Organize directories (umrover#43)

* restructure * updated config path in cmake lists * removed useless localization node * moved EARTH_RADIUS back to tf_utils * linting * removed vscode files, fixed paths and removed localization node in launch files * deteled control.yaml which is no longer used * changed launch and rviz filenames from short to full words Co-authored-by: Riley Bridges <[email protected]>
qhdwight · Jun 18, 2022 · b1b60ba · b1b60ba
1 parent d85d279
commit b1b60ba
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Showing 33 changed files with 24 additions and 323 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -109,7 +109,7 @@ generate_messages(
 
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
-        cfg/DetectorParams.cfg
+        config/DetectorParams.cfg
 )
 
 ###################################

diff --git a/cfg/DetectorParams.cfg → config/DetectorParams.cfg b/cfg/DetectorParams.cfg → config/DetectorParams.cfg
diff --git a/params/ekf_localization.yaml → config/ekf_localization.yaml b/params/ekf_localization.yaml → config/ekf_localization.yaml
diff --git a/env_description/post/meshes/4x4_1000-0.blend → ..._description/post/meshes/4x4_1000-0.blend b/env_description/post/meshes/4x4_1000-0.blend → ..._description/post/meshes/4x4_1000-0.blend
diff --git a/env_description/post/meshes/4x4_1000-0.dae → ...nv_description/post/meshes/4x4_1000-0.dae b/env_description/post/meshes/4x4_1000-0.dae → ...nv_description/post/meshes/4x4_1000-0.dae
diff --git a/env_description/post/meshes/4x4_1000-0.png → ...nv_description/post/meshes/4x4_1000-0.png b/env_description/post/meshes/4x4_1000-0.png → ...nv_description/post/meshes/4x4_1000-0.png
diff --git a/env_description/post/meshes/4x4_1000-0.svg → ...nv_description/post/meshes/4x4_1000-0.svg b/env_description/post/meshes/4x4_1000-0.svg → ...nv_description/post/meshes/4x4_1000-0.svg
diff --git a/env_description/world.world → config/gazebo/env_description/world.world b/env_description/world.world → config/gazebo/env_description/world.world
diff --git a/default.rviz → config/rviz/default.rviz b/default.rviz → config/rviz/default.rviz
diff --git a/loc.rviz → config/rviz/localization.rviz b/loc.rviz → config/rviz/localization.rviz
diff --git a/nav.rviz → config/rviz/navigation.rviz b/nav.rviz → config/rviz/navigation.rviz
diff --git a/percep.rviz → config/rviz/perception.rviz b/percep.rviz → config/rviz/perception.rviz
diff --git a/control.yaml b/control.yaml
diff --git a/launch/full.launch b/launch/full.launch
@@ -2,7 +2,7 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="false" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/default.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/default.rviz" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

diff --git a/launch/loc.launch → launch/localization.launch b/launch/loc.launch → launch/localization.launch
@@ -2,16 +2,17 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="false" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/loc.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/localization.rviz" />
+  <arg name="gazebo_config_path" default="$(find mrover)/config/gazebo" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/env_description" />
-    <arg name="world_name" value="$(find mrover)/env_description/world.world" />
+    <env name="GAZEBO_MODEL_PATH" value="$(arg gazebo_config_path)/env_description" />
+    <arg name="world_name" value="$(arg gazebo_config_path)/env_description/world.world" />
     <arg name="paused" value="false" />
     <arg name="use_sim_time" value="true" />
     <arg name="gui" value="true" />
@@ -37,9 +38,7 @@
     odom: The topmost global frame
     base_link: The rover
   -->
-  <node name="mrover_localization" pkg="mrover" type="localization.py" />
-
-  <rosparam command="load" file="$(find mrover)/params/ekf_localization.yaml" />
+  <rosparam command="load" file="$(find mrover)/config/ekf_localization.yaml" />
 
