diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml index 4019be2de9a..f2381d2b10b 100644 --- a/.gitlab-ci.yml +++ b/.gitlab-ci.yml @@ -84,7 +84,7 @@ build_cross: - docker:dind variables: ROS_DISTRO: kinetic - AUTOWARE_DOCKER_DATE: 20190102 + AUTOWARE_DOCKER_DATE: 20190211 AUTOWARE_HOME: $CI_PROJECT_DIR AUTOWARE_TARGET_ARCH: aarch64 AUTOWARE_TARGET_PLATFORM: generic-aarch64 @@ -115,7 +115,7 @@ build_cross: " ' retry: 1 - + pages: stage: deploy image: alpine diff --git a/.gitmodules b/.gitmodules index 249982cca6a..683df903742 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,6 +1,7 @@ [submodule "ros/src/sensing/drivers/lidar/packages/robosense"] path = ros/src/sensing/drivers/lidar/packages/robosense url = https://github.com/CPFL/robosense + branch = develop-curves-function [submodule "ros/src/msgs/lgsvl_msgs"] path = ros/src/msgs/lgsvl_msgs url = https://github.com/lgsvl/lgsvl_msgs.git @@ -8,3 +9,9 @@ path = ros/src/sensing/drivers/lidar/packages/ouster url = https://github.com/CPFL/ouster branch = autoware_branch +[submodule "ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim"] + path = ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim + url = https://github.com/CPFL/osrf_citysim.git +[submodule "ros/src/simulation/gazebo_simulator/worlds/external/car_demo"] + path = ros/src/simulation/gazebo_simulator/worlds/external/car_demo + url = https://github.com/CPFL/car_demo.git diff --git a/docker/crossbuild/Dockerfile.kinetic-crossbuild b/docker/crossbuild/Dockerfile.kinetic-crossbuild index f90dc4c717f..7f45bd33c44 100644 --- a/docker/crossbuild/Dockerfile.kinetic-crossbuild +++ b/docker/crossbuild/Dockerfile.kinetic-crossbuild @@ -100,7 +100,19 @@ RUN apt-get update && apt-get install -y --no-install-recommends \ ros-kinetic-tf2-ros \ ros-kinetic-visualization-msgs \ ros-kinetic-xacro \ - ros-kinetic-rosbridge-server + ros-kinetic-rosbridge-server \ + ros-kinetic-gazebo-ros \ + ros-kinetic-gazebo-msgs \ + ros-kinetic-gazebo-ros-control \ + ros-kinetic-urdf \ + ros-kinetic-xacro \ + ros-kinetic-position-controllers \ + ros-kinetic-transmission-interface \ + ros-kinetic-velocity-controllers \ + ros-kinetic-effort-controllers \ + ros-kinetic-controller-manager \ + ros-kinetic-robot-state-publisher \ + ros-kinetic-joint-state-controller RUN find / -depth -xdev -type l -lname '/*' -exec sh -c 'linkpath="$(readlink {})" && rm -f {} && ln -frsv "$linkpath" "{}"' \; diff --git a/docker/generic/Dockerfile b/docker/generic/Dockerfile index ceb25b55ca7..8f6632e38d4 100644 --- a/docker/generic/Dockerfile +++ b/docker/generic/Dockerfile @@ -9,7 +9,7 @@ COPY --chown=autoware ./ /home/$USERNAME/Autoware RUN su -c "bash -c 'source /opt/ros/$ROS_DISTRO/setup.bash; \ cd /home/$USERNAME/Autoware/ros; \ ./colcon_release'" $USERNAME -RUN echo "source /home/$USERNAME/Autoware/ros/devel/setup.bash" >> \ +RUN echo "source /home/$USERNAME/Autoware/ros/install/local_setup.bash" >> \ /home/$USERNAME/.bashrc COPY ./docker/generic/entrypoint.sh /tmp diff --git a/docker/generic/Dockerfile.cuda b/docker/generic/Dockerfile.cuda index 8500dd7a440..b063acc9358 100644 --- a/docker/generic/Dockerfile.cuda +++ b/docker/generic/Dockerfile.cuda @@ -77,10 +77,8 @@ COPY --from=nvidia/opengl:1.0-glvnd-runtime-ubuntu16.04 \ /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json \ /usr/local/share/glvnd/egl_vendor.d/10_nvidia.json RUN echo '/usr/local/lib/x86_64-linux-gnu' >> /etc/ld.so.conf.d/glvnd.conf && \ - ldconfig && \ - echo '/usr/$LIB/libGL.so.1' >> /etc/ld.so.preload && \ - echo '/usr/$LIB/libEGL.so.1' >> /etc/ld.so.preload -RUN apt update + ldconfig +RUN apt-get update # nvidia-container-runtime ENV NVIDIA_VISIBLE_DEVICES \ ${NVIDIA_VISIBLE_DEVICES:-all} diff --git a/docker/generic/build.sh b/docker/generic/build.sh index 6f7ffdd5894..0e24d1dcf02 100755 --- a/docker/generic/build.sh +++ b/docker/generic/build.sh @@ -76,6 +76,7 @@ echo -e "\tBase only: $BASE_ONLY" BASE=$IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO-base docker build \ + --rm \ --tag $BASE \ --build-arg ROS_DISTRO=$ROS_DISTRO \ --file Dockerfile.base ./../.. @@ -84,6 +85,7 @@ CUDA_SUFFIX="" if [ $CUDA == "on" ]; then CUDA_SUFFIX="-cuda" docker build \ + --rm \ --tag $BASE$CUDA_SUFFIX \ --build-arg FROM_ARG=$BASE \ --file Dockerfile.cuda . @@ -95,6 +97,7 @@ if [ "$BASE_ONLY" == "true" ]; then fi docker build \ + --rm \ --tag $IMAGE_NAME:$TAG_PREFIX-$ROS_DISTRO$CUDA_SUFFIX \ --build-arg FROM_ARG=$BASE$CUDA_SUFFIX \ --build-arg ROS_DISTRO=$ROS_DISTRO \ diff --git a/ros/catkin_make_release b/ros/catkin_make_release index e925aeeb2e5..1f8393a5d78 100755 --- a/ros/catkin_make_release +++ b/ros/catkin_make_release @@ -12,10 +12,15 @@ if [[ -d devel ]]; then rm -rf devel fi -CATKIN_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs" +if [[ -d install ]]; then + rm -rf install +fi + +if [[ -d log ]]; then + rm -rf log +fi -catkin_make clean $CATKIN_OPTS -source devel/setup.bash +CATKIN_OPTS="-DCMAKE_BUILD_TYPE=Release -DCMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs install" export LIBRARY_PATH=/usr/lib/OpenNI2/Drivers:$LIBRARY_PATH catkin_make $CATKIN_OPTS $@ diff --git a/ros/colcon_release b/ros/colcon_release index ea2352744fc..c40dfb4af7a 100755 --- a/ros/colcon_release +++ b/ros/colcon_release @@ -1,6 +1,10 @@ #!/usr/bin/env bash set -e +if [[ -d devel ]]; then + rm -rf devel +fi + if [[ -d build ]]; then rm -rf build fi @@ -9,6 +13,10 @@ if [[ -d install ]]; then rm -rf install fi +if [[ -d log ]]; then + rm -rf log +fi + if [ -f src/CMakeLists.txt ]; then rm -r src/CMakeLists.txt fi diff --git a/ros/run b/ros/run index cb98434cfd1..5502e81fb9b 100755 --- a/ros/run +++ b/ros/run @@ -42,8 +42,8 @@ if [ "$?" == "0" ]; then export ROS_IP=$ADDR fi -# boot ros-master -${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roscore'"& +# boot ros-master & health_checker +${TERMINAL} ${MASTER_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch autoware_health_checker health_checker.launch'"& # boot runtime_manager ${TERMINAL} ${RUNMGR_DISPLAY_OPTION} ${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; rosrun runtime_manager runtime_manager_dialog.py'" diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz index dba3124f5bf..87ad3fc1e05 100644 --- a/ros/src/.config/rviz/default.rviz +++ b/ros/src/.config/rviz/default.rviz @@ -6,14 +6,20 @@ Panels: Expanded: - /Global Options1 - /Camera1/Visibility1 + - /Points Raw1 - /Points Raw1/Status1 - /Local Waypoints1/Status1 - /Vector Map CenterLines1/Namespaces1 - /Global Path1/Namespaces1 - /Local Rollouts1/Namespaces1 - /GlobalPathAnimation1/Status1 + - /OverlayImage1 + - /OK1 + - /WARN1 + - /ERROR1 + - /FATAL1 Splitter Ratio: 0.695804 - Tree Height: 667 + Tree Height: 1903 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -22,7 +28,7 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679 + Splitter Ratio: 0.588679016 - Class: rviz/Views Expanded: - /Current View1 @@ -42,7 +48,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: false Line Style: - Line Width: 0.03 + Line Width: 0.0299999993 Value: Lines Name: Grid Normal Cell Count: 0 @@ -65,30 +71,23 @@ Visualization Manager: Value: true map: Value: true - mobility: - Value: true velodyne: Value: true - world: - Value: true Marker Scale: 5 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: - world: - map: - base_link: - velodyne: - {} - gps: - {} - mobility: + map: + base_link: + velodyne: {} + gps: + {} Update Interval: 0 Value: true - - Alpha: 0.05 + - Alpha: 0.0500000007 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -111,7 +110,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 2 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /points_map Unreliable: false @@ -123,19 +122,9 @@ Visualization Manager: Marker Topic: /vector_map Name: Vector Map Namespaces: - cross_walk: true - curb: true - gutter: true - road_edge: true - road_mark: true - road_pole: true - road_sign: true signal: true stop_line: true - street_light: true - utility_pole: true white_line: true - zebra_zone: true Queue Size: 100 Value: true - Class: rviz/Camera @@ -143,26 +132,32 @@ Visualization Manager: Image Rendering: overlay Image Topic: /image_raw Name: Camera - Overlay Alpha: 0.4 + Overlay Alpha: 0.400000006 Queue Size: 10 Transport Hint: raw Unreliable: false Value: false Visibility: - "": true A* Sim Obstacle: true Behavior State: true Control Pose: true Current Pose: true Detection Range: true + ERROR: true + FATAL: true Global Path: true Global Waypoints: true GlobalPathAnimation: true Grid: true + Image: true Local Rollouts: true Local Waypoints: true + MarkerArray: true Next Waypoint Mark: true + OK: true Occupancy Grid Map: true + OverlayImage: true + OverlayText: true PP Trajectory Mark: true Points Cluster: true Points Map: true @@ -178,19 +173,20 @@ Visualization Manager: Vehicle Model: true Velocity (km/h): true Vscan Points: true + WARN: true Waypoint Guide: true Zoom Factor: 1 - - Alpha: 0.5 + - Alpha: 0.300000012 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 + Max Value: 11.8534737 + Min Value: 9.73868942 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 - Color Transformer: Intensity + Color Transformer: AxisColor Decay Time: 0 Enabled: true Invert Rainbow: false @@ -202,8 +198,8 @@ Visualization Manager: Position Transformer: XYZ Queue Size: 10 Selectable: true - Size (Pixels): 1 - Size (m): 0.01 + Size (Pixels): 5 + Size (m): 0.00999999978 Style: Points Topic: /points_raw Unreliable: false @@ -233,7 +229,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /vscan_points Unreliable: false @@ -242,7 +238,7 @@ Visualization Manager: Value: false - Alpha: 1 Axes Length: 1 - Axes Radius: 0.1 + Axes Radius: 0.100000001 Class: rviz/Pose Color: 255; 25; 0 Enabled: false @@ -257,7 +253,7 @@ Visualization Manager: Value: false - Alpha: 1 Axes Length: 1 - Axes Radius: 0.1 + Axes Radius: 0.100000001 Class: rviz/Pose Color: 255; 170; 255 Enabled: false @@ -275,7 +271,10 @@ Visualization Manager: Marker Topic: /detection_range Name: Detection Range Namespaces: - {} + Crosswalk Detection: true + Decelerate Detection: true + Stop Detection: true + Stop Line: true Queue Size: 100 Value: true - Class: rviz/Marker @@ -283,7 +282,7 @@ Visualization Manager: Marker Topic: /next_target_mark Name: Next Waypoint Mark Namespaces: - {} + next_target_marker: true Queue Size: 100 Value: true - Class: rviz/Marker @@ -291,7 +290,7 @@ Visualization Manager: Marker Topic: /trajectory_circle_mark Name: PP Trajectory Mark Namespaces: - {} + trajectory_circle_marker: true Queue Size: 100 Value: true - Class: rviz/Marker @@ -312,6 +311,11 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true Name: Vehicle Model Robot Description: robot_description TF Prefix: "" @@ -341,7 +345,7 @@ Visualization Manager: Queue Size: 10 Selectable: true Size (Pixels): 5 - Size (m): 0.01 + Size (m): 0.00999999978 Style: Points Topic: /points_cluster Unreliable: false @@ -353,7 +357,9 @@ Visualization Manager: Marker Topic: /local_waypoints_mark Name: Local Waypoints Namespaces: - {} + local_path_marker: true + local_point_marker: true + local_waypoint_velocity: true Queue Size: 100 Value: true - Class: rviz/MarkerArray @@ -361,7 +367,9 @@ Visualization Manager: Marker Topic: /global_waypoints_mark Name: Global Waypoints Namespaces: - {} + global_change_flag_lane_1: true + global_lane_waypoint_orientation_marker_1: true + global_velocity_lane_1: true Queue Size: 100 Value: true - Class: rviz/Marker @@ -380,7 +388,7 @@ Visualization Manager: {} Queue Size: 100 Value: true - - Alpha: 0.7 + - Alpha: 0.699999988 Class: rviz/Map Color Scheme: map Draw Behind: true @@ -388,6 +396,7 @@ Visualization Manager: Name: Occupancy Grid Map Topic: /grid_map_visualization/distance_transform Unreliable: false + Use Timestamp: false Value: true - Class: rviz/MarkerArray Enabled: true @@ -451,10 +460,10 @@ Visualization Manager: Topic: /dp_planner_tracked_boxes Unreliable: false Value: true - alpha: 0.8 + alpha: 0.800000012 color: 25; 255; 0 coloring: Value - line width: 0.01 + line width: 0.00999999978 only edge: false show coords: false - Buffer length: 100 @@ -469,7 +478,7 @@ Visualization Manager: background color: 0; 0; 0 backround alpha: 0 border: true - foreground alpha: 0.7 + foreground alpha: 0.699999988 foreground color: 85; 255; 0 height: 80 left: 40 @@ -480,13 +489,13 @@ Visualization Manager: show caption: true text size: 8 top: 30 - update interval: 0.04 + update interval: 0.0399999991 width: 80 - - Background Alpha: 0.8 + - Background Alpha: 0.800000012 Background Color: 0; 0; 0 Class: jsk_rviz_plugin/OverlayText Enabled: true - Foreground Alpha: 0.8 + Foreground Alpha: 0.800000012 Foreground Color: 25; 255; 240 Name: OverlayText Overtake Color Properties: false @@ -500,10 +509,114 @@ Visualization Manager: text size: 12 top: 0 width: 128 + - Class: rviz/Image + Enabled: false + Image Topic: /image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: OverlayImage + Topic: /image_raw + Value: false + alpha: 0.800000012 + height: 128 + keep aspect ratio: true + left: 128 + top: 128 + width: 640 + - Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: OK + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/ok_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: WARN + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/warn_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: ERROR + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/error_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: FATAL + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/fatal_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /waypoint_saver_marker + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 - Fixed Frame: world + Default Light: true + Fixed Frame: map Frame Rate: 30 Name: root Tools: @@ -526,27 +639,30 @@ Visualization Manager: Angle: 0 Class: rviz/TopDownOrtho Enable Stereo Rendering: - Stereo Eye Separation: 0.06 + Stereo Eye Separation: 0.0599999987 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Invert Z Axis: false Name: Current View - Near Clip Distance: 0.01 - Scale: 3.97317 - Target Frame: + Near Clip Distance: 0.00999999978 + Scale: 19.7382278 + Target Frame: base_link Value: TopDownOrtho (rviz) - X: -27.0383 - Y: 47.1504 + X: 0 + Y: 0 Saved: ~ Window Geometry: Camera: collapsed: false Displays: - collapsed: false - Height: 900 - Hide Left Dock: false + collapsed: true + Height: 2136 + Hide Left Dock: true Hide Right Dock: false - QMainWindow State: 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+ Image: + collapsed: false + QMainWindow State: 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Selection: collapsed: false Time: @@ -555,6 +671,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1600 - X: 43 - Y: 174 + Width: 3775 + X: 65 + Y: 24 diff --git a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt index e5c65ada3af..ba6c7b0f534 100644 --- a/ros/src/actuation/vehicles/packages/as/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/as/CMakeLists.txt @@ -2,42 +2,50 @@ cmake_minimum_required(VERSION 2.8.3) project(as) find_package( - catkin REQUIRED COMPONENTS - roscpp - std_msgs - geometry_msgs - automotive_platform_msgs - dbw_mkz_msgs + catkin REQUIRED COMPONENTS + autoware_build_flags + roscpp + message_filters + std_msgs + geometry_msgs + automotive_platform_msgs + automotive_navigation_msgs + pacmod_msgs + autoware_msgs ) catkin_package( - CATKIN_DEPENDS - roscpp - std_msgs - geometry_msgs - automotive_platform_msgs - dbw_mkz_msgs + CATKIN_DEPENDS + roscpp + message_filters + std_msgs + geometry_msgs + automotive_platform_msgs + automotive_navigation_msgs + pacmod_msgs + autoware_msgs ) -SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") - include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} +) + +add_executable(ssc_interface + nodes/ssc_interface/ssc_interface_node.cpp + nodes/ssc_interface/ssc_interface.cpp ) -add_executable(pacmod_interface - nodes/pacmod_interface/pacmod_interface_node.cpp - nodes/pacmod_interface/pacmod_interface.cpp - ) -target_link_libraries(pacmod_interface ${catkin_LIBRARIES}) -add_dependencies(pacmod_interface ${catkin_EXPORTED_TARGETS}) +target_link_libraries(ssc_interface ${catkin_LIBRARIES}) -install(TARGETS pacmod_interface - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) +add_dependencies(ssc_interface ${catkin_EXPORTED_TARGETS}) + +install(TARGETS ssc_interface + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch - PATTERN ".svn" EXCLUDE) + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE +) diff --git a/ros/src/actuation/vehicles/packages/as/README.md b/ros/src/actuation/vehicles/packages/as/README.md index c24fad903c9..95e0cb201a8 100644 --- a/ros/src/actuation/vehicles/packages/as/README.md +++ b/ros/src/actuation/vehicles/packages/as/README.md @@ -7,5 +7,5 @@ git submodule update --init --recursive 3. Build the workspace 4. Ther is no GUI interface to launch this node. Hence use, ``` -roslaunch as pacmod_interface.launch +roslaunch as ssc_interface.launch ``` diff --git a/ros/src/actuation/vehicles/packages/as/launch/pacmod_interface.launch b/ros/src/actuation/vehicles/packages/as/launch/pacmod_interface.launch deleted file mode 100644 index 57659406848..00000000000 --- a/ros/src/actuation/vehicles/packages/as/launch/pacmod_interface.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ros/src/actuation/vehicles/packages/as/launch/ssc_interface.launch b/ros/src/actuation/vehicles/packages/as/launch/ssc_interface.launch new file mode 100644 index 00000000000..d7ce24eddfe --- /dev/null +++ b/ros/src/actuation/vehicles/packages/as/launch/ssc_interface.