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Organize directories #43

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merged 10 commits into from
Jun 18, 2022
Merged

Organize directories #43

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2e315d3
restructure
niwhsa9 Jun 13, 2022
b45847e
updated config path in cmake lists
rbridges12 Jun 13, 2022
9d2b97a
removed useless localization node
rbridges12 Jun 14, 2022
464b5a4
Merge branch 'master' into restructure
rbridges12 Jun 17, 2022
6c10456
moved EARTH_RADIUS back to tf_utils
rbridges12 Jun 17, 2022
6d8901f
linting
rbridges12 Jun 17, 2022
87ff824
removed vscode files, fixed paths and removed localization node in la…
rbridges12 Jun 18, 2022
7e76879
deteled control.yaml which is no longer used
rbridges12 Jun 18, 2022
9682ea2
changed launch and rviz filenames from short to full words
rbridges12 Jun 18, 2022
1956dd3
Merge branch 'master' into restructure
rbridges12 Jun 18, 2022
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Expand Up @@ -110,7 +110,7 @@ add_message_files(

## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
cfg/DetectorParams.cfg
config/DetectorParams.cfg
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)

###################################
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0 cfg/DetectorParams.cfg → config/DetectorParams.cfg
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0 params/ekf_localization.yaml → config/ekf_localization.yaml
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0 env_description/post/meshes/4x4_1000-0.blend → ..._description/post/meshes/4x4_1000-0.blend
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0 env_description/post/meshes/4x4_1000-0.dae → ...nv_description/post/meshes/4x4_1000-0.dae
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0 env_description/post/meshes/4x4_1000-0.png → ...nv_description/post/meshes/4x4_1000-0.png
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0 env_description/post/meshes/4x4_1000-0.svg → ...nv_description/post/meshes/4x4_1000-0.svg
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0 env_description/world.world → config/gazebo/env_description/world.world
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0 default.rviz → config/rviz/default.rviz
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0 loc.rviz → config/rviz/loc.rviz
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0 nav.rviz → config/rviz/nav.rviz
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0 percep.rviz → config/rviz/percep.rviz
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53 changes: 0 additions & 53 deletions control.yaml
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2 changes: 1 addition & 1 deletion launch/full.launch
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Expand Up @@ -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" />
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13 changes: 6 additions & 7 deletions launch/loc.launch
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Expand Up @@ -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="$(find mrover)/config/rviz/loc.rviz" />
<arg name="gazebo_config_path" default="$(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" />
Expand All @@ -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">
Expand All @@ -59,4 +58,4 @@
<remap from="gps/filtered" to="gps/filtered" />
<remap from="odometry/gps" to="odometry/gps" />
</node>
</launch>
</launch>
2 changes: 1 addition & 1 deletion launch/minimal.launch
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Expand Up @@ -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" />
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13 changes: 6 additions & 7 deletions launch/nav.launch
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Expand Up @@ -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="$(find mrover)/config/rviz/nav.rviz" />
<arg name="gazebo_config_path" default="$(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" />
Expand Down Expand Up @@ -44,9 +45,7 @@
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 -->
Expand All @@ -68,4 +67,4 @@
<remap from="gps/filtered" to="gps/filtered" />
<remap from="odometry/gps" to="odometry/gps" />
</node>
</launch>
</launch>
7 changes: 4 additions & 3 deletions launch/percep.launch
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Expand Up @@ -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="$(find mrover)/config/rviz/percep.rviz" />
<arg name="gazebo_config_path" default="$(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="$(arg gazebo_config_path)/env_description/world.world" />
<arg name="paused" value="false" />
<arg name="use_sim_time" value="true" />
<arg name="gui" value="true" />
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7 changes: 4 additions & 3 deletions launch/teleop.launch
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Expand Up @@ -2,15 +2,16 @@
<arg name="model" default="$(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" />
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