   <!-- Fuses together GPS position and IMU orientation with an Extended Kalman Filter (EKF) -->
   <node pkg="robot_localization" type="ekf_localization_node" name="ekf_odom" clear_params="true">
@@ -59,4 +58,4 @@
     <remap from="gps/filtered" to="gps/filtered" />
     <remap from="odometry/gps" to="odometry/gps" />
   </node>
-</launch>
+</launch>
diff --git a/launch/minimal.launch b/launch/minimal.launch
@@ -2,7 +2,7 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="true" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/default.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/default.rviz" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

diff --git a/launch/nav.launch → launch/navigation.launch b/launch/nav.launch → launch/navigation.launch
@@ -2,16 +2,17 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="false" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/nav.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/navigation.rviz" />
+  <arg name="gazebo_config_path" default="$(find mrover)/config/gazebo" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/env_description" />
-    <arg name="world_name" value="$(find mrover)/env_description/world.world" />
+    <env name="GAZEBO_MODEL_PATH" value="$(arg gazebo_config_path)/env_description" />
+    <arg name="world_name" value="$(arg gazebo_config_path)/env_description/world.world" />
     <arg name="paused" value="false" />
     <arg name="use_sim_time" value="true" />
     <arg name="gui" value="true" />
@@ -48,9 +49,7 @@
     odom: The topmost global frame
     base_link: The rover
   -->
-  <node name="mrover_localization" pkg="mrover" type="localization.py" />
-
-  <rosparam command="load" file="$(find mrover)/params/ekf_localization.yaml" />
+  <rosparam command="load" file="$(find mrover)/config/ekf_localization.yaml" />
 
   <!-- Fuses together GPS position and IMU orientation with an Extended Kalman Filter (EKF) -->
   <!-- Publishes a resulting tf entry between odom and base_link -->
@@ -72,4 +71,4 @@
     <remap from="gps/filtered" to="gps/filtered" />
     <remap from="odometry/gps" to="odometry/gps" />
   </node>
-</launch>
+</launch>
diff --git a/launch/percep.launch → launch/perception.launch b/launch/percep.launch → launch/perception.launch
@@ -2,16 +2,17 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="false" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/percep.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/perception.rviz" />
+  <arg name="gazebo_config_path" default="$(find mrover)/config/gazebo" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/env_description" />
-    <arg name="world_name" value="$(find mrover)/env_description/world.world" />
+    <env name="GAZEBO_MODEL_PATH" value="$(arg gazebo_config_path)/env_description" />
+    <arg name="world_name" value="$(arg gazebo_config_path)/env_description/world.world" />
     <arg name="paused" value="false" />
     <arg name="use_sim_time" value="true" />
     <arg name="gui" value="true" />

diff --git a/launch/teleop.launch b/launch/teleop.launch
@@ -2,15 +2,16 @@
   <arg name="model" default="$(find mrover)/rover_description/rover.urdf" />
   <arg name="gui" default="false" />
   <param name="robot_description" command="xacro $(find mrover)/rover_description/rover.xacro" />
-  <arg name="rvizconfig" default="$(find mrover)/default.rviz" />
+  <arg name="rvizconfig" default="$(find mrover)/config/rviz/default.rviz" />
+  <arg name="gazebo_config_path" default="$(find mrover)/config/gazebo" />
 
   <node if="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
   <node unless="$(arg gui)" name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <env name="GAZEBO_MODEL_PATH" value="$(find mrover)/env_description" />
-    <arg name="world_name" value="$(find mrover)/env_description/world.world" />
+    <env name="GAZEBO_MODEL_PATH" value="$(arg gazebo_config_path)/env_description" />
+    <arg name="world_name" value="$(arg gazebo_config_path)/env_description/world.world" />
     <arg name="paused" value="false" />
     <arg name="use_sim_time" value="true" />
     <arg name="gui" value="true" />

diff --git a/mrover_arm_description/meshes/a-b.stl b/mrover_arm_description/meshes/a-b.stl
diff --git a/mrover_arm_description/meshes/chassis-a.stl b/mrover_arm_description/meshes/chassis-a.stl
diff --git a/mrover_arm_description/mrover_arm.urdf b/mrover_arm_description/mrover_arm.urdf
diff --git a/mrover_arm_description/mrover_arm/a-b.stl b/mrover_arm_description/mrover_arm/a-b.stl
diff --git a/mrover_arm_description/mrover_arm/b-c.stl b/mrover_arm_description/mrover_arm/b-c.stl
diff --git a/mrover_arm_description/mrover_arm/c-d.stl b/mrover_arm_description/mrover_arm/c-d.stl
diff --git a/mrover_arm_description/mrover_arm/chassis-a.stl b/mrover_arm_description/mrover_arm/chassis-a.stl
diff --git a/mrover_arm_description/mrover_arm/d-e.stl b/mrover_arm_description/mrover_arm/d-e.stl
diff --git a/mrover_arm_description/mrover_arm/e-f.stl b/mrover_arm_description/mrover_arm/e-f.stl
diff --git a/mrover_arm_description/mrover_arm/hand.stl b/mrover_arm_description/mrover_arm/hand.stl