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.cpp b/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.cpp deleted file mode 100644 index 8202fabb177..00000000000 --- a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.cpp +++ /dev/null @@ -1,109 +0,0 @@ -/* - * Copyright 2017-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#include "pacmod_interface.h" - -namespace pacmod -{ -// Constructor -PacmodInterface::PacmodInterface() : - private_nh_("~"), - control_mode_(false) -{ - initForROS(); -} - -// Destructor -PacmodInterface::~PacmodInterface() -{ -} - -void PacmodInterface::initForROS() -{ - // ros parameter settings - private_nh_.param("acceleration_limit", acceleration_limit_, 3.0); - private_nh_.param("deceleration_limit", deceleration_limit_, 3.0); - private_nh_.param("max_curvature_rate", max_curvature_rate_, 0.75); - - // setup subscriber - twist_cmd_sub_ = nh_.subscribe("twist_cmd", 10, &PacmodInterface::callbackFromTwistCmd, this); - control_mode_sub_ = nh_.subscribe("/as/control_mode", 10, &PacmodInterface::callbackFromControlMode, this); - speed_sub_ = nh_.subscribe("/vehicle/steering_report", 10, &PacmodInterface::callbackFromSteeringReport, this); - - // setup publisher - steer_mode_pub_ = nh_.advertise("/as/arbitrated_steering_commands", 10); - speed_mode_pub_ = nh_.advertise("/as/arbitrated_speed_commands", 10); - current_twist_pub_ = nh_.advertise("as_current_twist", 10); -} - -void PacmodInterface::run() -{ - ros::spin(); -} - - -void PacmodInterface::callbackFromTwistCmd(const geometry_msgs::TwistStampedConstPtr &msg) -{ - int mode; - if (control_mode_) - { - mode = 1; - } - else - { - mode = 0; - } - - automotive_platform_msgs::SpeedMode speed_mode; - speed_mode.header = msg->header; - speed_mode.mode = mode; - speed_mode.speed = msg->twist.linear.x; - speed_mode.acceleration_limit = 3.0; - speed_mode.deceleration_limit = 3.0; - - automotive_platform_msgs::SteerMode steer_mode; - steer_mode.header = msg->header; - steer_mode.mode = mode; - double curvature = msg->twist.angular.z / msg->twist.linear.x; - steer_mode.curvature = msg->twist.linear.x <= 0 ? 0 : curvature; - steer_mode.max_curvature_rate = 0.75; - - std::cout << "mode: " << mode << std::endl; - std::cout << "speed: " << speed_mode.speed << std::endl; - std::cout << "steer: " << steer_mode.curvature << std::endl; - - speed_mode_pub_.publish(speed_mode); - steer_mode_pub_.publish(steer_mode); -} - -void PacmodInterface::callbackFromControlMode(const std_msgs::BoolConstPtr &msg) -{ - control_mode_ = msg->data; -} - -void PacmodInterface::callbackFromSteeringReport(const dbw_mkz_msgs::SteeringReportConstPtr &msg) -{ - geometry_msgs::TwistStamped ts; - std_msgs::Header header; - header.stamp = ros::Time::now(); - ts.header = header; - ts.twist.linear.x = msg->speed; // [m/sec] - // Can we get angular velocity? - - current_twist_pub_.publish(ts); -} - -} // pacmod diff --git a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.h b/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.h deleted file mode 100644 index 9b759b52fd7..00000000000 --- a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface.h +++ /dev/null @@ -1,70 +0,0 @@ -/* - * Copyright 2017-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#ifndef PACMOD_INTERFACE_H -#define PACMOD_INTERFACE_H - -// ROS includes -#include -#include -#include -#include -#include -#include - -namespace pacmod -{ -class PacmodInterface -{ -public: - PacmodInterface(); - ~PacmodInterface(); - - void run(); - -private: - // handle - ros::NodeHandle nh_; - ros::NodeHandle private_nh_; - - // publisher - ros::Publisher steer_mode_pub_; - ros::Publisher speed_mode_pub_; - ros::Publisher current_twist_pub_; - - // subscriber - ros::Subscriber twist_cmd_sub_; - ros::Subscriber control_mode_sub_; - ros::Subscriber speed_sub_; - - // ros param - double acceleration_limit_; - double deceleration_limit_; - double max_curvature_rate_; - - // variables - bool control_mode_; - - // callbacks - void callbackFromTwistCmd(const geometry_msgs::TwistStampedConstPtr &msg); - void callbackFromControlMode(const std_msgs::BoolConstPtr &msg); - void callbackFromSteeringReport(const dbw_mkz_msgs::SteeringReportConstPtr &msg); - - // initializer - void initForROS(); -}; -} // pacmod -#endif // PACMOD_INTERFACE_H diff --git a/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.cpp b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.cpp new file mode 100644 index 00000000000..1c7f9109ac5 --- /dev/null +++ b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.cpp @@ -0,0 +1,287 @@ +/* + * Copyright 2017-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "ssc_interface.h" + +SSCInterface::SSCInterface() : nh_(), private_nh_("~"), engage_(false), command_initialized_(false) +{ + // setup parameters + private_nh_.param("use_rear_wheel_speed", use_rear_wheel_speed_, true); + private_nh_.param("use_adaptive_gear_ratio", use_adaptive_gear_ratio_, true); + private_nh_.param("command_timeout", command_timeout_, 1000); + private_nh_.param("loop_rate", loop_rate_, 30.0); + private_nh_.param("wheel_base", wheel_base_, 2.79); + private_nh_.param("tire_radius", tire_radius_, 0.39); + private_nh_.param("ssc_gear_ratio", ssc_gear_ratio_, 16.135); + private_nh_.param("acceleration_limit", acceleration_limit_, 3.0); + private_nh_.param("deceleration_limit", deceleration_limit_, 3.0); + private_nh_.param("max_curvature_rate", max_curvature_rate_, 0.15); + private_nh_.param("agr_coef_a", agr_coef_a_, 15.713); + private_nh_.param("agr_coef_b", agr_coef_b_, 0.053); + private_nh_.param("agr_coef_c", agr_coef_c_, 0.042); + + rate_ = new ros::Rate(loop_rate_); + + // subscribers from autoware + vehicle_cmd_sub_ = nh_.subscribe("vehicle_cmd", 1, &SSCInterface::callbackFromVehicleCmd, this); + engage_sub_ = nh_.subscribe("vehicle/engage", 1, &SSCInterface::callbackFromEngage, this); + + // subscribers from SSC + module_states_sub_ = nh_.subscribe("as/module_states", 1, &SSCInterface::callbackFromSSCModuleStates, this); + curvature_feedback_sub_ = + new message_filters::Subscriber(nh_, "as/curvature_feedback", 10); + throttle_feedback_sub_ = + new message_filters::Subscriber(nh_, "as/throttle_feedback", 10); + brake_feedback_sub_ = + new message_filters::Subscriber(nh_, "as/brake_feedback", 10); + gear_feedback_sub_ = + new message_filters::Subscriber(nh_, "as/gear_feedback", 10); + velocity_accel_sub_ = + new message_filters::Subscriber(nh_, "as/velocity_accel", 10); + // subscribers from PACMod + wheel_speed_sub_ = + new message_filters::Subscriber(nh_, "pacmod/parsed_tx/wheel_speed_rpt", 10); + steering_wheel_sub_ = + new message_filters::Subscriber(nh_, "pacmod/parsed_tx/steer_rpt", 10); + ssc_feedbacks_sync_ = new message_filters::Synchronizer( + SSCFeedbacksSyncPolicy(10), *velocity_accel_sub_, *curvature_feedback_sub_, *throttle_feedback_sub_, + *brake_feedback_sub_, *gear_feedback_sub_, *wheel_speed_sub_, *steering_wheel_sub_); + ssc_feedbacks_sync_->registerCallback( + boost::bind(&SSCInterface::callbackFromSSCFeedbacks, this, _1, _2, _3, _4, _5, _6, _7)); + + // publishers to autoware + vehicle_status_pub_ = nh_.advertise("vehicle_status", 10); + current_twist_pub_ = nh_.advertise("vehicle/twist", 10); + + // publishers to SSC + steer_mode_pub_ = nh_.advertise("as/arbitrated_steering_commands", 10); + speed_mode_pub_ = nh_.advertise("as/arbitrated_speed_commands", 10); + turn_signal_pub_ = nh_.advertise("as/turn_signal_command", 10); + gear_pub_ = nh_.advertise("as/gear_select", 1, true); +} + +SSCInterface::~SSCInterface() +{ +} + +void SSCInterface::run() +{ + while (ros::ok()) + { + ros::spinOnce(); + publishCommand(); + rate_->sleep(); + } +} + +void SSCInterface::callbackFromVehicleCmd(const autoware_msgs::VehicleCmdConstPtr& msg) +{ + command_time_ = ros::Time::now(); + vehicle_cmd_ = *msg; + command_initialized_ = true; +} + +void SSCInterface::callbackFromEngage(const std_msgs::BoolConstPtr& msg) +{ + engage_ = msg->data; +} + +void SSCInterface::callbackFromSSCModuleStates(const automotive_navigation_msgs::ModuleStateConstPtr& msg) +{ + if (msg->name.find("veh_controller") != std::string::npos) + { + module_states_ = *msg; // *_veh_controller status is used for 'drive/steeringmode' + } +} + +void SSCInterface::callbackFromSSCFeedbacks(const automotive_platform_msgs::VelocityAccelConstPtr& msg_velocity, + const automotive_platform_msgs::CurvatureFeedbackConstPtr& msg_curvature, + const automotive_platform_msgs::ThrottleFeedbackConstPtr& msg_throttle, + const automotive_platform_msgs::BrakeFeedbackConstPtr& msg_brake, + const automotive_platform_msgs::GearFeedbackConstPtr& msg_gear, + const pacmod_msgs::WheelSpeedRptConstPtr& msg_wheel_speed, + const pacmod_msgs::SystemRptFloatConstPtr& msg_steering_wheel) +{ + ros::Time stamp = msg_velocity->header.stamp; + + // current speed + double speed = + !use_rear_wheel_speed_ ? + (msg_velocity->velocity) : + (msg_wheel_speed->rear_left_wheel_speed + msg_wheel_speed->rear_right_wheel_speed) * tire_radius_ / 2.; + + // update adaptive gear ratio (avoiding zero divizion) + adaptive_gear_ratio_ = + std::max(1e-5, agr_coef_a_ + agr_coef_b_ * speed * speed - agr_coef_c_ * msg_steering_wheel->output); + // current steering curvature + double curvature = !use_adaptive_gear_ratio_ ? + (msg_curvature->curvature) : + std::tan(msg_steering_wheel->output / adaptive_gear_ratio_) / wheel_base_; + + // as_current_velocity (geometry_msgs::TwistStamped) + geometry_msgs::TwistStamped twist; + twist.header.frame_id = BASE_FRAME_ID; + twist.header.stamp = stamp; + twist.twist.linear.x = speed; // [m/s] + twist.twist.angular.z = curvature * speed; // [rad/s] + current_twist_pub_.publish(twist); + + // vehicle_status (autoware_msgs::VehicleStatus) + autoware_msgs::VehicleStatus vehicle_status; + vehicle_status.header.frame_id = BASE_FRAME_ID; + vehicle_status.header.stamp = stamp; + + // drive/steeringmode + vehicle_status.drivemode = (module_states_.state == "active") ? autoware_msgs::VehicleStatus::MODE_AUTO : + autoware_msgs::VehicleStatus::MODE_MANUAL; + vehicle_status.steeringmode = vehicle_status.drivemode; + + // speed [km/h] + vehicle_status.speed = speed * 3.6; + + // drive/brake pedal [0,1000] (TODO: Scaling) + vehicle_status.drivepedal = (int)(1000 * msg_throttle->throttle_pedal); + vehicle_status.brakepedal = (int)(1000 * msg_brake->brake_pedal); + + // steering angle [rad] + vehicle_status.angle = std::atan(curvature * wheel_base_); + + // gearshift + if (msg_gear->current_gear.gear == automotive_platform_msgs::Gear::NONE) + { + vehicle_status.gearshift = 0; + } + else if (msg_gear->current_gear.gear == automotive_platform_msgs::Gear::PARK) + { + vehicle_status.gearshift = 3; + } + else if (msg_gear->current_gear.gear == automotive_platform_msgs::Gear::REVERSE) + { + vehicle_status.gearshift = 2; + } + else if (msg_gear->current_gear.gear == automotive_platform_msgs::Gear::NEUTRAL) + { + vehicle_status.gearshift = 4; + } + else if (msg_gear->current_gear.gear == automotive_platform_msgs::Gear::DRIVE) + { + vehicle_status.gearshift = 1; + } + + // lamp/light cannot be obtain from SSC + // vehicle_status.lamp + // vehicle_status.light + + vehicle_status_pub_.publish(vehicle_status); +} + +void SSCInterface::publishCommand() +{ + if (!command_initialized_) + { + return; + } + + ros::Time stamp = ros::Time::now(); + + // Desired values + // Driving mode (If autonomy mode should be active, mode = 1) + unsigned char desired_mode = engage_ ? 1 : 0; + + // Speed for SSC speed_model + double desired_speed = vehicle_cmd_.ctrl_cmd.linear_velocity; + + // Curvature for SSC steer_model + double desired_steering_angle = !use_adaptive_gear_ratio_ ? + vehicle_cmd_.ctrl_cmd.steering_angle : + vehicle_cmd_.ctrl_cmd.steering_angle * ssc_gear_ratio_ / adaptive_gear_ratio_; + double desired_curvature = std::tan(desired_steering_angle) / wheel_base_; + + // Gear (TODO: Use vehicle_cmd.gear) + unsigned char desired_gear = engage_ ? automotive_platform_msgs::Gear::DRIVE : automotive_platform_msgs::Gear::NONE; + + // Turn signal + unsigned char desired_turn_signal = automotive_platform_msgs::TurnSignalCommand::NONE; + + if (vehicle_cmd_.lamp_cmd.l == 0 && vehicle_cmd_.lamp_cmd.r == 0) + { + desired_turn_signal = automotive_platform_msgs::TurnSignalCommand::NONE; + } + else if (vehicle_cmd_.lamp_cmd.l == 1 && vehicle_cmd_.lamp_cmd.r == 0) + { + desired_turn_signal = automotive_platform_msgs::TurnSignalCommand::LEFT; + } + else if (vehicle_cmd_.lamp_cmd.l == 0 && vehicle_cmd_.lamp_cmd.r == 1) + { + desired_turn_signal = automotive_platform_msgs::TurnSignalCommand::RIGHT; + } + else if (vehicle_cmd_.lamp_cmd.l == 1 && vehicle_cmd_.lamp_cmd.r == 1) + { + // NOTE: HAZARD signal cannot be used in automotive_platform_msgs::TurnSignalCommand + } + + // Override desired speed to ZERO by emergency/timeout + bool emergency = (vehicle_cmd_.emergency == 1); + bool timeouted = (((ros::Time::now() - command_time_).toSec() * 1000) > command_timeout_); + + if (emergency || timeouted) + { + ROS_ERROR("Emergency Stopping, emergency = %d, timeouted = %d", emergency, timeouted); + desired_speed = 0.0; + } + + // speed command + automotive_platform_msgs::SpeedMode speed_mode; + speed_mode.header.frame_id = BASE_FRAME_ID; + speed_mode.header.stamp = stamp; + speed_mode.mode = desired_mode; + speed_mode.speed = desired_speed; + speed_mode.acceleration_limit = acceleration_limit_; + speed_mode.deceleration_limit = deceleration_limit_; + + // steer command + automotive_platform_msgs::SteerMode steer_mode; + steer_mode.header.frame_id = BASE_FRAME_ID; + steer_mode.header.stamp = stamp; + steer_mode.mode = desired_mode; + steer_mode.curvature = desired_curvature; + steer_mode.max_curvature_rate = max_curvature_rate_; + + // turn signal command + automotive_platform_msgs::TurnSignalCommand turn_signal; + turn_signal.header.frame_id = BASE_FRAME_ID; + turn_signal.header.stamp = stamp; + turn_signal.mode = desired_mode; + turn_signal.turn_signal = desired_turn_signal; + + // gear command + automotive_platform_msgs::GearCommand gear_cmd; + gear_cmd.header.frame_id = BASE_FRAME_ID; + gear_cmd.header.stamp = stamp; + gear_cmd.command.gear = desired_gear; + + // publish + speed_mode_pub_.publish(speed_mode); + steer_mode_pub_.publish(steer_mode); + turn_signal_pub_.publish(turn_signal); + gear_pub_.publish(gear_cmd); + + ROS_INFO_STREAM("Mode: " << (int)desired_mode << ", " + << "Speed: " << speed_mode.speed << ", " + << "Curvature: " << steer_mode.curvature << ", " + << "Gear: " << (int)gear_cmd.command.gear << ", " + << "TurnSignal: " << (int)turn_signal.turn_signal); +} diff --git a/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.h b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.h new file mode 100644 index 00000000000..0843d5939ef --- /dev/null +++ b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface.h @@ -0,0 +1,132 @@ +/* + * Copyright 2017-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef SSC_INTERFACE_H +#define SSC_INTERFACE_H + +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include + +static const std::string BASE_FRAME_ID = "base_link"; + +class SSCInterface +{ +public: + SSCInterface(); + ~SSCInterface(); + + void run(); + +private: + typedef message_filters::sync_policies::ApproximateTime< + automotive_platform_msgs::VelocityAccel, automotive_platform_msgs::CurvatureFeedback, + automotive_platform_msgs::ThrottleFeedback, automotive_platform_msgs::BrakeFeedback, + automotive_platform_msgs::GearFeedback, pacmod_msgs::WheelSpeedRpt, pacmod_msgs::SystemRptFloat> + SSCFeedbacksSyncPolicy; + + // handle + ros::NodeHandle nh_; + ros::NodeHandle private_nh_; + + // subscribers + ros::Subscriber vehicle_cmd_sub_; + ros::Subscriber engage_sub_; + ros::Subscriber module_states_sub_; + message_filters::Subscriber* velocity_accel_sub_; + message_filters::Subscriber* curvature_feedback_sub_; + message_filters::Subscriber* throttle_feedback_sub_; + message_filters::Subscriber* brake_feedback_sub_; + message_filters::Subscriber* gear_feedback_sub_; + message_filters::Subscriber* wheel_speed_sub_; + message_filters::Subscriber* steering_wheel_sub_; + message_filters::Synchronizer* ssc_feedbacks_sync_; + + // publishers + ros::Publisher steer_mode_pub_; + ros::Publisher speed_mode_pub_; + ros::Publisher turn_signal_pub_; + ros::Publisher gear_pub_; + ros::Publisher vehicle_status_pub_; + ros::Publisher current_twist_pub_; + + // ros param + int command_timeout_; // vehicle_cmd timeout [ms] + double loop_rate_; // [Hz] + double wheel_base_; // [m] + double acceleration_limit_; // [m/s^2] + double deceleration_limit_; // [m/s^2] + double max_curvature_rate_; // [rad/m/s] + + bool use_rear_wheel_speed_; // instead of 'as/velocity_accel' + bool use_adaptive_gear_ratio_; // for more accurate steering angle (gr = theta_sw / theta_s) + double tire_radius_; // [m] (NOTE: used by 'use_rear_wheel_speed' mode) + double ssc_gear_ratio_; // gr = const (NOTE: used by 'use_adaptive_gear_ratio' mode) + double agr_coef_a_, agr_coef_b_, agr_coef_c_; // gr = a + b * speed^2 + c * theta_sw + + // NOTE: default parameters in SSC + // tire radius = 0.39 [m] + // max steering angle = 0.533 [rad] + // max steering wheel angle = 8.3 [rad] + // -> ssc_gear_ratio = 16.135 [-] + // max steering wheel rotation rate = 6.28 [rad/s] + + // variables + bool engage_; + bool command_initialized_; + double adaptive_gear_ratio_; + ros::Time command_time_; + autoware_msgs::VehicleCmd vehicle_cmd_; + automotive_navigation_msgs::ModuleState module_states_; + ros::Rate* rate_; + + // callbacks + void callbackFromVehicleCmd(const autoware_msgs::VehicleCmdConstPtr& msg); + void callbackFromEngage(const std_msgs::BoolConstPtr& msg); + void callbackFromSSCModuleStates(const automotive_navigation_msgs::ModuleStateConstPtr& msg); + void callbackFromSSCFeedbacks(const automotive_platform_msgs::VelocityAccelConstPtr& msg_velocity, + const automotive_platform_msgs::CurvatureFeedbackConstPtr& msg_curvature, + const automotive_platform_msgs::ThrottleFeedbackConstPtr& msg_throttle, + const automotive_platform_msgs::BrakeFeedbackConstPtr& msg_brake, + const automotive_platform_msgs::GearFeedbackConstPtr& msg_gear, + const pacmod_msgs::WheelSpeedRptConstPtr& msg_wheel_speed, + const pacmod_msgs::SystemRptFloatConstPtr& msg_steering_wheel); + // functions + void publishCommand(); +}; + +#endif // SSC_INTERFACE_H diff --git a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface_node.cpp b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface_node.cpp similarity index 77% rename from ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface_node.cpp rename to ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface_node.cpp