From 132f94b6339e0dfd90a77d466ca692a3b86e57ea Mon Sep 17 00:00:00 2001 From: EgorPristanskiy Date: Mon, 29 Oct 2018 13:01:16 +0300 Subject: [PATCH] loc --- .../.idea/dictionaries/egorpristanskiy.xml | 7 + eurobot_loc/.idea/eurobot_loc.iml | 12 + .../inspectionProfiles/Project_Default.xml | 12 + eurobot_loc/.idea/misc.xml | 4 + eurobot_loc/.idea/modules.xml | 8 + eurobot_loc/.idea/workspace.xml | 358 ++++++++++++++++++ eurobot_loc/CMakeLists.txt | 199 ---------- eurobot_loc/launch/fasd.launch | 0 eurobot_loc/launch/only_pf.launch | 6 + eurobot_loc/launch/pf_launch.launch | 12 + eurobot_loc/launch/pf_only.launch | 10 + .../launch/secondary_robot_params.yaml | 23 ++ eurobot_loc/package.xml | 68 ---- .../particle_filter_node/npParticle.pyc | Bin 0 -> 11885 bytes eurobot_loc/scripts/save_scan.py | 28 -- 15 files changed, 452 insertions(+), 295 deletions(-) create mode 100644 eurobot_loc/.idea/dictionaries/egorpristanskiy.xml create mode 100644 eurobot_loc/.idea/eurobot_loc.iml create mode 100644 eurobot_loc/.idea/inspectionProfiles/Project_Default.xml create mode 100644 eurobot_loc/.idea/misc.xml create mode 100644 eurobot_loc/.idea/modules.xml create mode 100644 eurobot_loc/.idea/workspace.xml delete mode 100644 eurobot_loc/CMakeLists.txt create mode 100644 eurobot_loc/launch/fasd.launch create mode 100644 eurobot_loc/launch/only_pf.launch create mode 100644 eurobot_loc/launch/pf_launch.launch create mode 100644 eurobot_loc/launch/pf_only.launch create mode 100644 eurobot_loc/launch/secondary_robot_params.yaml delete mode 100644 eurobot_loc/package.xml create mode 100644 eurobot_loc/scripts/particle_filter_node/npParticle.pyc delete mode 100644 eurobot_loc/scripts/save_scan.py diff --git a/eurobot_loc/.idea/dictionaries/egorpristanskiy.xml b/eurobot_loc/.idea/dictionaries/egorpristanskiy.xml new file mode 100644 index 0000000..b671abd --- /dev/null +++ b/eurobot_loc/.idea/dictionaries/egorpristanskiy.xml @@ -0,0 +1,7 @@ + + + + eurobot + + + \ No newline at end of file diff --git a/eurobot_loc/.idea/eurobot_loc.iml b/eurobot_loc/.idea/eurobot_loc.iml new file mode 100644 index 0000000..6f63a63 --- /dev/null +++ b/eurobot_loc/.idea/eurobot_loc.iml @@ -0,0 +1,12 @@ + + + + + + + + + + \ No newline at end of file diff --git a/eurobot_loc/.idea/inspectionProfiles/Project_Default.xml b/eurobot_loc/.idea/inspectionProfiles/Project_Default.xml new file mode 100644 index 0000000..3dce9c6 --- /dev/null +++ b/eurobot_loc/.idea/inspectionProfiles/Project_Default.xml @@ -0,0 +1,12 @@ + + + + \ No newline at end of file diff --git a/eurobot_loc/.idea/misc.xml b/eurobot_loc/.idea/misc.xml new file mode 100644 index 0000000..5bbe586 --- /dev/null +++ b/eurobot_loc/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/eurobot_loc/.idea/modules.xml b/eurobot_loc/.idea/modules.xml new file mode 100644 index 0000000..eec18c6 --- /dev/null +++ b/eurobot_loc/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/eurobot_loc/.idea/workspace.xml b/eurobot_loc/.idea/workspace.xml new file mode 100644 index 0000000..0070ab2 --- /dev/null +++ b/eurobot_loc/.idea/workspace.xml @@ -0,0 +1,358 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1540738573220 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/eurobot_loc/CMakeLists.txt b/eurobot_loc/CMakeLists.txt deleted file mode 100644 index 6ae1ca9..0000000 --- a/eurobot_loc/CMakeLists.txt +++ /dev/null @@ -1,199 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(eurobot_loc) - -## Compile as C++11, supported in ROS Kinetic and newer -# add_compile_options(-std=c++11) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a exec_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder -# add_message_files( -# FILES -# Message1.msg -# Message2.msg -# ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here -# generate_messages( -# DEPENDENCIES -# std_msgs -# ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if your package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES eurobot_loc -# CATKIN_DEPENDS roscpp rospy std_msgs -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/eurobot_loc.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide -# add_executable(${PROJECT_NAME}_node src/eurobot_loc_node.cpp) - -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(${PROJECT_NAME}_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_eurobot_loc.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/eurobot_loc/launch/fasd.launch b/eurobot_loc/launch/fasd.launch new file mode 100644 index 0000000..e69de29 diff --git a/eurobot_loc/launch/only_pf.launch b/eurobot_loc/launch/only_pf.launch new file mode 100644 index 0000000..5f464f6 --- /dev/null +++ b/eurobot_loc/launch/only_pf.launch @@ -0,0 +1,6 @@ + + + + + + diff --git a/eurobot_loc/launch/pf_launch.launch b/eurobot_loc/launch/pf_launch.launch new file mode 100644 index 0000000..f4909b3 --- /dev/null +++ b/eurobot_loc/launch/pf_launch.launch @@ -0,0 +1,12 @@ + + + + + true + + + + + + + diff --git a/eurobot_loc/launch/pf_only.launch b/eurobot_loc/launch/pf_only.launch new file mode 100644 index 0000000..e59826c --- /dev/null +++ b/eurobot_loc/launch/pf_only.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/eurobot_loc/launch/secondary_robot_params.yaml b/eurobot_loc/launch/secondary_robot_params.yaml new file mode 100644 index 0000000..f2a20bf --- /dev/null +++ b/eurobot_loc/launch/secondary_robot_params.yaml @@ -0,0 +1,23 @@ +robot_name: "secondary_robot" + +# initial coordinates (robot's, not LIDAR's coords!) +start_orange: [120.0, 525.0, 4.71] +start_green: [2880.0, 525.0, 1.57] + +# robot size +dim_x: 240.0 +dim_y: 240.0 +dim_z: 350.0 +dim_r: 141.0 + +# LIDAR scanner coordinates in robot frame +lidar_x: -25.0 +lidar_y: 36.0 +lidar_a: 1.63 + +# Manipulators +bee_manipulator_x: -113.0 +switch_manipulator_y: 77.0 + +# Vortex for balls +vortex: [-17.0, -81.0] diff --git a/eurobot_loc/package.xml b/eurobot_loc/package.xml deleted file mode 100644 index 7c19492..0000000 --- a/eurobot_loc/package.xml +++ /dev/null @@ -1,68 +0,0 @@ - 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