick command\"\"\"\n topic_name = command['topic_name']\n try:\n topic_type = self.get_message_type(command['message_type'])\n self.publishers[topic_name] = rospy.Publisher(topic_name, topic_type, queue_size=1)\n except JoyTeleopException as e:\n rospy.logerr(\"could not register topic for command {}: {}\".format(name, str(e)))\n\n def register_action(self, name, command):\n \"\"\"Add an action client for a joystick command\"\"\"\n action_name = command['action_name']\n try:\n action_type = self.get_message_type(self.get_action_type(action_name))\n self.al_clients[action_name] = actionlib.SimpleActionClient(action_name, action_type)\n if action_name in self.offline_actions:\n self.offline_actions.remove(action_name)\n except JoyTeleopException:\n if action_name not in self.offline_actions:\n self.offline_actions.append(action_name)\n\n class AsyncServiceProxy(object):\n def __init__(self, name, service_class, persistent=True):\n try:\n rospy.wait_for_service(name, timeout=2.0)\n except ROSException:\n raise JoyTeleopException(\"Service {} is not available\".format(name))\n self._service_proxy = rospy.ServiceProxy(name, service_class, persistent)\n self._thread = Thread(target=self._service_proxy, args=[])\n\n def __del__(self):\n # try to join our thread - no way I know of to interrupt a service\n # request\n if self._thread.is_alive():\n self._thread.join(1.0)\n\n def __call__(self, request):\n if self._thread.is_alive():\n self._thread.join(0.01)\n if self._thread.is_alive():\n return False\n\n self._thread = Thread(target=self._service_proxy, args=[request])\n self._thread.start()\n return True\n\n def register_service(self, name, command):\n \"\"\" Add an AsyncServiceProxy for a joystick command \"\"\"\n service_name = command['service_name']\n try:\n service_type = self.get_service_type(service_name)\n self.srv_clients[service_name] = self.AsyncServiceProxy(\n service_name,\n service_type)\n\n if service_name in self.offline_services:\n self.offline_services.remove(service_name)\n except JoyTeleopException:\n if service_name not in self.offline_services:\n self.offline_services.append(service_name)\n\n def match_command(self, c, buttons):\n \"\"\"Find a command matching a joystick configuration\"\"\"\n # Buttons is a vector of the shape [0,1,0,1....\n # Turn it into a vector of form [1, 3...\n button_indexes = np.argwhere(buttons).flatten()\n\n # Check if the pressed buttons match the commands exactly.\n buttons_match = np.array_equal(self.command_list[c]['buttons'], button_indexes)\n\n #print button_indexes\n if buttons_match:\n return True\n\n # This might also be a default command.\n # We need to check if ANY commands match this set of pressed buttons.\n any_commands_matched = np.any([ np.array_equal(command['buttons'], button_indexes) for name, command in self.command_list.iteritems()])\n\n # Return the final result.\n return (buttons_match) or (not any_commands_matched and self.command_list[c]['is_default'])\n\n def add_command(self, name, command):\n \"\"\"Add a command to the command list\"\"\"\n # Check if this is a default command\n if 'is_default' not in command:\n command['is_default'] = False\n \n if command['type'] == 'topic':\n if 'deadman_buttons' not in command:\n command['deadman_buttons'] = []\n command['buttons'] = command['deadman_buttons']\n elif command['type'] == 'action':\n if 'action_goal' not in command:\n command['action_goal'] = {}\n elif command['type'] == 'service':\n if 'service_request' not in command:\n command['service_request'] = {}\n self.command_list[name] = command\n\n def run_command(self, command, joy_state):\n \"\"\"Run a joystick command\"\"\"\n cmd = self.command_list[command]\n if cmd['type'] == 'topic':\n self.run_topic(command, joy_state)\n elif cmd['type'] == 'action':\n if cmd['action_name'] in self.offline_actions:\n rospy.logerr(\"command {} was not played because the action \"\n \"server was unavailable. Trying to reconnect...\"\n .format(cmd['action_name']))\n self.register_action(command, self.command_list[command])\n else:\n if joy_state.buttons != self.old_buttons:\n self.run_action(command, joy_state)\n elif cmd['type'] == 'service':\n if cmd['service_name'] in self.offline_services:\n rospy.logerr(\"command {} was not played because the service \"\n \"server was unavailable. Trying to reconnect...