index e1561920eaa..57e6f69339d 100644 --- a/ros/src/actuation/vehicles/packages/as/nodes/pacmod_interface/pacmod_interface_node.cpp +++ b/ros/src/actuation/vehicles/packages/as/nodes/ssc_interface/ssc_interface_node.cpp @@ -14,17 +14,15 @@ * limitations under the License. */ -// ROS Includes #include -#include "pacmod_interface.h" +#include "ssc_interface.h" -int main(int argc, char **argv) +int main(int argc, char** argv) { - ros::init(argc, argv, "pacmod_interface"); - pacmod::PacmodInterface pacmod_interface; - - pacmod_interface.run(); + ros::init(argc, argv, "ssc_interface"); + SSCInterface node; + node.run(); return 0; } diff --git a/ros/src/actuation/vehicles/packages/as/package.xml b/ros/src/actuation/vehicles/packages/as/package.xml index 5fb65f741b2..614575990c6 100644 --- a/ros/src/actuation/vehicles/packages/as/package.xml +++ b/ros/src/actuation/vehicles/packages/as/package.xml @@ -3,22 +3,31 @@ as 1.10.0 The pacmod interface package - T.Ando + Akihito Ohsato Apache 2 + Akihito Ohsato + T.Ando + catkin autoware_build_flags roscpp + message_filters std_msgs geometry_msgs automotive_platform_msgs - dbw_mkz_msgs + automotive_navigation_msgs + pacmod_msgs + autoware_msgs roscpp + message_filters std_msgs geometry_msgs automotive_platform_msgs - dbw_mkz_msgs + automotive_navigation_msgs + pacmod_msgs + autoware_msgs diff --git a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt index 2e650759f23..aa722bc17f6 100755 --- a/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt +++ b/ros/src/actuation/vehicles/packages/ymc/CMakeLists.txt @@ -53,3 +53,12 @@ target_link_libraries(g30esli_interface ${catkin_LIBRARIES} ${CMAKE_CURRENT_SOURCE_DIR}/lib/libymc_can_${LIB_VERSION}${LIB_ARCH}.a ) + +install(TARGETS g30esli_interface + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/README.md b/ros/src/common/libs/diagnostics_lib/README.md deleted file mode 100644 index e155dc0a384..00000000000 --- a/ros/src/common/libs/diagnostics_lib/README.md +++ /dev/null @@ -1,146 +0,0 @@ -# diagnostic_lib - -## diagnostic packages for Autoware. - -### packages -1. diag_lib -packages contain diag_manager. - -1. diag_msgs -original messages for diagnostic - -1. fake_autoware_nodes -test fake nodes and samples - -### How to test -``` -roslaunch fake_autoware_nodes diag_sample.launch -``` - -### How to use -1. add diag_lib,diag_msgs to your package dependency. - -1. #include to your source code. - -1. create diag_manager class instance in your source code. - -1. define error code to yaml file (sample: /config/error_code_sample_config.yaml) - -### Compile options -1. -DSTRICT_ERROR_CODE_CHECK=(ON or OFF) -if you set this option ON, check error code infomation and when it was wrong, error message was shown and the wrong node was killed. - -### How it works -diag_manager instance which attatched to your C++ ROS node publish /diag topic (type:diag_msgs/diag_error). -You can define errors in .yaml setting file. -Each diag_manager and watchdog node read .yaml setting file and load error codes. -The watchdog node check allive or dead all the nodes in the .yaml setting file and aggregate /diag topic which comes from diag_managers. - -![rosgraph](rosgraph.png "rosgraph") - -### How to attach diag_manager class -Please read source codes in fake_autoware_nodes - -### required parameters(rosparam) -error_code_config_path (type:String) : full path of error code config file path. - -#### public member functions -#### constructer and destructer - -1. constructer -``` -diag_manager::diag_manager(); -``` - -2. destructor -``` -diag_manager::diag_manager(); -``` - -#### diag functions -Note : argument num is the error number you defined in the error code setting yaml file. -1. DIAG_ASSERT_VALUE_RANGE -``` -template -void DIAG_ASSERT_VALUE_RANGE(T min, T max, T value, int num) -``` -If value is not in the range, send diag message. -When you use this function , you expected the value satisfy the conditional expression "min < value < max". -num is the error number you defined in the error code setting yaml file. - -2. DIAG_ASSERT_VALUE_MIN -``` -template -void DIAG_ASSERT_VALUE_MIN(T min, T value, int num) -``` -If value is not in the range, send diag message. -When you use this function , you expected the value satisfy the conditional expression "min < value". -num is the error number you defined in the error code setting yaml file. - -3. DIAG_ASSERT_VALUE_MAX -``` -template -void DIAG_ASSERT_VALUE_MIN(T max, T value, int num) -``` -If value is not in the range, send diag message. -When you use this function , you expected the value satisfy the conditional expression "max < value". -num is the error number you defined in the error code setting yaml file. - -4. DIAG_ASSERT_EXCEPTION -``` -template -void DIAG_ASSERT_EXCEPTION(T exception,int num) -``` -You shold call this function in catch block in your source code. -When this function was called, diag_manager send a EXCEPTION diag message. - -5. DIAG_RESOURCE -``` -void DIAG_RESOURCE(std::string target_resource_path, int num); -``` -When the function was called, diag_manager check the target resource file exist. -If diag_manager failed to find the file, diag_manager kill the target ROS node. -I strongly recommend that you should call this function in the initialize function. -num is the error number you defined in the error code setting yaml file. - -6. DIAG_RATE_CHECK -``` -void DIAG_RATE_CHECK(int num); -``` -Put this function where you want to know operation cycle. -num is the error number you defined in the error code setting yaml file. - -7. DIAG_LOW_RELIABILITY -``` -void DIAG_LOW_RELIABILITY(int num); -``` -You call this function when your node output is low reliability. -num is the error number you defined in the error code setting yaml file. - -#### logging function -1. WRITE_LOG -Write log file to /tmp/Autoware/Diag/Log//log.txt -The log remains in such format. -``` -[2018-09-13T03:25:25.340543] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:25.341312] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.441295] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.541326] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.641427] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.741318] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.841311] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:25.941436] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:26.041322] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:26.141353] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:26.340464] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:27.340491] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:28.241331] : in /ndt_matching: exception was catched -[2018-09-13T03:25:28.241375] : in /ndt_matching: Divided by zero. -[2018-09-13T03:25:28.340549] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:29.340556] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:30.340551] : in /ndt_matching: topic /nft_matching/data subscribe rate was low (Warn) -[2018-09-13T03:25:30.341377] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:30.441393] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:30.541348] : in /ndt_matching: The input value hogehoge is out of range. -[2018-09-13T03:25:30.641382] : in /ndt_matching: The input value hogehoge is out of range. -``` \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/CHANGELOG.rst b/ros/src/common/libs/diagnostics_lib/diag_lib/CHANGELOG.rst deleted file mode 100644 index 122fa7d6e89..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/CHANGELOG.rst +++ /dev/null @@ -1,28 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package diag_lib -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- -* add filter to the fake_autoware_node -* add filter function by using node number -* dd diag_filter to the fake_subscriber -* add disable mode for diag_manager -* add diag_lib - add csv writer - remove unused comment - fix maintainer names - fix email address - fix dependency - fix buildtool_depend, remove unused lines from find_package -* Contributors: Masaya Kataoka - -* add csv writer -* add diag_lib -* Contributors: Masaya Kataoka diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/CMakeLists.txt b/ros/src/common/libs/diagnostics_lib/diag_lib/CMakeLists.txt deleted file mode 100644 index dbffd972061..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/CMakeLists.txt +++ /dev/null @@ -1,71 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(diag_lib) - -add_compile_options(-std=c++11) - -find_package(catkin REQUIRED COMPONENTS - diag_msgs - roscpp -) - -find_package(Boost REQUIRED COMPONENTS filesystem) - -find_package(PkgConfig REQUIRED) -pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) - -option(STRICT_ERROR_CODE_CHECK "enables strict error code check" OFF) -if(STRICT_ERROR_CODE_CHECK) - add_definitions(-DSTRICT_ERROR_CODE_CHECK) -endif() - -catkin_package( - INCLUDE_DIRS include - LIBRARIES diag_manager diag_filter - CATKIN_DEPENDS diag_msgs roscpp -) - -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -set(watchdog_node_src src/watchdog_node.cpp src/watchdog.cpp src/diag_manager.cpp src/rate_checker.cpp src/diag_subscriber.cpp) -add_executable(watchdog_node ${watchdog_node_src}) -target_link_libraries(watchdog_node ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -add_dependencies(watchdog_node ${catkin_EXPORTED_TARGETS}) - -set(diag_manager_src src/diag_manager.cpp src/rate_checker.cpp src/diag_subscriber.cpp) -add_library(diag_manager SHARED ${diag_manager_src}) -target_link_libraries(diag_manager ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -add_dependencies(diag_manager ${catkin_EXPORTED_TARGETS}) - -set(diag_filter_src src/diag_filter.cpp) -add_library(diag_filter SHARED ${diag_filter_src}) -target_link_libraries(diag_filter ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -add_dependencies(diag_filter ${catkin_EXPORTED_TARGETS}) - -# CPP Execution programs -set(CPP_EXEC_NAMES watchdog_node) -foreach(cpp_exec_names ${CPP_EXEC_NAMES}) - install(TARGETS ${cpp_exec_names} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) -endforeach(cpp_exec_names) - -# include header files -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) - -# Install all files -foreach(dir config launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - -# Install library -install(TARGETS diag_manager diag_filter - ARCHIVE DESTINATION lib - LIBRARY DESTINATION lib - RUNTIME DESTINATION bin -) \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/config/error_code_sample_config.yaml b/ros/src/common/libs/diagnostics_lib/diag_lib/config/error_code_sample_config.yaml deleted file mode 100644 index 7a7989b3cf3..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/config/error_code_sample_config.yaml +++ /dev/null @@ -1,49 +0,0 @@ -/watchdog_node: - node_number: 0 - errors: - - num: 0 - name: required file does not exist - category: 7 - description: required file does not exist -/pure_pursuit: - node_number: 0 - errors: - - num: 0 - name: out of range - category: 8 - description: The input value hogehoge is out of range. - - num: 1 - name: node is ded - category: 3 - description: /pure_pursuit node is dead -/ndt_matching: - node_number: 1 - errors: - - num: 0 - name: out of range - category: 8 - description: The input value hogehoge is out of range. - - num: 1 - name: exception - category: 2 - description: exception was catched - - num: 2 - name: low subscribe rate - category: 4 - description: topic /nft_matching/data subscribe rate was low (Warn) - threshold: 10.0 - level: warn - - num: 3 - name: low subscribe rate - category: 4 - description: topic /nft_matching/data subscribe rate was low (Error) - threshold: 5.0 - level: error - - num: 4 - name: low reliability - category: 12 - description: low reliability - - num: 5 - name: node is ded - category: 3 - description: /ndt_matching node is dead \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_filter.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_filter.h deleted file mode 100644 index 4312f929d5e..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_filter.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef DIAG_FILTER_H_INCLUDED -#define DIAG_FILTER_H_INCLUDED - -//headers in diag_msgs -#include -#include -#include - -//headers in ROS -#include - -//headers in Boost -#include - -//headers in STL -#include - -class diag_filter -{ -public: - diag_filter(); - ~diag_filter(); - boost::optional filter(diag_msgs::diag diag, std::string target_node); - boost::optional filter(diag_msgs::diag diag, int target_node_number); -private: - std::map node_number_data_; - ros::NodeHandle nh_; - bool check_resource_(std::string target_resource_path); - volatile bool enable_; - std::string error_code_config_path_; -}; -#endif //DIAG_FILTER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_info.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_info.h deleted file mode 100644 index e535ca57995..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_info.h +++ /dev/null @@ -1,30 +0,0 @@ -#ifndef DIAG_INFO_H_INCLUDED -#define DIAG_INFO_H_INCLUDED - -//headers in diag_lib -#include - -//headers in STL -#include - -//headers in boost -#include - -struct diag_info -{ - const int num; - const std::string name; - const int category; - const std::string description; - const boost::optional threshold; - const boost::optional level; - diag_info(int num_, std::string name_, int category_, std::string description_) - : num(num_), name(name_), category(category_) ,description(description_) , threshold(boost::none), level(boost::none) - {}; - diag_info(int num_, std::string name_, int category_, std::string description_, double threshold_, int level_) - : num(num_), name(name_), category(category_) ,description(description_) , threshold(threshold_), level(level_) - { - - } -}; -#endif //DIAG_INFO_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_macros.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_macros.h deleted file mode 100644 index 8ec29cfc134..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_macros.h +++ /dev/null @@ -1,6 +0,0 @@ -#ifndef DIAG_MACROS_H_INCLUDED -#define DIAG_MACROS_H_INCLUDED - -#define GET_VARIABLE_NAME(Variable) - -#endif //DIAG_MACROS_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager.h deleted file mode 100644 index c5c099fd19e..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager.h +++ /dev/null @@ -1,137 +0,0 @@ -#ifndef DIAG_MANAGER_H_INCLUDED -#define DIAG_MANAGER_H_INCLUDED - -//headers in diag_lib -#include -#include -#include -#include -#include -#include - -//headers in ROS -#include - -//headers in STL -#include -#include -#include -#include - -//headers in diag_msgs -#include - -//headers in boost -#include -#include -#include -#include -#include -#include - -// headers in YAML-CPP -#include - -class diag_manager -{ -public: - diag_manager(); - ~diag_manager(); - template - void DIAG_ASSERT_VALUE_RANGE(T min, T max, T value, int num) - { - if(enable_diag_ == false) - return; - std::vector required_error_code = {INVALID_INITIAL_VALUE, INVALID_VALUE}; - if(check_error_code(num, required_error_code)) - { - if(value < min) - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - publish_diag_(query_diag_info(num).get()); - return; - } - if(value > max) - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - publish_diag_(query_diag_info(num).get()); - return; - } - } - return; - } - template - void DIAG_ASSERT_VALUE_MIN(T min, T value, int num) - { - if(enable_diag_ == false) - return; - std::vector required_error_code = {INVALID_INITIAL_VALUE, INVALID_VALUE}; - if(check_error_code(num, required_error_code)) - { - if(value < min) - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - publish_diag_(query_diag_info(num).get()); - return; - } - } - return; - } - template - void DIAG_ASSERT_VALUE_MAX(T max, T value, int num) - { - if(enable_diag_ == false) - return; - std::vector required_error_code = {INVALID_INITIAL_VALUE, INVALID_VALUE}; - if(check_error_code(num, required_error_code)) - { - if(value > max) - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - publish_diag_(query_diag_info(num).get()); - return; - } - } - return; - } - template - void DIAG_ASSERT_EXCEPTION(T exception,int num) - { - if(enable_diag_ == false) - return; - std::vector required_error_code = {EXCEPTION}; - if(check_error_code(num, required_error_code)) - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - ADD_DIAG_LOG_WARN(exception.what()); - publish_diag_(query_diag_info(num).get()); - } - return; - } - void DIAG_RESOURCE(std::string target_resource_path, int num); - void DIAG_RATE_CHECK(int num); - void DIAG_LOW_RELIABILITY(int num); - std::vector get_diag_info(){return diag_info_;} - boost::optional query_diag_info(int num); - void WRITE_LOG(); -private: - void ADD_DIAG_LOG_WARN(std::string log_text); - void ADD_DIAG_LOG_ERROR(std::string log_text); - void check_rate_(); - bool check_error_code(int requested_error_code, std::vector right_categories); - void publish_diag_(diag_info info); - // check resource for diag_manager - bool diag_resource(std::string target_resource_path); - volatile bool enable_diag_; - std::vector diag_info_; - std::vector diag_log_; - ros::Publisher diag_pub_; - ros::NodeHandle nh_; - ros::Time timer_; - //config - std::string error_code_config_path_; - YAML::Node error_code_config_; - //rate checker - std::map > checkers_; -}; -#endif //DIAG_MANAGER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager_config.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager_config.h deleted file mode 100644 index 26e3234e491..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_manager_config.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef DIAG_MANGER_CONFIG_H_INCLUDED -#define DIAG_MANGER_CONFIG_H_INCLUDED - -/* -define values for rate checker -*/ -#define RATE_CHECKER_BUFFER_LENGTH 1 -#define RATE_CHECK_FREQUENCY 1.0 - -/* -define for Pub/Sub Operation cycle critical LEVEL -*/ -//#define LEVEL_NORMAL 0 -#define LEVEL_WARN 1 -#define LEVEL_ERROR 2 - -#endif //DIAGMANAGER_CONFIG_H_INCULDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_subscriber.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_subscriber.h deleted file mode 100644 index c138ce8dd39..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/diag_subscriber.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef DIAG_SUBSCRIBER_H_INCLUDED -#define DIAG_SUBSCRIBER_H_INCLUDED - -//headers in STL -#include -#include -#include - -//headers in ROS -#include - -//headers in diag_msgs -#include -#include - -class diag_subscriber -{ - public: - diag_subscriber(std::string target_node,int target_node_number); - ~diag_subscriber(); - diag_msgs::diag_node_errors get_diag_node_errors(); - private: - std::mutex mtx_; - std::vector buffer_; - ros::Subscriber diag_sub_; - ros::NodeHandle nh_; - void callback_(diag_msgs::diag_error msg); - const std::string target_node_; - const int target_node_number_; -}; - -#endif //DIAG_SUBSCRIBER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/error_category.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/error_category.h deleted file mode 100644 index 38f0c5ea891..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/error_category.h +++ /dev/null @@ -1,17 +0,0 @@ -#ifndef ERROR_CATEGORY_H_INCLUDED -#define ERROR_CATEGORY_H_INCLUDED - -//#define MEMORY_ERROR 0 -//#define SEGMENTATION_FAULT 2 -#define EXCEPTION 2 -#define NODE_IS_DEAD 3 -#define LOW_SUBSCRIBE_RATE 4 -#define LOW_PUBLISH_RATE 5 -#define LOW_OPERATION_CYCLE 6 -#define RESOURCE_NOT_FOUND 7 -#define INVALID_INITIAL_VALUE 8 -#define INVALID_VALUE 9 -#define LOW_RELIABILITY 12 -#define DEVICE_CONNECTION_LOST 13 - -#endif //ERROR_CATEGORY_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/rate_checker.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/rate_checker.h deleted file mode 100644 index fb65459a07d..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/rate_checker.h +++ /dev/null @@ -1,28 +0,0 @@ -#ifndef RATE_CHECKER_H_INCLUDED -#define RATE_CHECKER_H_INCLUDED - -//headers in ROS -#include - -//headers in STL -#include -#include - -//headers in Boost -#include - -class rate_checker -{ - public: - rate_checker(double buffer_length); - ~rate_checker(); - void check(); - boost::optional get_rate(); - private: - ros::Time start_time_; - void update_(); - std::vector data_; - const double buffer_length_; - std::mutex mtx_; -}; -#endif //RATE_CHECKER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/watchdog.h b/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/watchdog.h deleted file mode 100644 index a2f50e9388e..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/include/diag_lib/watchdog.h +++ /dev/null @@ -1,50 +0,0 @@ -#ifndef WATCHDOG_H_INCLUDED -#define WATCHDOG_H_INCLUDED - -//headers in diag_lib -#include -#include -#include - -//headers in diag_msgs -#include -#include -#include - -//headers in STL -#include -#include - -//headers in YAML-CPP -#include - -//headers in Boost -#include -#include -#include -#include - -class watchdog -{ -public: - watchdog(); - ~watchdog(); - void run(); -private: - ros::NodeHandle nh_; - // parameters - std::string config_filepath_; - double publish_rate_; - // diagnostic manager - diag_manager diag_; - std::map > > watchdog_diag_info_; - std::vector diag_target_nodes_; - std::vector watchdog_target_nodes_; - std::map connection_status_; - std::map > diag_sub_; - ros::Publisher diag_pub_; - void update_connection_status_(); - void publish_diag_(); - void write_error_code_csv_(YAML::Node config); -}; -#endif //WATCHDOG_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/launch/watchdog_sample.launch b/ros/src/common/libs/diagnostics_lib/diag_lib/launch/watchdog_sample.launch deleted file mode 100644 index c0f0d0d941b..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/launch/watchdog_sample.launch +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/package.xml b/ros/src/common/libs/diagnostics_lib/diag_lib/package.xml deleted file mode 100644 index 7f12f177f7a..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - diag_lib - 1.10.0 - The diag_lib package - - Masaya Kataoka - - Apache 2 - - Masaya Kataoka - - catkin - autoware_build_flags - diag_msgs - roscpp - yaml-cpp - diag_msgs - roscpp - diag_msgs - roscpp - - - - diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_filter.cpp b/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_filter.cpp deleted file mode 100644 index e26efc02685..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_filter.cpp +++ /dev/null @@ -1,66 +0,0 @@ -// headers in diag_lib -#include - -// headers in YAML-CPP -#include - -//headers in boost -#include - -diag_filter::diag_filter() -{ - nh_.param("/error_code_config_path", error_code_config_path_, std::string("")); - if(check_resource_(error_code_config_path_)) - { - enable_ = true; - } - else - { - enable_ = false; - return; - } - YAML::Node config = YAML::LoadFile(error_code_config_path_.c_str()); - try - { - for(YAML::const_iterator it=config.begin();it != config.end();++it) - { - YAML::Node single_node_data = config[it->first.as()]; - node_number_data_[it->first.as()] = single_node_data["node_number"].as(); - } - } - catch(...) - { - ROS_ERROR_STREAM("Failed to parse error code yaml file."); - } -} - -diag_filter::~diag_filter() -{ - -} - -bool diag_filter::check_resource_(std::string target_resource_path) -{ - namespace fs = boost::filesystem; - fs::path path(target_resource_path); - boost::system::error_code error; - const bool result = fs::exists(path, error); - if (!result || error) - return false; - return true; -} - -boost::optional diag_filter::filter(diag_msgs::diag diag, std::string target_node) -{ - return filter(diag,node_number_data_[target_node]); -} - -boost::optional diag_filter::filter(diag_msgs::diag diag, int target_node_number) -{ - for(int i=0; i - -diag_manager::diag_manager() -{ - enable_diag_ = false; - nh_.param("/error_code_config_path", error_code_config_path_, std::string("")); - if(!diag_resource(error_code_config_path_)) - { - return; - } - YAML::Node config = YAML::LoadFile(error_code_config_path_.c_str()); - error_code_config_ = config[ros::this_node::getName()]; - try - { - for(const YAML::Node &error : error_code_config_["errors"]) - { - diag_info info(error["num"].as(), error["name"].as(), error["category"].as(), error["description"].as()); - if((info.category == LOW_SUBSCRIBE_RATE) || (info.category == LOW_PUBLISH_RATE) || (info.category == LOW_OPERATION_CYCLE)) - { - if(error["level"].as() == "warn") - { - diag_info detail_info(error["num"].as(), error["name"].as(), error["category"].as(), error["description"].as() ,error["threshold"].as(), LEVEL_WARN); - boost::shared_ptr rate_checker_ptr = boost::make_shared(RATE_CHECKER_BUFFER_LENGTH); - checkers_[info.num] = rate_checker_ptr; - diag_info_.push_back(detail_info); - } - if(error["level"].as() == "error") - { - diag_info detail_info(error["num"].as(), error["name"].as(), error["category"].as(), error["description"].as() ,error["threshold"].as(), LEVEL_ERROR); - boost::shared_ptr rate_checker_ptr = boost::make_shared(RATE_CHECKER_BUFFER_LENGTH); - checkers_[info.num] = rate_checker_ptr; - diag_info_.push_back(detail_info); - } - continue; - } - diag_info_.push_back(info); - } - } - catch(...) - { -#ifdef STRICT_ERROR_CODE_CHECK - ROS_ERROR_STREAM("diag config file format was wrong. kill " + ros::this_node::getName() + ". Please check " << error_code_config_path_); - WRITE_LOG(); - std::exit(-1); -#else - ROS_WARN_STREAM("diag config file format was wrong in " + ros::this_node::getName() + ". Please check " << error_code_config_path_); -#endif - } - diag_pub_ = nh_.advertise(ros::this_node::getName() + "/diag", 10); - boost::thread rate_check_thread(boost::bind(&diag_manager::check_rate_, this));; - enable_diag_ = true; -} - -diag_manager::~diag_manager() -{ - -} - -void diag_manager::check_rate_() -{ - ros::Rate rate(RATE_CHECK_FREQUENCY); - while(ros::ok()) - { - for (auto const& checker : checkers_) - { - boost::optional rate = checker.second->get_rate(); - boost::optional info = query_diag_info(checker.first); - if(rate && info && info.get().threshold) - { - if(*rate required_error_code = {LOW_RELIABILITY}; - if(check_error_code(num, required_error_code)) - { - boost::optional info = query_diag_info(num); - ADD_DIAG_LOG_WARN(info.get().description); - publish_diag_(query_diag_info(info.get().num).get()); - } - return; -} - -void diag_manager::DIAG_RATE_CHECK(int num) -{ - if(enable_diag_ == false) - return; - std::vector required_error_code = {LOW_SUBSCRIBE_RATE, LOW_PUBLISH_RATE, LOW_OPERATION_CYCLE}; - if(check_error_code(num, required_error_code)) - { - try - { - checkers_.at(num)->check(); - } - catch(std::out_of_range&) - { -#ifdef STRICT_ERROR_CODE_CHECK - ROS_ERROR_STREAM("rate checker object cannot found. Please check " << error_code_config_path_); - WRITE_LOG(); - std::exit(-1); -#else - ROS_WARN_STREAM("rate checker object cannot found. Please check " << error_code_config_path_); -#endif - } - } - return; -} - -boost::optional diag_manager::query_diag_info(int num) -{ - for(auto diag_info_itr = diag_info_.begin(); diag_info_itr != diag_info_.end(); diag_info_itr++) - { - if(diag_info_itr->num == num) - { - if(diag_info_itr->threshold && diag_info_itr->level) - { - diag_info ret(diag_info_itr->num, diag_info_itr->name, diag_info_itr->category, diag_info_itr->description, diag_info_itr->threshold.get(), diag_info_itr->level.get()); - return ret; - } - else - { - diag_info ret(diag_info_itr->num, diag_info_itr->name, diag_info_itr->category, diag_info_itr->description); - return ret; - } - } - } - return boost::none; -} - -void diag_manager::WRITE_LOG() -{ - namespace fs = boost::filesystem; - const fs::path path("/tmp/Autoware/Diag/Log/" + ros::this_node::getName()); - boost::system::error_code error; - const bool result = fs::create_directories(path, error); - std::vector::iterator it = diag_log_.begin(); - std::string write_string = ""; - while( it != diag_log_.end() ) { - write_string = write_string + *it + "\n"; - ++it; - } - std::ofstream outputfile(std::string("/tmp/Autoware/Diag/Log/" + ros::this_node::getName() + "/log.txt").c_str()); - outputfile << write_string; - outputfile.close(); - return; -} - -void diag_manager::ADD_DIAG_LOG_ERROR(std::string log_text) -{ - log_text = "in " + ros::this_node::getName() + ": " + log_text; - boost::posix_time::ptime my_posix_time = ros::Time::now().toBoost(); - std::string iso_time_str = boost::posix_time::to_iso_extended_string(my_posix_time); - std::string text = "[" + iso_time_str + "] : " + log_text; - ROS_ERROR_STREAM(log_text); - diag_log_.push_back(text); - return; -} - -void diag_manager::ADD_DIAG_LOG_WARN(std::string log_text) -{ - log_text = "in " + ros::this_node::getName() + ": " + log_text; - boost::posix_time::ptime my_posix_time = ros::Time::now().toBoost(); - std::string iso_time_str = boost::posix_time::to_iso_extended_string(my_posix_time); - std::string text = "[" + iso_time_str + "] : " + log_text; - ROS_WARN_STREAM(log_text); - diag_log_.push_back(text); - return; -} - -void diag_manager::DIAG_RESOURCE(std::string target_resource_path, int num) -{ - if(enable_diag_ == false) - return; - std::vector required_error_code = {RESOURCE_NOT_FOUND}; - if(check_error_code(num, required_error_code)) - { - if(query_diag_info(num)) - { - namespace fs = boost::filesystem; - fs::path path(target_resource_path); - boost::system::error_code error; - const bool result = fs::exists(path, error); - if (!result || error) - { - //ROS_ERROR_STREAM("required resource " << path << " does not found."); - ADD_DIAG_LOG_ERROR("required resource " + target_resource_path + " does not found."); - publish_diag_(query_diag_info(num).get()); - ROS_ERROR_STREAM("shutdonw " << ros::this_node::getName()); - WRITE_LOG(); - std::exit(-1); - } - return; - } - else - { - ADD_DIAG_LOG_WARN(query_diag_info(num)->description); - publish_diag_(query_diag_info(num).get()); - return; - } - } -} - -bool diag_manager::diag_resource(std::string target_resource_path) -{ - namespace fs = boost::filesystem; - fs::path path(target_resource_path); - boost::system::error_code error; - const bool result = fs::exists(path, error); - if (!result || error) - { - ADD_DIAG_LOG_ERROR("required resource " + target_resource_path + " does not found."); - ADD_DIAG_LOG_ERROR("disable diag module in " + ros::this_node::getName()); - return false; - } - return true; -} - -bool diag_manager::check_error_code(int requested_error_number, std::vector right_categories) -{ - if(query_diag_info(requested_error_number)) - { - for(auto category_itr = right_categories.begin(); category_itr != right_categories.end(); category_itr++) - { - if(*category_itr == query_diag_info(requested_error_number)->category) - { - return true; - } - } -#ifdef STRICT_ERROR_CODE_CHECK - ROS_ERROR_STREAM("error category : " << query_diag_info(requested_error_number)->category << " in " << ros::this_node::getName() << " does not match. Please check " << error_code_config_path_); - WRITE_LOG(); - std::exit(-1); -#else - ROS_WARN_STREAM("error category : " << query_diag_info(requested_error_number)->category << " in " << ros::this_node::getName() << " does not match. Please check " << error_code_config_path_); -#endif - return false; - } - else - { - ROS_WARN_STREAM("error number : " << requested_error_number << " in " << ros::this_node::getName() << " does not exist. Check " << error_code_config_path_); - return false; - } -} - -void diag_manager::publish_diag_(diag_info info) -{ - diag_msgs::diag_error msg; - msg.num = info.num; - msg.name = info.name; - msg.category = info.category; - msg.description = info.description; - diag_pub_.publish(msg); - return; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_subscriber.cpp b/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_subscriber.cpp deleted file mode 100644 index 01e68ae551a..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/src/diag_subscriber.cpp +++ /dev/null @@ -1,32 +0,0 @@ -#include - -diag_subscriber::diag_subscriber(std::string target_node,int target_node_number) : target_node_(target_node), target_node_number_(target_node_number) -{ - diag_sub_ = nh_.subscribe(target_node+"/diag", 1, &diag_subscriber::callback_, this); -} - -diag_subscriber::~diag_subscriber() -{ - -} - -void diag_subscriber::callback_(diag_msgs::diag_error msg) -{ - mtx_.lock(); - buffer_.push_back(msg); - //ROS_ERROR_STREAM(msg); - mtx_.unlock(); - return; -} - -diag_msgs::diag_node_errors diag_subscriber::get_diag_node_errors() -{ - diag_msgs::diag_node_errors ret; - mtx_.lock(); - std::copy(buffer_.begin(), buffer_.end(), back_inserter(ret.errors)); - buffer_.clear(); - mtx_.unlock(); - ret.header.stamp = ros::Time::now(); - ret.node_number = target_node_number_; - return ret; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/src/rate_checker.cpp b/ros/src/common/libs/diagnostics_lib/diag_lib/src/rate_checker.cpp deleted file mode 100644 index 55025fd0896..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/src/rate_checker.cpp +++ /dev/null @@ -1,49 +0,0 @@ -#include - -rate_checker::rate_checker(double buffer_length) : buffer_length_(buffer_length) -{ - start_time_ = ros::Time::now(); -} - -rate_checker::~rate_checker() -{ - -} - -void rate_checker::check() -{ - update_(); - mtx_.lock(); - data_.push_back(ros::Time::now()); - mtx_.unlock(); -} - -void rate_checker::update_() -{ - std::vector buffer; - for(auto data_itr = data_.begin(); data_itr != data_.end(); data_itr++) - { - if(*data_itr > ros::Time::now()-ros::Duration(buffer_length_)) - { - buffer.push_back(*data_itr); - } - } - mtx_.lock(); - data_ = buffer; - mtx_.unlock(); - return; -} - -boost::optional rate_checker::get_rate() -{ - boost::optional rate; - if(ros::Time::now() - start_time_ < ros::Duration(buffer_length_)) - { - return boost::none; - } - update_(); - mtx_.lock(); - rate = data_.size()/buffer_length_; - mtx_.unlock(); - return rate; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog.cpp b/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog.cpp deleted file mode 100644 index 9f59279d432..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog.cpp +++ /dev/null @@ -1,144 +0,0 @@ -//headers in diag_lib -#include - -//headers in ROS -#include - -watchdog::watchdog() -{ - nh_.param("/error_code_config_path", config_filepath_, ""); - nh_.param(ros::this_node::getName() + "/publish_rate", publish_rate_, 10); - diag_.DIAG_RESOURCE(config_filepath_, 0); - YAML::Node config = YAML::LoadFile(config_filepath_.c_str()); - for(YAML::const_iterator it=config.begin();it != config.end();++it) - { - if(it->first.as() != ros::this_node::getName()) - { - std::string itr_node_name = it->first.as(); - diag_target_nodes_.push_back(itr_node_name); - YAML::Node target_node = config[itr_node_name]; - diag_sub_[itr_node_name] = boost::make_shared(itr_node_name, target_node["node_number"].as()); - boost::shared_ptr > target_node_watchdog_diag_info = boost::make_shared >(); - for(const YAML::Node &error : target_node["errors"]) - { - if(error["category"].as() == NODE_IS_DEAD) - { - diag_info info(error["num"].as(), error["name"].as(), error["category"].as(), error["description"].as()); - target_node_watchdog_diag_info->push_back(info); - } - } - if(target_node_watchdog_diag_info->size() != 0) - { - watchdog_diag_info_[itr_node_name] = target_node_watchdog_diag_info; - watchdog_target_nodes_.push_back(itr_node_name); - } - } - } - write_error_code_csv_(config); - diag_pub_ = nh_.advertise(ros::this_node::getName()+"/diag/all", 1); -} - -watchdog::~watchdog() -{ - -} - -void watchdog::write_error_code_csv_(YAML::Node config) -{ - namespace fs = boost::filesystem; - const fs::path path("/tmp/Autoware/Diag/"); - boost::system::error_code error; - const bool result = fs::create_directories(path, error); - std::string write_string = "node_name,node_number,num,name,category,description,threshold,level\n"; - for(YAML::const_iterator it=config.begin();it != config.end();++it) - { - std::string node_name = it->first.as(); - YAML::Node target_node = config[node_name]; - int node_number = target_node["node_number"].as(); - for(const YAML::Node &error : target_node["errors"]) - { - std::string line = ""; - int num = error["num"].as(); - std::string name = error["name"].as(); - int category = error["category"].as(); - std::string description = error["description"].as(); - if((category == LOW_SUBSCRIBE_RATE) || (category == LOW_PUBLISH_RATE) || (category == LOW_OPERATION_CYCLE)) - { - double threashold = error["threshold"].as(); - std::string level = error["level"].as(); - line = node_name + "," + std::to_string(node_number) + "," + std::to_string(num) + "," + name + "," + std::to_string(category) + "," + description + "," + std::to_string(threashold) + "," + level + "\n"; - } - else - { - line = node_name + "," + std::to_string(node_number) + "," + std::to_string(num) + "," + name + "," + std::to_string(category) + "," + description + ",,\n"; - } - write_string = write_string + line; - } - } - std::ofstream outputfile(std::string("/tmp/Autoware/Diag/error_list.csv").c_str()); - outputfile << write_string; - outputfile.close(); - return; -} - -void watchdog::publish_diag_() -{ - ros::Rate rate(publish_rate_); - while(ros::ok()) - { - update_connection_status_(); - diag_msgs::diag diag_msg; - for(auto itr = watchdog_target_nodes_.begin(); itr != watchdog_target_nodes_.end(); ++itr) - { - diag_msgs::diag_node_errors errors = diag_sub_[*itr]->get_diag_node_errors(); - if(connection_status_[*itr] == false) - { - std::vector target_node_watchdog_diag_info = *watchdog_diag_info_[*itr]; - for(int i=0; i detected_nodes; - ros::master::getNodes(detected_nodes); - for(auto itr = watchdog_target_nodes_.begin(); itr != watchdog_target_nodes_.end(); ++itr) - { - if(std::find(detected_nodes.begin(), detected_nodes.end(), *itr) != detected_nodes.end()) - { - connection_status_[*itr] = true; - } - else - { - connection_status_[*itr] = false; - } - } - return; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog_node.cpp b/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog_node.cpp deleted file mode 100644 index 1e13693d2d0..