\"\n .format(cmd['service_name']))\n self.register_service(command, self.command_list[command])\n else:\n if joy_state.buttons != self.old_buttons:\n self.run_service(command, joy_state)\n else:\n raise JoyTeleopException('command {} is neither a topic publisher nor an action or service client'\n .format(command))\n\n def run_topic(self, c, joy_state):\n cmd = self.command_list[c]\n msg = self.get_message_type(cmd['message_type'])()\n\n if 'message_value' in cmd:\n for param in cmd['message_value']:\n self.set_member(msg, param['target'], param['value'])\n\n else:\n for mapping in cmd['axis_mappings']:\n if len(joy_state.axes)<=mapping['axis']:\n rospy.logerr('Joystick has only {} axes (indexed from 0), but #{} was referenced in config.'.format(len(joy_state.axes), mapping['axis']))\n val = 0.0\n else:\n val = joy_state.axes[mapping['axis']] * mapping.get('scale', 1.0) + mapping.get('offset', 0.0)\n\n self.set_member(msg, mapping['target'], val)\n \n self.publishers[cmd['topic_name']].publish(msg)\n\n def run_action(self, c, joy_state):\n cmd = self.command_list[c]\n goal = self.get_message_type(self.get_action_type(cmd['action_name'])[:-6] + 'Goal')()\n genpy.message.fill_message_args(goal, [cmd['action_goal']])\n self.al_clients[cmd['action_name']].send_goal(goal)\n\n def run_service(self, c, joy_state):\n cmd = self.command_list[c]\n request = self.get_service_type(cmd['service_name'])._request_class()\n # should work for requests, too\n genpy.message.fill_message_args(request, [cmd['service_request']])\n if not self.srv_clients[cmd['service_name']](request):\n rospy.loginfo('Not sending new service request for command {} because previous request has not finished'\n .format(c))\n\n def set_member(self, msg, member, value):\n ml = member.split('.')\n if len(ml) < 1:\n return\n target = msg\n for i in ml[:-1]:\n target = getattr(target, i)\n setattr(target, ml[-1], value)\n\n def get_message_type(self, type_name):\n if type_name not in self.message_types:\n try:\n package, message = type_name.split('/')\n mod = importlib.import_module(package + '.msg')\n self.message_types[type_name] = getattr(mod, message)\n except ValueError:\n raise JoyTeleopException(\"message type format error\")\n except ImportError:\n raise JoyTeleopException(\"module {} could not be loaded\".format(package))\n except AttributeError:\n raise JoyTeleopException(\"message {} could not be loaded from module {}\".format(package, message))\n return self.message_types[type_name]\n\n def get_action_type(self, action_name):\n try:\n return rostopic._get_topic_type(rospy.resolve_name(action_name) + '/goal')[0][:-4]\n except TypeError:\n raise JoyTeleopException(\"could not find action {}\".format(action_name))\n\n def get_service_type(self, service_name):\n if service_name not in self.service_types:\n try:\n self.service_types[service_name] = rosservice.get_service_class_by_name(service_name)\n except ROSServiceException, e:\n raise JoyTeleopException(\"service {} could not be loaded: {}\".format(service_name, str(e)))\n return self.service_types[service_name]\n\n def update_actions(self, evt=None):\n for name, cmd in self.command_list.iteritems():\n if cmd['type'] != 'action':\n continue\n if cmd['action_name'] in self.offline_actions:\n self.register_action(name, cmd)\n\n\nif __name__ == \"__main__\":\n try:\n rospy.init_node('joy_teleop')\n jt = JoyTeleop()\n rospy.spin()\n except JoyTeleopException:\n pass\n except rospy.ROSInterruptException:\n pass\n"
},
{
"path": "racecar-vm.rosinstall",
"content": "- setup-file: {local-name: /opt/ros/kinetic/setup.sh}\n- git: {local-name: src/racecar, version: master, uri: 'https://github.com/mit-racecar/racecar.git'}\n- git: {local-name: src/vesc, version: master, uri: 'https://github.com/mit-racecar/vesc.git'}\n- git: {local-name: src/racecar-simulator, version: master, uri: 'https://github.com/mit-racecar/racecar-simulator.git'}\n"
},
{
"path": "racecar.rosinstall",
"content": "- setup-file: {local-name: /opt/ros/kinetic/setup.sh}\n- git: {local-name: src/racecar, version: master, uri: 'https://github.com/mit-racecar/racecar.git'}\n- git: {local-name: src/vesc, version: master, uri: 'https://github.com/mit-racecar/vesc.git'}\n- git: {local-name: src/zed_wrapper, version: 6c06bb0a3c32aa2dec4a539e296f6ee1d6937518, uri: 'https://github.com/stereolabs/zed-ros-wrapper.git'}\n"
}
]