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_lib/src/watchdog_node.cpp +++ /dev/null @@ -1,10 +0,0 @@ -#include - -#include - -int main(int argc, char *argv[]) { - ros::init(argc, argv, "watchdog_node"); - watchdog wd; - wd.run(); - return 0; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/CHANGELOG.rst b/ros/src/common/libs/diagnostics_lib/diag_msgs/CHANGELOG.rst deleted file mode 100644 index 7a164831277..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/CHANGELOG.rst +++ /dev/null @@ -1,132 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package state -^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- -* add disable mode for diag_manager -* add diag_lib - add csv writer - remove unused comment - fix maintainer names - fix email address - fix dependency - fix buildtool_depend, remove unused lines from find_package -* Contributors: Masaya Kataoka - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.1 (2018-01-20) ------------------- -* update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.0 (2017-12-11) ------------------- -* Prepare release for 1.6.0 -* add new state for lanechange -* add new state for all stopline pause -* Checked coding by cppcheck and apply clang-format -* Add new state - - TrafficLight State (it will be planning to change "behavior" to - another category) - - Crawl(slow speed) -* Add to support multiple lane shift -* Fixed: - - callback - - laneshift - Added: - - publisher for laneid - - new lanechange flag - - new param for decisionMaker -* add to able to have multiple-state -* change way to state management -* cosme -* Fix not working changed callback -* delete build warning, and change stopline -* update state and remove detection state -* Fix a state changing bug -* add support to stopline -* fix segv -* add state changed callback -* minor fixes -* Add feature of to find stopline. and following minor fixes - - to change vectormap operation to vectormap lib. - - to change state operation -* Support to lanechange similar to state_machine(old) package -* :put_litter_in_its_place: -* Add support to switch on/off directional indicator -* remove unnecessary code from decisionmaker -* add support to waypoint velocity control by state -* update decisionmaker and related library - - add multiplelane path recognition - - renamed euc -* Add to support manually decision -* Contributors: Yamato ANDO, Yusuke FUJII - -1.5.1 (2017-09-25) ------------------- -* Release/1.5.1 (`#816 `_) - * fix a build error by gcc version - * fix build error for older indigo version - * update changelog for v1.5.1 - * 1.5.1 -* Contributors: Yusuke FUJII - -1.5.0 (2017-09-21) ------------------- -* Update changelog -* apply clang-format -* Add to support dynamical parameter for decision_maker -* Fix a build error for libstate -* Move the decision part of the state machine library to decision_Maker node. This is WIP. -* Fixed configuration of state -* apply clang-format -* organize package files and directories -* Add a decision_maker package - The decision_maker package determines the intention of what actions the - local planner and control node should take based on perception nodes, - global planner nodes, map data, sensor data. - This commit corresponds only to the following functions. - - Behavior state recognition - - Dynamic selection of local planner (It is necessary to change the topic name of local planner) -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag.msg b/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag.msg deleted file mode 100644 index 68349297069..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag.msg +++ /dev/null @@ -1,6 +0,0 @@ -#message for all diagnostics in the systems - -#header for timestamp -Header header -#list of errors in the target nodes -diag_node_errors[] nodes diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_error.msg b/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_error.msg deleted file mode 100644 index 080e76ed032..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_error.msg +++ /dev/null @@ -1,10 +0,0 @@ -#the message which describes a single error - -#name of the error -string name -#error number in the target node -int32 num -#error category -int32 category -#desctiption of the error -string description diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_node_errors.msg b/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_node_errors.msg deleted file mode 100644 index a981b9b6208..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/msg/diag_node_errors.msg +++ /dev/null @@ -1,8 +0,0 @@ -#the message which describes errors in a single node - -#header for timestamp -Header header -#number of the target node -int32 node_number -#list of error messages in the target node -diag_error[] errors diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/package.xml b/ros/src/common/libs/diagnostics_lib/diag_msgs/package.xml deleted file mode 100644 index c4f42825413..00000000000 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - diag_msgs - 1.10.0 - The libdiag package - - Masaya Kataoka - Apache 2 - Yusuke FUJII - Masaya Kataoka - catkin - autoware_build_flags - std_msgs - message_generation - message_runtime - std_msgs - message_generation - message_runtime - - - diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CHANGELOG.rst b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CHANGELOG.rst deleted file mode 100644 index 8d27620d8bd..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CHANGELOG.rst +++ /dev/null @@ -1,25 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package fake_autoware_nodes -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- -* add filter to the fake_autoware_node -* dd diag_filter to the fake_subscriber -* add diag_lib - add csv writer - remove unused comment - fix maintainer names - fix email address - fix dependency - fix buildtool_depend, remove unused lines from find_package -* Contributors: Masaya Kataoka - -* add diag_lib -* Contributors: Masaya Kataoka diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CMakeLists.txt b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CMakeLists.txt deleted file mode 100644 index 1c391d148dc..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/CMakeLists.txt +++ /dev/null @@ -1,42 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(fake_autoware_nodes) - -add_compile_options(-std=c++11) - -find_package(catkin REQUIRED COMPONENTS - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - diag_lib -) - -catkin_package( - INCLUDE_DIRS include - CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs diag_lib -) - -include_directories( - include - ${catkin_INCLUDE_DIRS} -) - -set(fake_publisher_node_src src/fake_publisher_node.cpp src/fake_publisher.cpp) -add_executable(fake_publisher_node ${fake_publisher_node_src}) -target_link_libraries(fake_publisher_node ${catkin_LIBRARIES}) -add_dependencies(fake_publisher_node diag_msgs_generate_messages_cpp) - -set(fake_subscriber_node_src src/fake_subscriber_node.cpp src/fake_subscriber.cpp) -add_executable(fake_subscriber_node ${fake_subscriber_node_src}) -target_link_libraries(fake_subscriber_node ${catkin_LIBRARIES}) -add_dependencies(fake_publisher_node diag_msgs_generate_messages_cpp) - -foreach(dir launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - -install(DIRECTORY include/${PROJECT_NAME} - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -) diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_publisher.h b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_publisher.h deleted file mode 100644 index 5a710c76a4c..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_publisher.h +++ /dev/null @@ -1,20 +0,0 @@ -#ifndef FAKE_PUBLISHER_H_INCLUDED -#define FAKE_PUBLISHER_H_INCLUDED - -//headers in diag_lib -#include - -class fake_publisher -{ - public: - fake_publisher(); - ~fake_publisher(); - void run(); - double divide(double a, double b); - private: - ros::NodeHandle nh_; - ros::Publisher fake_pub_; - diag_manager diag_manager_; -}; - -#endif //FAKE_PUBLISHER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_subscriber.h b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_subscriber.h deleted file mode 100644 index 278bcb28702..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/include/fake_autoware_nodes/fake_subscriber.h +++ /dev/null @@ -1,33 +0,0 @@ -#ifndef FAKE_SUBSCRIBER_H_INCLUDED -#define FAKE_SUBSCRIBER_H_INCLUDED - -//headers in diag_lib -#include -#include - -//headers in diag_msg -#include -#include - -//headers in std_msgs -#include - -//headers in ROS -#include - -class fake_subscriber -{ - public: - fake_subscriber(); - ~fake_subscriber(); - private: - void diag_callback_(const diag_msgs::diagConstPtr msg); - void callback_(const std_msgs::Float64ConstPtr msg); - ros::NodeHandle nh_; - ros::Subscriber fake_sub_; - ros::Subscriber diag_sub_; - diag_manager diag_manager_; - diag_filter diag_filter_; -}; - -#endif //FAKE_SUBSCRIBER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/diag_sample.launch b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/diag_sample.launch deleted file mode 100644 index 5677fed2133..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/diag_sample.launch +++ /dev/null @@ -1,5 +0,0 @@ - - - - - \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/fake_autoware_nodes.launch b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/fake_autoware_nodes.launch deleted file mode 100644 index 3db9981d35d..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/launch/fake_autoware_nodes.launch +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/package.xml b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/package.xml deleted file mode 100644 index d9e8739d59d..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/package.xml +++ /dev/null @@ -1,35 +0,0 @@ - - fake_autoware_nodes - 1.10.0 - The fake_autoware_nodes package - - Masaya Kataoka - - Apache 2 - - Masaya Kataoka - - catkin - autoware_build_flags - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - diag_lib - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - diag_lib - geometry_msgs - roscpp - rospy - sensor_msgs - std_msgs - diag_lib - - - - diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher.cpp b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher.cpp deleted file mode 100644 index e148e9c9275..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher.cpp +++ /dev/null @@ -1,52 +0,0 @@ -#include - -#include - -fake_publisher::fake_publisher() -{ - fake_pub_ = nh_.advertise(ros::this_node::getName()+"/data", 1); -} - -fake_publisher::~fake_publisher() -{ - -} - -void fake_publisher::run() -{ - ros::Rate rate(10); - std_msgs::Float64 msg; - msg.data = -50; - while(ros::ok()) - { - diag_manager_.DIAG_RATE_CHECK(3); - fake_pub_.publish(msg); - msg.data = msg.data + 1.0; - diag_manager_.DIAG_ASSERT_VALUE_RANGE(-20.0, 20.0, msg.data, 0); - if(msg.data == 50) - { - diag_manager_.DIAG_LOW_RELIABILITY(4); - msg.data = -50; - } - try - { - divide(1,msg.data); - } - catch(std::range_error& exception) - { - diag_manager_.DIAG_ASSERT_EXCEPTION(exception,1); - } - rate.sleep(); - } - diag_manager_.WRITE_LOG(); - return; -} - -double fake_publisher::divide(double a, double b) -{ - if (b == 0) - { - throw std::range_error("Divided by zero."); - } - return a / b; -} diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher_node.cpp b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher_node.cpp deleted file mode 100644 index abc3c37b5dd..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_publisher_node.cpp +++ /dev/null @@ -1,12 +0,0 @@ -//headers in ROS -#include - -//headers in fake_autoware_nodes -#include - -int main(int argc, char *argv[]) { - ros::init(argc, argv, "fake_publisher_node"); - fake_publisher fake_pub; - fake_pub.run(); - return 0; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber.cpp b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber.cpp deleted file mode 100644 index aa18acef14e..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber.cpp +++ /dev/null @@ -1,28 +0,0 @@ -#include - -fake_subscriber::fake_subscriber() -{ - diag_sub_ = nh_.subscribe("watchdog_node/diag/all", 1, &fake_subscriber::diag_callback_, this); - fake_sub_ = nh_.subscribe(ros::this_node::getName()+"/data", 1, &fake_subscriber::callback_, this); -} - -fake_subscriber::~fake_subscriber() -{ - -} - -void fake_subscriber::callback_(const std_msgs::Float64ConstPtr msg) -{ - diag_manager_.DIAG_ASSERT_VALUE_MIN(0.0, msg->data, 0); - return; -} - -void fake_subscriber::diag_callback_(const diag_msgs::diagConstPtr msg) -{ - boost::optional error = diag_filter_.filter(*msg, ros::this_node::getName()); - if(error) - { - ROS_ERROR_STREAM(error.get()); - } - return; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber_node.cpp b/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber_node.cpp deleted file mode 100644 index 244582ace61..00000000000 --- a/ros/src/common/libs/diagnostics_lib/fake_autoware_nodes/src/fake_subscriber_node.cpp +++ /dev/null @@ -1,14 +0,0 @@ -#include - -//headers in diag_lib -#include - -//headers in fake_autoware_nodes -#include - -int main(int argc, char *argv[]) { - ros::init(argc, argv, "fake_subscriber_node"); - fake_subscriber fake_sub; - ros::spin(); - return 0; -} \ No newline at end of file diff --git a/ros/src/common/libs/diagnostics_lib/rosgraph.png b/ros/src/common/libs/diagnostics_lib/rosgraph.png deleted file mode 100644 index ee8d53b9f86..00000000000 Binary files a/ros/src/common/libs/diagnostics_lib/rosgraph.png and /dev/null differ diff --git a/ros/src/common/libvectormap/FindEigen.cmake b/ros/src/common/libvectormap/FindEigen.cmake deleted file mode 100644 index b632fb78416..00000000000 --- a/ros/src/common/libvectormap/FindEigen.cmake +++ /dev/null @@ -1,87 +0,0 @@ -# - Try to find Eigen3 lib -# -# This module supports requiring a minimum version, e.g. you can do -# find_package(Eigen3 3.1.2) -# to require version 3.1.2 or newer of Eigen3. -# -# Once done this will define -# -# EIGEN3_FOUND - system has eigen lib with correct version -# EIGEN3_INCLUDE_DIR - the eigen include directory -# EIGEN3_VERSION - eigen version - -# Copyright (c) 2006, 2007 Montel Laurent, -# Copyright (c) 2008, 2009 Gael Guennebaud, -# Copyright (c) 2009 Benoit Jacob -# Redistribution and use is allowed according to the terms of the 2-clause BSD license. - -if(NOT Eigen3_FIND_VERSION) - if(NOT Eigen3_FIND_VERSION_MAJOR) - set(Eigen3_FIND_VERSION_MAJOR 2) - endif(NOT Eigen3_FIND_VERSION_MAJOR) - if(NOT Eigen3_FIND_VERSION_MINOR) - set(Eigen3_FIND_VERSION_MINOR 91) - endif(NOT Eigen3_FIND_VERSION_MINOR) - if(NOT Eigen3_FIND_VERSION_PATCH) - set(Eigen3_FIND_VERSION_PATCH 0) - endif(NOT Eigen3_FIND_VERSION_PATCH) - - set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}") -endif(NOT Eigen3_FIND_VERSION) - -macro(_eigen3_check_version) - file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header) - - string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}") - set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}") - set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}") - string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}") - set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}") - - set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION}) - if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK FALSE) - else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - set(EIGEN3_VERSION_OK TRUE) - endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION}) - - if(NOT EIGEN3_VERSION_OK) - - message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, " - "but at least version ${Eigen3_FIND_VERSION} is required") - endif(NOT EIGEN3_VERSION_OK) -endmacro(_eigen3_check_version) - -if (EIGEN3_INCLUDE_DIR) - - # in cache already - _eigen3_check_version() - set(EIGEN3_FOUND ${EIGEN3_VERSION_OK}) - -else (EIGEN3_INCLUDE_DIR) - - # specific additional paths for some OS - if (WIN32) - set(EIGEN_ADDITIONAL_SEARCH_PATHS ${EIGEN_ADDITIONAL_SEARCH_PATHS} "C:/Program Files/Eigen/include" "C:/Program Files (x86)/Eigen/include") - endif(WIN32) - - find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library - PATHS - include - ${EIGEN_ADDITIONAL_SEARCH_PATHS} - ${KDE4_INCLUDE_DIR} - PATH_SUFFIXES eigen3 eigen - ) - - if(EIGEN3_INCLUDE_DIR) - _eigen3_check_version() - endif(EIGEN3_INCLUDE_DIR) - - include(FindPackageHandleStandardArgs) - find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK) - - mark_as_advanced(EIGEN3_INCLUDE_DIR) - -endif(EIGEN3_INCLUDE_DIR) - diff --git a/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt index c4faf49b5a6..b7e5ffda116 100644 --- a/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/fusion_tools/packages/pixel_cloud_fusion/CMakeLists.txt @@ -88,11 +88,14 @@ target_include_directories(pixel_cloud_fusion PRIVATE target_link_libraries(pixel_cloud_fusion pixel_cloud_fusion_lib) -install(TARGETS pixel_cloud_fusion +install(TARGETS pixel_cloud_fusion pixel_cloud_fusion_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt b/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt index 68ae406892d..00aad8e2e63 100644 --- a/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt +++ b/ros/src/computing/perception/detection/fusion_tools/packages/range_vision_fusion/CMakeLists.txt @@ -110,11 +110,14 @@ target_include_directories(range_vision_fusion PRIVATE target_link_libraries(range_vision_fusion range_vision_fusion_lib) -install(TARGETS range_vision_fusion +install(TARGETS range_vision_fusion range_vision_fusion_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt new file mode 100755 index 00000000000..91250f35ee0 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 2.8.3) +project(lidar_apollo_cnn_seg_detect) + +find_package(catkin REQUIRED COMPONENTS + autoware_build_flags + roscpp + tf + tf_conversions + pcl_ros + sensor_msgs + geometry_msgs + autoware_msgs + ) + +find_package(CUDA) +find_package(OpenCV REQUIRED) + +catkin_package( + INCLUDE_DIRS + include + CATKIN_DEPENDS + roscpp + tf + tf_conversions + pcl_ros + sensor_msgs + geometry_msgs + autoware_msgs +) + +IF (CUDA_FOUND) + include_directories(${CUDA_INCLUDE_DIRS}) + + IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "^arm") + link_directories(/usr/lib/arm-linux-gnueabihf/tegra) + endif () +ENDIF () +###CAFFE +set(CAFFE_PATH "$ENV{HOME}/caffe/distribute") + +if (EXISTS "${CAFFE_PATH}") + + include_directories( + include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${CAFFE_PATH}/include + ) + + add_executable(lidar_apollo_cnn_seg_detect + nodes/lidar_apollo_cnn_seg_detect_node.cpp + nodes/cnn_segmentation.cpp + nodes/cluster2d.cpp + nodes/feature_generator.cpp + ) + target_link_libraries(lidar_apollo_cnn_seg_detect + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${CAFFE_PATH}/lib/libcaffe.so + glog + ) + add_dependencies(lidar_apollo_cnn_seg_detect + ${catkin_EXPORTED_TARGETS} + ) + + install(TARGETS + lidar_apollo_cnn_seg_detect + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + ) + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) +else () + message("'Caffe' is not installed. 'lidar_apollo_cnn_seg_detect' will not be built.") +endif () \ No newline at end of file diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/README.md b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/README.md new file mode 100644 index 00000000000..d2a945c0638 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/README.md @@ -0,0 +1,64 @@ +# CNN LiDAR Baidu Object Segmenter + +Autoware package based on Baidu's object segmenter. + +## Pre requisites + +Caffe distributable installed in your home (`~/caffe/distribute`). + +``` +$ cd +$ git clone https://github.com/BVLC/caffe +$ cd caffe +``` +Follow instructions from [Installing Caffe from source](http://caffe.berkeleyvision.org/installation.html). + +* **Use offical Make compilation procedure**. +* Do not use thirdparty CMake setup. + +Compile and create distributable: +``` +$ make +$ make distribute +``` + +**Recompile Autoware to build the node.** + +## How to launch + +* From a sourced terminal: + +Using rosrun: +`rosrun lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect _network_definition_file:=/PATH/TO/FILE.prototxt _pretrained_model_file:=/PATH/TO/WEIGHTS.caffemodel _points_src:=/points_raw` + +Using launch file: +`roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch network_definition_file:=/PATH/TO/FILE.prototxt pretrained_model_file:=/PATH/TO/WEIGHTS.caffemodel points_src:=/points_raw` + +* From Runtime Manager: + +Computing Tab -> Detection/ lidar_detector -> `lidar_cnn_baidu_detect`. Configure parameters using the `[app]` button. + +## Parameters + +|Parameter| Type| Description|Default| +----------|-----|--------|----| +|`network_definition_file`|*String*|Path to the network definition file (prototxt)|| +|`pretrained_model_file`|*String* |Path to the Pretrained model (weights)|| +|`points_src`|*String*|Input topic Pointcloud. Default.|`/points_raw`| +|`score_threshold`|*Double*|Minimum score required as given by the network to include the result (0.-1.)|0.6| +|`use_gpu`|*Bool*|Whether ot not to use a GPU device|`true`| +|`gpu_device_id`|*Int*|GPU ID|`0`| + +## Outputs + +|Topic|Type|Description| +|---|---|---| +|`/detection/lidar_detector/points_cluster`|`sensor_msgs/PointCloud2`|Colored PointCloud of the resulting detected objects| +|`/detection/lidar_detector/objects`|`autoware_msgs/DetectedObjetArray`|Array of Detected Objects in Autoware format| + +## Notes + +* To display the results in Rviz `objects_visualizer` is required. +(Launch file launches automatically this node). + +* Pre trained models can be downloaded from the Apollo project repository. \ No newline at end of file diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cluster2d.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cluster2d.h new file mode 100755 index 00000000000..2e90ff019e4 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cluster2d.h @@ -0,0 +1,203 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#ifndef CLUSTER2D_H +#define CLUSTER2D_H + +#include +#include +#include + +#include "caffe/caffe.hpp" + +#include "util.h" +#include "disjoint_set.h" + +#include +#include + +#include + +#include "opencv2/core/core.hpp" +#include "opencv2/imgproc/imgproc.hpp" + +enum ObjectType +{ + UNKNOWN = 0, + UNKNOWN_MOVABLE = 1, + UNKNOWN_UNMOVABLE = 2, + PEDESTRIAN = 3, + BICYCLE = 4, + VEHICLE = 5, + MAX_OBJECT_TYPE = 6, +}; + +enum MetaType +{ + META_UNKNOWN, + META_SMALLMOT, + META_BIGMOT, + META_NONMOT, + META_PEDESTRIAN, + MAX_META_TYPE +}; + + +struct Obstacle +{ + std::vector grids; + pcl::PointCloud::Ptr cloud_ptr; + float score; + float height; + MetaType meta_type; + std::vector meta_type_probs; + + Obstacle() : score(0.0), height(-5.0), meta_type(META_UNKNOWN) + { + cloud_ptr.reset(new pcl::PointCloud); + meta_type_probs.assign(MAX_META_TYPE, 0.0); + } + + std::string GetTypeString() const + { + switch (meta_type) + { + case META_UNKNOWN: + return "unknown"; + case META_SMALLMOT: + return "car"; + case META_BIGMOT: + return "car"; + case META_NONMOT: + return "bike"; + case META_PEDESTRIAN: + return "pedestrian"; + default: + return "unknown"; + } + } +}; + +class Cluster2D +{ +public: + Cluster2D() = default; + + ~Cluster2D() = default; + + bool init(int rows, int cols, float range); + + void cluster(const caffe::Blob &category_pt_blob, + const caffe::Blob &instance_pt_blob, + const pcl::PointCloud::Ptr &pc_ptr, + const pcl::PointIndices &valid_indices, + float objectness_thresh, bool use_all_grids_for_clustering); + + void filter(const caffe::Blob &confidence_pt_blob, + const caffe::Blob &height_pt_blob); + + void classify(const caffe::Blob &classify_pt_blob); + + void getObjects(const float confidence_thresh, + const float height_thresh, + const int min_pts_num, + autoware_msgs::DetectedObjectArray &objects, + const std_msgs::Header &in_header); + + autoware_msgs::DetectedObject obstacleToObject(const Obstacle &in_obstacle, + const std_msgs::Header &in_header); + +private: + int rows_; + int cols_; + int grids_; + float range_; + float scale_; + float inv_res_x_; + float inv_res_y_; + std::vector point2grid_; + std::vector obstacles_; + std::vector id_img_; + + pcl::PointCloud::Ptr pc_ptr_; + const std::vector *valid_indices_in_pc_ = nullptr; + + struct Node + { + Node *center_node; + Node *parent; + char node_rank; + char traversed; + bool is_center; + bool is_object; + int point_num; + int obstacle_id; + + Node() + { + center_node = nullptr; + parent = nullptr; + node_rank = 0; + traversed = 0; + is_center = false; + is_object = false; + point_num = 0; + obstacle_id = -1; + } + }; + + inline bool IsValidRowCol(int row, int col) const + { + return IsValidRow(row) && IsValidCol(col); + } + + inline bool IsValidRow(int row) const + { + return row >= 0 && row < rows_; + } + + inline bool IsValidCol(int col) const + { + return col >= 0 && col < cols_; + } + + inline int RowCol2Grid(int row, int col) const + { + return row * cols_ + col; + } + + void traverse(Node *x); + + ObjectType getObjectType(const MetaType meta_type_id); +}; + +#endif //CLUSTER_2D_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cnn_segmentation.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cnn_segmentation.h new file mode 100755 index 00000000000..e1eec1458f2 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/cnn_segmentation.h @@ -0,0 +1,112 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef CNN_SEGMENTATION_H +#define CNN_SEGMENTATION_H + +#include + +#include + +#include "caffe/caffe.hpp" + +#include +#include + +#include +#include +#include + +#include + +#include "cluster2d.h" +#include "feature_generator.h" + +#define __APP_NAME__ "lidar_apollo_cnn_seg_detect" + +struct CellStat +{ + CellStat() : point_num(0), valid_point_num(0) + { + } + + int point_num; + int valid_point_num; +}; + +class CNNSegmentation +{ +public: + CNNSegmentation(); + + void run(); + + void test_run(); + +private: + + double range_, score_threshold_; + int width_; + int height_; + std_msgs::Header message_header_; + std::string topic_src_; + + int gpu_device_id_; + bool use_gpu_; + + // nodehandle + ros::NodeHandle nh_; + + // publisher + ros::Publisher points_pub_;; + ros::Publisher objects_pub_; + + // subscriber + ros::Subscriber points_sub_; + + std::shared_ptr> caffe_net_; + + // center offset prediction + boost::shared_ptr> instance_pt_blob_; + // objectness prediction + boost::shared_ptr> category_pt_blob_; + // fg probability prediction + boost::shared_ptr> confidence_pt_blob_; + // object height prediction + boost::shared_ptr> height_pt_blob_; + // raw features to be input into network + boost::shared_ptr> feature_blob_; + // class prediction + boost::shared_ptr> class_pt_blob_; + + // clustering model for post-processing + std::shared_ptr cluster2d_; + + // bird-view raw feature generator + std::shared_ptr feature_generator_; + + bool init(); + + bool segment(const pcl::PointCloud::Ptr &pc_ptr, + const pcl::PointIndices &valid_idx, + autoware_msgs::DetectedObjectArray &objects); + + void pointsCallback(const sensor_msgs::PointCloud2 &msg); + + void pubColoredPoints(const autoware_msgs::DetectedObjectArray &objects); + +}; + +#endif //CNN_SEGMENTATION_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/disjoint_set.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/disjoint_set.h new file mode 100644 index 00000000000..d9015031818 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/disjoint_set.h @@ -0,0 +1,75 @@ +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PERCEPTION_OBSTACLE_COMMON_DISJOINT_SET_H_ +#define MODULES_PERCEPTION_OBSTACLE_COMMON_DISJOINT_SET_H_ + +// namespace apollo { +// namespace perception { + +template +void DisjointSetMakeSet(T *x) { + x->parent = x; + x->node_rank = 0; +} + +template +T *DisjointSetFindRecursive(T *x) { + if (x->parent != x) { + x->parent = DisjointSetFindRecursive(x->parent); + } + return x->parent; +} + +template +T *DisjointSetFind(T *x) { + T *y = x->parent; + if (y == x || y->parent == y) { + return y; + } + T *root = DisjointSetFindRecursive(y->parent); + x->parent = root; + y->parent = root; + return root; +} + +template +void DisjointSetMerge(T *x, const T *y) {} + +template +void DisjointSetUnion(T *x, T *y) { + x = DisjointSetFind(x); + y = DisjointSetFind(y); + if (x == y) { + return; + } + if (x->node_rank < y->node_rank) { + x->parent = y; + DisjointSetMerge(y, x); + } else if (y->node_rank < x->node_rank) { + y->parent = x; + DisjointSetMerge(x, y); + } else { + y->parent = x; + x->node_rank++; + DisjointSetMerge(x, y); + } +} + +// } // namespace perception +// } // namespace apollo + +#endif // MODULES_PERCEPTION_OBSTACLE_COMMON_DISJOINT_SET_H_ diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/feature_generator.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/feature_generator.h new file mode 100755 index 00000000000..74e73ac451a --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/feature_generator.h @@ -0,0 +1,67 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef FEATURE_GENERATOR_H +#define FEATURE_GENERATOR_H + +#include "caffe/caffe.hpp" + +#include +#include + +#include "util.h" + + + +class FeatureGenerator +{ +public: + FeatureGenerator(){} + ~FeatureGenerator(){} + + bool init(caffe::Blob* out_blob); + void generate( + const pcl::PointCloud::Ptr& pc_ptr); +private: + int width_ = 0; + int height_ = 0; + int range_ = 0; + + float min_height_ = 0.0; + float max_height_ = 0.0; + + // raw feature data + float* max_height_data_ = nullptr; + float* mean_height_data_ = nullptr; + float* count_data_ = nullptr; + float* direction_data_ = nullptr; + float* top_intensity_data_ = nullptr; + float* mean_intensity_data_ = nullptr; + float* distance_data_ = nullptr; + float* nonempty_data_ = nullptr; + + // output Caffe blob + caffe::Blob* out_blob_ = nullptr; + + std::vector log_table_; + + // point index in feature map + std::vector map_idx_; + + float logCount(int count); + +}; + +#endif //FEATURE_GENERATOR_H diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/pcl_types.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/pcl_types.h new file mode 100755 index 00000000000..6da850e63d6 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/pcl_types.h @@ -0,0 +1,198 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PERCEPTION_COMMON_PCL_TYPES_H_ +#define MODULES_PERCEPTION_COMMON_PCL_TYPES_H_ + +#include "pcl/common/time.h" +#include "pcl/common/transforms.h" +#include "pcl/kdtree/kdtree_flann.h" +#include "pcl/point_cloud.h" +#include "pcl/point_types.h" +#include "pcl/search/impl/kdtree.hpp" + +namespace apollo { + +typedef pcl::PointIndices PointIndices; +typedef pcl::PointIndices::Ptr PointIndicesPtr; +typedef pcl::PointXY Point2d; +typedef pcl::PointCloud PointCloud2d; +typedef pcl::PointCloud::Ptr PointCloud2dPtr; +typedef pcl::PointCloud::ConstPtr PointCloud2dConstPtr; + +struct PointXYZIH; + +typedef PointXYZIH Point; +typedef pcl::PointCloud PointCloud; +typedef pcl::PointCloud::Ptr PointCloudPtr; +typedef pcl::PointCloud::ConstPtr PointCloudConstPtr; +typedef pcl::PointXYZRGB CPoint; +typedef pcl::PointCloud CPointCloud; +typedef pcl::PointCloud::Ptr CPointCloudPtr; +typedef pcl::PointCloud::ConstPtr CPointCloudConstPtr; +typedef pcl::KdTreeFLANN KdTree; + +struct BoundingCube { + float x; // center of box + float y; // center of box + float z; // center of box + float length; + float width; + float height; + float yaw; + + float trans_x; // center of points + float trans_y; // center of points + float trans_z; // center of points +}; + +// using double type to define x, y, z. +struct PointD { + double x; + double y; + double z; + uint8_t intensity; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +} EIGEN_ALIGN16; + +typedef ::pcl::PointCloud PointDCloud; +typedef ::pcl::PointCloud::Ptr PointDCloudPtr; +typedef ::pcl::PointCloud::ConstPtr PointDCloudConstPtr; + +struct PointXYZIH { + PCL_ADD_POINT4D; + float intensity; + float h; // height from ground + + PointXYZIH() { + x = 0.0f; + y = 0.0f; + z = 0.0f; + h = 0.0f; + intensity = 0.0f; + data[3] = 1.0f; + } + + explicit PointXYZIH(float intensity_) { + x = 0.0f; + y = 0.0f; + z = 0.0f; + data[3] = 1.0f; + intensity = intensity_; + } + EIGEN_MAKE_ALIGNED_OPERATOR_NEW +} EIGEN_ALIGN16; + +struct PointXYZIRT { + float x; + float y; + float z; + unsigned char intensity; + unsigned char ring; + double timestamp; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment + +struct PointXYZIT { + float x; + float y; + float z; + unsigned char intensity; + double timestamp; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment + +struct RawPointXYZIT { + PCL_ADD_POINT4D + uint8_t intensity; + double timestamp; + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment + +struct PointXYZIRTd { + double x; + double y; + double z; + unsigned char intensity; + unsigned char ring; + double timestamp; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment + +struct PointXYZITd { + double x; + double y; + double z; + unsigned char intensity; + double timestamp; + + EIGEN_MAKE_ALIGNED_OPERATOR_NEW // make sure our new allocators are aligned +} EIGEN_ALIGN16; // enforce SSE padding for correct memory alignment + +} // namespace apollo + +// POINT_CLOUD_REGISTER_POINT_STRUCT( +// apollo::perception::pcl_util::PointD, +// (double, x, x)(double, y, y)(double, z, z)(uint8_t, intensity, intensity)) +// +// POINT_CLOUD_REGISTER_POINT_STRUCT(apollo::perception::pcl_util::PointXYZIH, +// (float, x, x)(float, y, y)(float, z, z)( +// float, intensity, intensity)(float, h, h)) +// +// POINT_CLOUD_REGISTER_POINT_STRUCT(apollo::perception::pcl_util::PointXYZIT, +// (float, x, x)(float, y, y)(float, z, z)( +// uint8_t, intensity, +// intensity)(double, timestamp, timestamp)) +// POINT_CLOUD_REGISTER_POINT_STRUCT(apollo::perception::pcl_util::RawPointXYZIT, +// (float, x, x)(float, y, y)(float, z, z)( +// uint8_t, intensity, +// intensity)(double, timestamp, timestamp)) +// +// POINT_CLOUD_REGISTER_POINT_STRUCT( +// apollo::perception::pcl_util::PointXYZIRT, +// (float, x, x)(float, y, y)(float, z, z)(uint8_t, intensity, intensity)( +// uint8_t, ring, ring)(double, timestamp, timestamp)) +// +// POINT_CLOUD_REGISTER_POINT_STRUCT(apollo::perception::pcl_util::PointXYZITd, +// (double, x, x)(double, y, y)(double, z, z)( +// uint8_t, intensity, +// intensity)(double, timestamp, timestamp)) +// +// POINT_CLOUD_REGISTER_POINT_STRUCT( +// apollo::perception::pcl_util::PointXYZIRTd, +// (double, x, x)(double, y, y)(double, z, z)(uint8_t, intensity, intensity)( +// uint8_t, ring, ring)(double, timestamp, timestamp)) + +#endif // MODULES_PERCEPTION_COMMON_PCL_TYPES_H_ diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/util.h b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/util.h new file mode 100755 index 00000000000..94c15735c38 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/include/util.h @@ -0,0 +1,53 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +/****************************************************************************** + * Copyright 2017 The Apollo Authors. All Rights Reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + *****************************************************************************/ + +#ifndef MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_ +#define MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_ + +#include + + +inline int F2I(float val, float ori, float scale) { + return static_cast(std::floor((ori - val) * scale)); +} + +inline int Pc2Pixel(float in_pc, float in_range, float out_size) { + float inv_res = 0.5 * out_size / in_range; + return static_cast(std::floor((in_range - in_pc) * inv_res)); +} + +inline float Pixel2Pc(int in_pixel, float in_size, float out_range) { + float res = 2.0 * out_range / in_size; + return out_range - (static_cast(in_pixel) + 0.5f) * res; +} + +#endif // MODULES_PERCEPTION_OBSTACLE_LIDAR_SEGMENTATION_CNNSEG_UTIL_H_ diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/launch/lidar_apollo_cnn_seg_detect.launch b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/launch/lidar_apollo_cnn_seg_detect.launch new file mode 100644 index 00000000000..d79f05387d6 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/launch/lidar_apollo_cnn_seg_detect.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/empty.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/models/.models_here similarity index 100% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/empty.xml rename to ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/models/.models_here diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cluster2d.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cluster2d.cpp new file mode 100755 index 00000000000..ae8fe870af3 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cluster2d.cpp @@ -0,0 +1,398 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include "cluster2d.h" + +bool Cluster2D::init(int rows, int cols, float range) +{ + rows_ = rows; + cols_ = cols; + grids_ = rows_ * cols_; + range_ = range; + scale_ = 0.5 * static_cast(rows_) / range_; + inv_res_x_ = 0.5 * static_cast(cols_) / range_; + inv_res_y_ = 0.5 * static_cast(rows_) / range_; + point2grid_.clear(); + // obstacles_.clear(); + id_img_.assign(grids_, -1); + pc_ptr_.reset(); + valid_indices_in_pc_ = nullptr; + return true; +} + +void Cluster2D::traverse(Node *x) +{ + std::vector p; + p.clear(); + while (x->traversed == 0) + { + p.push_back(x); + x->traversed = 2; + x = x->center_node; + } + if (x->traversed == 2) + { + for (int i = static_cast(p.size()) - 1; i >= 0 && p[i] != x; i--) + { + p[i]->is_center = true; + } + x->is_center = true; + } + for (size_t i = 0; i < p.size(); i++) + { + Node *y = p[i]; + y->traversed = 1; + y->parent = x->parent; + } +} + +void Cluster2D::cluster(const caffe::Blob &category_pt_blob, + const caffe::Blob &instance_pt_blob, + const pcl::PointCloud::Ptr &pc_ptr, + const pcl::PointIndices &valid_indices, + float objectness_thresh, bool use_all_grids_for_clustering) +{ + const float *category_pt_data = category_pt_blob.cpu_data(); + const float *instance_pt_x_data = instance_pt_blob.cpu_data(); + const float *instance_pt_y_data = + instance_pt_blob.cpu_data() + instance_pt_blob.offset(0, 1); + + pc_ptr_ = pc_ptr; + std::vector> nodes(rows_, + std::vector(cols_, Node())); + + // map points into grids + size_t tot_point_num = pc_ptr_->size(); + valid_indices_in_pc_ = &(valid_indices.indices); + CHECK_LE(valid_indices_in_pc_->size(), tot_point_num); + point2grid_.assign(valid_indices_in_pc_->size(), -1); + + for (size_t i = 0; i < valid_indices_in_pc_->size(); ++i) + { + int point_id = valid_indices_in_pc_->at(i); + CHECK_GE(point_id, 0); + CHECK_LT(point_id, static_cast(tot_point_num)); + const auto &point = pc_ptr_->points[point_id]; + // * the coordinates of x and y have been exchanged in feature generation + // step, + // so we swap them back here. + int pos_x = F2I(point.y, range_, inv_res_x_); // col + int pos_y = F2I(point.x, range_, inv_res_y_); // row + if (IsValidRowCol(pos_y, pos_x)) + { + // get grid index and count point number for corresponding node + point2grid_[i] = RowCol2Grid(pos_y, pos_x); + nodes[pos_y][pos_x].point_num++; + } + } + + // construct graph with center offset prediction and objectness + for (int row = 0; row < rows_; ++row) + { + for (int col = 0; col < cols_; ++col) + { + int grid = RowCol2Grid(row, col); + Node *node = &nodes[row][col]; + DisjointSetMakeSet(node); + node->is_object = + (use_all_grids_for_clustering || nodes[row][col].point_num > 0) && + (*(category_pt_data + grid) >= objectness_thresh); + int center_row = std::round(row + instance_pt_x_data[grid] * scale_); + int center_col = std::round(col + instance_pt_y_data[grid] * scale_); + center_row = std::min(std::max(center_row, 0), rows_ - 1); + center_col = std::min(std::max(center_col, 0), cols_ - 1); + node->center_node = &nodes[center_row][center_col]; + } + } + + // traverse nodes + for (int row = 0; row < rows_; ++row) + { + for (int col = 0; col < cols_; ++col) + { + Node *node = &nodes[row][col]; + if (node->is_object && node->traversed == 0) + { + traverse(node); + } + } + } + for (int row = 0; row < rows_; ++row) + { + for (int col = 0; col < cols_; ++col) + { + Node *node = &nodes[row][col]; + if (!node->is_center) + { + continue; + } + for (int row2 = row - 1; row2 <= row + 1; ++row2) + { + for (int col2 = col - 1; col2 <= col + 1; ++col2) + { + if ((row2 == row || col2 == col) && IsValidRowCol(row2, col2)) + { + Node *node2 = &nodes[row2][col2]; + if (node2->is_center) + { + DisjointSetUnion(node, node2); + } + } + } + } + } + } + + int count_obstacles = 0; + obstacles_.clear(); + id_img_.assign(grids_, -1); + for (int row = 0; row < rows_; ++row) + { + for (int col = 0; col < cols_; ++col) + { + Node *node = &nodes[row][col]; + if (!node->is_object) + { + continue; + } + Node *root = DisjointSetFind(node); + if (root->obstacle_id < 0) + { + root->obstacle_id = count_obstacles++; + CHECK_EQ(static_cast(obstacles_.size()), count_obstacles - 1); + obstacles_.push_back(Obstacle()); + } + int grid = RowCol2Grid(row, col); + CHECK_GE(root->obstacle_id, 0); + id_img_[grid] = root->obstacle_id; + obstacles_[root->obstacle_id].grids.push_back(grid); + } + } + CHECK_EQ(static_cast(count_obstacles), obstacles_.size()); +} + +void Cluster2D::filter(const caffe::Blob &confidence_pt_blob, + const caffe::Blob &height_pt_blob) +{ + const float *confidence_pt_data = confidence_pt_blob.cpu_data(); + const float *height_pt_data = height_pt_blob.cpu_data(); + for (size_t obstacle_id = 0; obstacle_id < obstacles_.size(); + obstacle_id++) + { + Obstacle *obs = &obstacles_[obstacle_id]; + CHECK_GT(obs->grids.size(), 0); + double score = 0.0; + double height = 0.0; + for (int grid : obs->grids) + { + score += static_cast(confidence_pt_data[grid]); + height += static_cast(height_pt_data[grid]); + } + obs->score = score / static_cast(obs->grids.size()); + obs->height = height / static_cast(obs->grids.size()); + obs->cloud_ptr.reset(new pcl::PointCloud); + } +} + +void Cluster2D::classify(const caffe::Blob &classify_pt_blob) +{ + const float *classify_pt_data = classify_pt_blob.cpu_data(); + int num_classes = classify_pt_blob.channels(); + CHECK_EQ(num_classes, MAX_META_TYPE); + for (size_t obs_id = 0; obs_id < obstacles_.size(); obs_id++) + { + Obstacle *obs = &obstacles_[obs_id]; + for (size_t grid_id = 0; grid_id < obs->grids.size(); grid_id++) + { + int grid = obs->grids[grid_id]; + for (int k = 0; k < num_classes; k++) + { + obs->meta_type_probs[k] += classify_pt_data[k * grids_ + grid]; + } + } + int meta_type_id = 0; + for (int k = 0; k < num_classes; k++) + { + obs->meta_type_probs[k] /= obs->grids.size(); + if (obs->meta_type_probs[k] > obs->meta_type_probs[meta_type_id]) + { + meta_type_id = k; + } + } + obs->meta_type = static_cast(meta_type_id); + } +} + +autoware_msgs::DetectedObject +Cluster2D::obstacleToObject(const Obstacle& in_obstacle, const std_msgs::Header& in_header) +{ + autoware_msgs::DetectedObject resulting_object; + + sensor_msgs::PointCloud2 ros_pc; + pcl::PointCloud in_cluster = *in_obstacle.cloud_ptr; + pcl::toROSMsg(in_cluster, ros_pc); + resulting_object.header = in_header; + resulting_object.pointcloud = ros_pc; + resulting_object.pointcloud.header = in_header; + resulting_object.score = in_obstacle.score; + resulting_object.label = in_obstacle.GetTypeString(); + resulting_object.valid = true; + + float min_x = std::numeric_limits::max(); + float max_x = -std::numeric_limits::max(); + float min_y = std::numeric_limits::max(); + float max_y = -std::numeric_limits::max(); + float min_z = std::numeric_limits::max(); + float max_z = -std::numeric_limits::max(); + float average_x = 0, average_y = 0, average_z = 0; + float length, width, height; + + pcl::PointXYZ min_point; + pcl::PointXYZ max_point; + pcl::PointXYZ average_point; + pcl::PointXYZ centroid; + + for (auto pit = in_cluster.points.begin(); pit != in_cluster.points.end(); ++pit) + { + average_x += pit->x; + average_y += pit->y; + average_z += pit->z; + centroid.x += pit->x; + centroid.y += pit->y; + centroid.z += pit->z; + + if (pit->x < min_x) + min_x = pit->x; + if (pit->y < min_y) + min_y = pit->y; + if (pit->z < min_z) + min_z = pit->z; + if (pit->x > max_x) + max_x = pit->x; + if (pit->y > max_y) + max_y = pit->y; + if (pit->z > max_z) + max_z = pit->z; + } + // min, max points + min_point.x = min_x; + min_point.y = min_y; + min_point.z = min_z; + max_point.x = max_x; + max_point.y = max_y; + max_point.z = max_z; + + if (in_cluster.points.size() > 0) + { + centroid.x /= in_cluster.points.size(); + centroid.y /= in_cluster.points.size(); + centroid.z /= in_cluster.points.size(); + } + length = max_point.x - min_point.x; + width = max_point.y - min_point.y; + height = max_point.z - min_point.z; + + resulting_object.pose.position.x = min_point.x + length / 2; + resulting_object.pose.position.y = min_point.y + width / 2; + resulting_object.pose.position.z = min_point.z + height / 2; + resulting_object.dimensions.x = ((length < 0) ? -1 * length : length); + resulting_object.dimensions.y = ((width < 0) ? -1 * width : width); + resulting_object.dimensions.z = ((height < 0) ? -1 * height : height); + + std::vector points; + for (unsigned int i = 0; i < in_cluster.points.size(); i++) + { + cv::Point2f pt; + pt.x = in_cluster.points[i].x; + pt.y = in_cluster.points[i].y; + points.push_back(pt); + } + + resulting_object.space_frame = in_header.frame_id; + + return resulting_object; +} + +void Cluster2D::getObjects(const float confidence_thresh, + const float height_thresh, + const int min_pts_num, + autoware_msgs::DetectedObjectArray &objects, + const std_msgs::Header &in_header) +{ + CHECK(valid_indices_in_pc_ != nullptr); + + for (size_t i = 0; i < point2grid_.size(); ++i) + { + int grid = point2grid_[i]; + if (grid < 0) + { + continue; + } + + CHECK_GE(grid, 0); + CHECK_LT(grid, grids_); + int obstacle_id = id_img_[grid]; + + int point_id = valid_indices_in_pc_->at(i); + CHECK_GE(point_id, 0); + CHECK_LT(point_id, static_cast(pc_ptr_->size())); + + if (obstacle_id >= 0 && + obstacles_[obstacle_id].score >= confidence_thresh) + { + if (height_thresh < 0 || + pc_ptr_->points[point_id].z <= + obstacles_[obstacle_id].height + height_thresh) + { + obstacles_[obstacle_id].cloud_ptr->push_back(pc_ptr_->points[point_id]); + } + } + } + + for (size_t obstacle_id = 0; obstacle_id < obstacles_.size(); + obstacle_id++) + { + Obstacle *obs = &obstacles_[obstacle_id]; + if (static_cast(obs->cloud_ptr->size()) < min_pts_num) + { + continue; + } + + autoware_msgs::DetectedObject out_obj = obstacleToObject(*obs, in_header); + + objects.objects.push_back(out_obj); + } +} + +ObjectType getObjectType(const MetaType meta_type_id) +{ + switch (meta_type_id) + { + case META_UNKNOWN: + return UNKNOWN; + case META_SMALLMOT: + return VEHICLE; + case META_BIGMOT: + return VEHICLE; + case META_NONMOT: + return BICYCLE; + case META_PEDESTRIAN: + return PEDESTRIAN; + default: + { + return UNKNOWN; + } + } +} diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cnn_segmentation.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cnn_segmentation.cpp new file mode 100755 index 00000000000..230a0b7c9d8 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/cnn_segmentation.cpp @@ -0,0 +1,257 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include "cnn_segmentation.h" + +CNNSegmentation::CNNSegmentation() : nh_() +{ +} + +bool CNNSegmentation::init() +{ + std::string proto_file; + std::string weight_file; + + ros::NodeHandle private_node_handle("~");//to receive args + + if (private_node_handle.getParam("network_definition_file", proto_file)) + { + ROS_INFO("[%s] network_definition_file: %s", __APP_NAME__, proto_file.c_str()); + } else + { + ROS_INFO("[%s] No Network Definition File was received. Finishing execution.", __APP_NAME__); + return false; + } + if (private_node_handle.getParam("pretrained_model_file", weight_file)) + { + ROS_INFO("[%s] Pretrained Model File: %s", __APP_NAME__, weight_file.c_str()); + } else + { + ROS_INFO("[%s] No Pretrained Model File was received. Finishing execution.", __APP_NAME__); + return false; + } + + + private_node_handle.param("points_src", topic_src_, "points_raw"); + ROS_INFO("[%s] points_src: %s", __APP_NAME__, topic_src_.c_str()); + + private_node_handle.param("range", range_, 60.); + ROS_INFO("[%s] Pretrained Model File: %.2f", __APP_NAME__, range_); + + private_node_handle.param("score_threshold", score_threshold_, 0.6); + ROS_INFO("[%s] score_threshold: %.2f", __APP_NAME__, score_threshold_); + + private_node_handle.param("width", width_, 512); + ROS_INFO("[%s] width: %d", __APP_NAME__, width_); + + private_node_handle.param("height", height_, 512); + ROS_INFO("[%s] height: %d", __APP_NAME__, height_); + + private_node_handle.param("use_gpu", use_gpu_, false); + ROS_INFO("[%s] use_gpu: %d", __APP_NAME__, use_gpu_); + + private_node_handle.param("gpu_device_id", gpu_device_id_, 0); + ROS_INFO("[%s] gpu_device_id: %d", __APP_NAME__, gpu_device_id_); + + /// Instantiate Caffe net + if (!use_gpu_) + { + caffe::Caffe::set_mode(caffe::Caffe::CPU); + } + else + { + caffe::Caffe::SetDevice(gpu_device_id_); + caffe::Caffe::set_mode(caffe::Caffe::GPU); + caffe::Caffe::DeviceQuery(); + } + + caffe_net_.reset(new caffe::Net(proto_file, caffe::TEST)); + caffe_net_->CopyTrainedLayersFrom(weight_file); + + + std::string instance_pt_blob_name = "instance_pt"; + instance_pt_blob_ = caffe_net_->blob_by_name(instance_pt_blob_name); + CHECK(instance_pt_blob_ != nullptr) << "`" << instance_pt_blob_name + << "` layer required"; + + std::string category_pt_blob_name = "category_score"; + category_pt_blob_ = caffe_net_->blob_by_name(category_pt_blob_name); + CHECK(category_pt_blob_ != nullptr) << "`" << category_pt_blob_name + << "` layer required"; + + std::string confidence_pt_blob_name = "confidence_score"; + confidence_pt_blob_ = caffe_net_->blob_by_name(confidence_pt_blob_name); + CHECK(confidence_pt_blob_ != nullptr) << "`" << confidence_pt_blob_name + << "` layer required"; + + std::string height_pt_blob_name = "height_pt"; + height_pt_blob_ = caffe_net_->blob_by_name(height_pt_blob_name); + CHECK(height_pt_blob_ != nullptr) << "`" << height_pt_blob_name + << "` layer required"; + + std::string feature_blob_name = "data"; + feature_blob_ = caffe_net_->blob_by_name(feature_blob_name); + CHECK(feature_blob_ != nullptr) << "`" << feature_blob_name + << "` layer required"; + + std::string class_pt_blob_name = "class_score"; + class_pt_blob_ = caffe_net_->blob_by_name(class_pt_blob_name); + CHECK(class_pt_blob_ != nullptr) << "`" << class_pt_blob_name + << "` layer required"; + + cluster2d_.reset(new Cluster2D()); + if (!cluster2d_->init(height_, width_, range_)) + { + ROS_ERROR("[%s] Fail to Initialize cluster2d for CNNSegmentation", __APP_NAME__); + return false; + } + + feature_generator_.reset(new FeatureGenerator()); + if (!feature_generator_->init(feature_blob_.get())) + { + ROS_ERROR("[%s] Fail to Initialize feature generator for CNNSegmentation", __APP_NAME__); + return false; + } + + return true; +} + +bool CNNSegmentation::segment(const pcl::PointCloud::Ptr &pc_ptr, + const pcl::PointIndices &valid_idx, + autoware_msgs::DetectedObjectArray &objects) +{ + int num_pts = static_cast(pc_ptr->points.size()); + if (num_pts == 0) + { + ROS_INFO("[%s] Empty point cloud.", __APP_NAME__); + return true; + } + + feature_generator_->generate(pc_ptr); + +// network forward process + caffe_net_->Forward(); +#ifndef USE_CAFFE_GPU +// caffe::Caffe::set_mode(caffe::Caffe::CPU); +#else +// int gpu_id = 0; +// caffe::Caffe::SetDevice(gpu_id); +// caffe::Caffe::set_mode(caffe::Caffe::GPU); +// caffe::Caffe::DeviceQuery(); +#endif + + // clutser points and construct segments/objects + float objectness_thresh = 0.5; + bool use_all_grids_for_clustering = true; + cluster2d_->cluster(*category_pt_blob_, *instance_pt_blob_, pc_ptr, + valid_idx, objectness_thresh, + use_all_grids_for_clustering); + cluster2d_->filter(*confidence_pt_blob_, *height_pt_blob_); + cluster2d_->classify(*class_pt_blob_); + float confidence_thresh = score_threshold_; + float height_thresh = 0.5; + int min_pts_num = 3; + cluster2d_->getObjects(confidence_thresh, height_thresh, min_pts_num, + objects, message_header_); + return true; +} + +void CNNSegmentation::test_run() +{ + std::string in_pcd_file = "uscar_12_1470770225_1470770492_1349.pcd"; + + pcl::PointCloud::Ptr in_pc_ptr(new pcl::PointCloud); + pcl::io::loadPCDFile(in_pcd_file, *in_pc_ptr); + + + pcl::PointIndices valid_idx; + auto &indices = valid_idx.indices; + indices.resize(in_pc_ptr->size()); + std::iota(indices.begin(), indices.end(), 0); + + autoware_msgs::DetectedObjectArray objects; + init(); + segment(in_pc_ptr, valid_idx, objects); + + +} + +void CNNSegmentation::run() +{ + init(); + + points_sub_ = nh_.subscribe(topic_src_, 1, &CNNSegmentation::pointsCallback, this); + points_pub_ = nh_.advertise("/detection/lidar_detector/points_cluster", 1); + objects_pub_ = nh_.advertise("/detection/lidar_detector/objects", 1); + + ROS_INFO("[%s] Ready. Waiting for data...", __APP_NAME__); +} + +void CNNSegmentation::pointsCallback(const sensor_msgs::PointCloud2 &msg) +{ + std::chrono::system_clock::time_point start, end; + start = std::chrono::system_clock::now(); + + pcl::PointCloud::Ptr in_pc_ptr(new pcl::PointCloud); + pcl::fromROSMsg(msg, *in_pc_ptr); + pcl::PointIndices valid_idx; + auto &indices = valid_idx.indices; + indices.resize(in_pc_ptr->size()); + std::iota(indices.begin(), indices.end(), 0); + message_header_ = msg.header; + + autoware_msgs::DetectedObjectArray objects; + objects.header = message_header_; + segment(in_pc_ptr, valid_idx, objects); + + pubColoredPoints(objects); + + objects_pub_.publish(objects); + + end = std::chrono::system_clock::now(); + double elapsed = std::chrono::duration_cast(end - start).count(); +} + +void CNNSegmentation::pubColoredPoints(const autoware_msgs::DetectedObjectArray &objects_array) +{ + pcl::PointCloud colored_cloud; + for (size_t object_i = 0; object_i < objects_array.objects.size(); object_i++) + { + // std::cout << "objct i" << object_i << std::endl; + pcl::PointCloud object_cloud; + pcl::fromROSMsg(objects_array.objects[object_i].pointcloud, object_cloud); + int red = (object_i) % 256; + int green = (object_i * 7) % 256; + int blue = (object_i * 13) % 256; + + for (size_t i = 0; i < object_cloud.size(); i++) + { + // std::cout << "point i" << i << "/ size: "<* out_blob) +{ + out_blob_ = out_blob; + + // raw feature parameters + range_ = 60; + width_ = 512; + height_ = 512; + min_height_ = -5.0; + max_height_ = 5.0; + CHECK_EQ(width_, height_) + << "Current implementation version requires input_width == input_height."; + + // set output blob and log lookup table + out_blob_->Reshape(1, 8, height_, width_); + + log_table_.resize(256); + for (size_t i = 0; i < log_table_.size(); ++i) { + log_table_[i] = std::log1p(static_cast(i)); + } + + float* out_blob_data = nullptr; + out_blob_data = out_blob_->mutable_cpu_data(); + + int channel_index = 0; + max_height_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + mean_height_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + count_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + direction_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + top_intensity_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + mean_intensity_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + distance_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + nonempty_data_ = out_blob_data + out_blob_->offset(0, channel_index++); + CHECK_EQ(out_blob_->offset(0, channel_index), out_blob_->count()); + + // compute direction and distance features + int siz = height_ * width_; + std::vector direction_data(siz); + std::vector distance_data(siz); + + for (int row = 0; row < height_; ++row) { + for (int col = 0; col < width_; ++col) { + int idx = row * width_ + col; + // * row <-> x, column <-> y + float center_x = Pixel2Pc(row, height_, range_); + float center_y = Pixel2Pc(col, width_, range_); + constexpr double K_CV_PI = 3.1415926535897932384626433832795; + direction_data[idx] = + static_cast(std::atan2(center_y, center_x) / (2.0 * K_CV_PI)); + distance_data[idx] = + static_cast(std::hypot(center_x, center_y) / 60.0 - 0.5); + } + } + caffe::caffe_copy(siz, direction_data.data(), direction_data_); + caffe::caffe_copy(siz, distance_data.data(), distance_data_); + + return true; +} + +float FeatureGenerator::logCount(int count) +{ + if (count < static_cast(log_table_.size())) { + return log_table_[count]; + } + return std::log(static_cast(1 + count)); +} + +void FeatureGenerator::generate( + const pcl::PointCloud::Ptr& pc_ptr) { + const auto& points = pc_ptr->points; + + // DO NOT remove this line!!! + // Otherwise, the gpu_data will not be updated for the later frames. + // It marks the head at cpu for blob. + out_blob_->mutable_cpu_data(); + + int siz = height_ * width_; + caffe::caffe_set(siz, float(-5), max_height_data_); + caffe::caffe_set(siz, float(0), mean_height_data_); + caffe::caffe_set(siz, float(0), count_data_); + caffe::caffe_set(siz, float(0), top_intensity_data_); + caffe::caffe_set(siz, float(0), mean_intensity_data_); + caffe::caffe_set(siz, float(0), nonempty_data_); + + map_idx_.resize(points.size()); + float inv_res_x = + 0.5 * static_cast(width_) / static_cast(range_); + float inv_res_y = + 0.5 * static_cast(height_) / static_cast(range_); + + for (size_t i = 0; i < points.size(); ++i) { + if (points[i].z <= min_height_ || points[i].z >= max_height_) { + map_idx_[i] = -1; + continue; + } + // * the coordinates of x and y are exchanged here + // (row <-> x, column <-> y) + int pos_x = F2I(points[i].y, range_, inv_res_x); // col + int pos_y = F2I(points[i].x, range_, inv_res_y); // row + if (pos_x >= width_ || pos_x < 0 || pos_y >= height_ || pos_y < 0) { + map_idx_[i] = -1; + continue; + } + map_idx_[i] = pos_y * width_ + pos_x; + + int idx = map_idx_[i]; + float pz = points[i].z; + float pi = points[i].intensity / 255.0; + if (max_height_data_[idx] < pz) { + max_height_data_[idx] = pz; + top_intensity_data_[idx] = pi; + } + mean_height_data_[idx] += static_cast(pz); + mean_intensity_data_[idx] += static_cast(pi); + count_data_[idx] += float(1); + } + + for (int i = 0; i < siz; ++i) { + constexpr double EPS = 1e-6; + if (count_data_[i] < EPS) { + max_height_data_[i] = float(0); + } else { + mean_height_data_[i] /= count_data_[i]; + mean_intensity_data_[i] /= count_data_[i]; + nonempty_data_[i] = float(1); + } + count_data_[i] = logCount(static_cast(count_data_[i])); + } +} diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/lidar_apollo_cnn_seg_detect_node.cpp b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/lidar_apollo_cnn_seg_detect_node.cpp new file mode 100755 index 00000000000..9c79ef2e35e --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/nodes/lidar_apollo_cnn_seg_detect_node.cpp @@ -0,0 +1,28 @@ +/* + * Copyright 2018-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include "cnn_segmentation.h" + +#include + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "lidar_apollo_cnn_seg_detect"); + CNNSegmentation node; + node.run(); + ros::spin(); + + return 0; +} diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/package.xml b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/package.xml new file mode 100755 index 00000000000..bab022db0a3 --- /dev/null +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_apollo_cnn_seg_detect/package.xml @@ -0,0 +1,34 @@ + + lidar_apollo_cnn_seg_detect + 1.8.0 + The apollo cnn segmentation package + + Kosuke Murakami + + BSD + + Kosuke Murakami + + catkin + autoware_build_flags + + roscpp + tf + tf_conversions + pcl_ros + sensor_msgs + geometry_msgs + autoware_msgs + + roscpp + tf + tf_conversions + pcl_ros + sensor_msgs + geometry_msgs + autoware_msgs + + + + + diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt index 7b080d535b5..341c3099d3d 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_euclidean_cluster_detect/CMakeLists.txt @@ -54,7 +54,6 @@ include_directories( ${autoware_msgs_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ) -link_directories(${PCL_LIBRARY_DIRS}) link_directories(${OpenCV_LIBRARY_DIRS}) #Euclidean Cluster @@ -82,15 +81,20 @@ if (${CUDA_FOUND}) target_link_libraries(lidar_euclidean_cluster_detect ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} - ${PCL_LIBRARIES} ${YAML_CPP_LIBRARIES} gpu_euclidean_clustering) + install(TARGETS + gpu_euclidean_clustering + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + else () target_link_libraries(lidar_euclidean_cluster_detect ${OpenCV_LIBRARIES} ${catkin_LIBRARIES} - ${PCL_LIBRARIES} ${YAML_CPP_LIBRARIES}) endif () @@ -106,9 +110,16 @@ if (OPENMP_FOUND) ) endif () +install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + install(TARGETS lidar_euclidean_cluster_detect ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt index 78309e023ca..3124841995f 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_fake_perception/CMakeLists.txt @@ -50,5 +50,9 @@ install(TARGETS lidar_fake_perception_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt index f3951f0935d..a9c86adb812 100644 --- a/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_detector/packages/lidar_naive_l_shape_detect/CMakeLists.txt @@ -25,7 +25,6 @@ catkin_package( ) -link_directories(${PCL_LIBRARY_DIRS}) link_directories(${OpenCV_LIBRARY_DIRS}) include_directories( @@ -35,7 +34,9 @@ include_directories( ${OpenCV_INCLUDE_DIRS} ) -set(SOURCE_FILES nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect_node.cpp nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect.cpp) +set(SOURCE_FILES + nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect_node.cpp + nodes/lidar_naive_l_shape_detect/lidar_naive_l_shape_detect.cpp) add_executable(lidar_naive_l_shape_detect ${SOURCE_FILES}) @@ -43,11 +44,18 @@ add_dependencies(lidar_naive_l_shape_detect ${catkin_EXPORTED_TARGETS} ) -target_link_libraries(lidar_naive_l_shape_detect ${catkin_LIBRARIES} ${OpenCV_LIBRARIES}) +target_link_libraries(lidar_naive_l_shape_detect + ${catkin_LIBRARIES} + ${OpenCV_LIBRARIES} + ) install(TARGETS lidar_naive_l_shape_detect ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt index 062fbe660b7..ffbbd6147df 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_imm_ukf_pda_track/CMakeLists.txt @@ -31,8 +31,6 @@ include_directories( ${catkin_INCLUDE_DIRS} include) -link_directories(${PCL_LIBRARY_DIRS}) - #imm_ukf_pda add_executable(imm_ukf_pda nodes/imm_ukf_pda/imm_ukf_pda_main.cpp @@ -41,7 +39,6 @@ add_executable(imm_ukf_pda ) target_link_libraries(imm_ukf_pda ${catkin_LIBRARIES} - ${PCL_LIBRARIES} ) add_dependencies(imm_ukf_pda ${catkin_EXPORTED_TARGETS} @@ -52,5 +49,9 @@ install(TARGETS imm_ukf_pda ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt index 5a91dc764d3..4e75a467288 100644 --- a/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/lidar_tracker/packages/lidar_kf_contour_track/CMakeLists.txt @@ -52,5 +52,9 @@ install(TARGETS lidar_kf_contour_track ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/object_filter/packages/lidar_shape_estimation/CMakeLists.txt b/ros/src/computing/perception/detection/object_filter/packages/lidar_shape_estimation/CMakeLists.txt index 2bce4db1711..070576c9650 100644 --- a/ros/src/computing/perception/detection/object_filter/packages/lidar_shape_estimation/CMakeLists.txt +++ b/ros/src/computing/perception/detection/object_filter/packages/lidar_shape_estimation/CMakeLists.txt @@ -61,7 +61,7 @@ install(TARGETS lidar_shape_estimation ) install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch FILES_MATCHING PATTERN "*.launch" ) diff --git a/ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/CMakeLists.txt b/ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/CMakeLists.txt index 3d4fdecc7a4..9a56057e841 100644 --- a/ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/CMakeLists.txt +++ b/ros/src/computing/perception/detection/object_filter/packages/roi_object_filter/CMakeLists.txt @@ -97,7 +97,7 @@ target_include_directories(roi_object_filter PRIVATE target_link_libraries(roi_object_filter roi_object_filter_lib) -install(TARGETS roi_object_filter +install(TARGETS roi_object_filter_lib roi_object_filter ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt index 569f1fc4a1d..314cac92fa9 100644 --- a/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/trafficlight_recognizer/CMakeLists.txt @@ -299,7 +299,7 @@ else () # if(EXISTS "${SSD_CAFFE_PATH}") endif () # if(EXISTS "${SSD_CAFFE_PATH}") -install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker +install(TARGETS region_tlr feat_proj tlr_tuner roi_extractor label_maker libcontext tl_switch ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} diff --git a/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt index fbe1d599aa6..e28fc154c40 100644 --- a/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/libs/dpm_ttic/CMakeLists.txt @@ -140,5 +140,5 @@ install(TARGETS libdpm_ttic ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt index 3c976c7eaea..06704298aab 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_dpm_ttic_detect/CMakeLists.txt @@ -44,6 +44,8 @@ include_directories( IF (CUDA_FOUND) include_directories(${CUDA_INCLUDE_DIRS}) + + set(CMAKE_CXX_FLAGS "-lcuda ${CMAKE_CXX_FLAGS}") IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "^arm") link_directories(/usr/lib/arm-linux-gnueabihf/tegra) @@ -98,3 +100,11 @@ install(TARGETS vision_dpm_ttic_detect LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY data/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/data + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt index f717456c547..76aa0feb22f 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_segment_enet_detect/CMakeLists.txt @@ -2,20 +2,20 @@ cmake_minimum_required(VERSION 2.8.12) project(vision_segment_enet_detect) FIND_PACKAGE(catkin REQUIRED COMPONENTS - cv_bridge - image_transport - roscpp - sensor_msgs - ) + cv_bridge + image_transport + roscpp + sensor_msgs + ) FIND_PACKAGE(CUDA) FIND_PACKAGE(OpenCV REQUIRED) catkin_package(CATKIN_DEPENDS - cv_bridge - image_transport - roscpp - sensor_msgs - ) + cv_bridge + image_transport + roscpp + sensor_msgs + ) ########### ## Build ## ########### @@ -23,8 +23,8 @@ catkin_package(CATKIN_DEPENDS SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") INCLUDE_DIRECTORIES( - ${catkin_INCLUDE_DIRS} - ) + ${catkin_INCLUDE_DIRS} +) #####ENET######## @@ -33,37 +33,41 @@ set(ENET_CAFFE_PATH "$ENV{HOME}/ENet/caffe-enet/distribute") #################################################################################################### if (EXISTS "${ENET_CAFFE_PATH}" AND ${CUDA_FOUND}) - ADD_EXECUTABLE(vision_segment_enet_detect - nodes/vision_segment_enet_detect/vision_segment_enet_detect_node.cpp - nodes/vision_segment_enet_detect/vision_segment_enet_detect.cpp - ) + ADD_EXECUTABLE(vision_segment_enet_detect + nodes/vision_segment_enet_detect/vision_segment_enet_detect_node.cpp + nodes/vision_segment_enet_detect/vision_segment_enet_detect.cpp + ) - TARGET_LINK_LIBRARIES(vision_segment_enet_detect - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ${CUDA_LIBRARIES} - ${CUDA_CUBLAS_LIBRARIES} - ${CUDA_curand_LIBRARY} - ${ENET_CAFFE_PATH}/lib/libcaffe.so - glog - ) + TARGET_LINK_LIBRARIES(vision_segment_enet_detect + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ${CUDA_LIBRARIES} + ${CUDA_CUBLAS_LIBRARIES} + ${CUDA_curand_LIBRARY} + ${ENET_CAFFE_PATH}/lib/libcaffe.so + glog + ) - TARGET_INCLUDE_DIRECTORIES(vision_segment_enet_detect PRIVATE - ${CUDA_INCLUDE_DIRS} - ${ENET_CAFFE_PATH}/include - include - ) + TARGET_INCLUDE_DIRECTORIES(vision_segment_enet_detect PRIVATE + ${CUDA_INCLUDE_DIRS} + ${ENET_CAFFE_PATH}/include + include + ) - ADD_DEPENDENCIES(vision_segment_enet_detect - ${catkin_EXPORTED_TARGETS} - ) + ADD_DEPENDENCIES(vision_segment_enet_detect + ${catkin_EXPORTED_TARGETS} + ) + + install(TARGETS + vision_segment_enet_detect + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) - install(TARGETS - vision_segment_enet_detect - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ) else () - message("' ENet/Caffe' is not installed. 'vision_segment_enet_detect' will not be built.") + message("' ENet/Caffe' is not installed. 'vision_segment_enet_detect' will not be built.") endif () diff --git a/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt b/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt index 8abc062b35b..c19cace836f 100644 --- a/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_detector/packages/vision_ssd_detect/CMakeLists.txt @@ -85,11 +85,18 @@ if (EXISTS "${SSD_CAFFE_PATH}") ${catkin_EXPORTED_TARGETS} ) + install(DIRECTORY include/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + install(TARGETS vision_ssd_detect ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + else () message("'SSD/Caffe' is not installed. 'ssd_unc' will not be built.") endif () diff --git a/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt b/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt index 2e12622afe2..8a91e0936f2 100644 --- a/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt +++ b/ros/src/computing/perception/detection/vision_tracker/packages/vision_beyond_track/CMakeLists.txt @@ -60,4 +60,8 @@ install(TARGETS beyond_track_lib vision_beyond_track ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) \ No newline at end of file + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/detection/visualizers/packages/detected_objects_visualizer/CMakeLists.txt b/ros/src/computing/perception/detection/visualizers/packages/detected_objects_visualizer/CMakeLists.txt index eb7fca60796..b8ee99d7bd9 100644 --- a/ros/src/computing/perception/detection/visualizers/packages/detected_objects_visualizer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/visualizers/packages/detected_objects_visualizer/CMakeLists.txt @@ -90,5 +90,8 @@ install(TARGETS visualize_detected_objects visualize_rects ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +install(DIRECTORY models/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/models + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt b/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt index f1590b1e39f..500aebdd0ec 100644 --- a/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt +++ b/ros/src/computing/perception/detection/visualizers/packages/integrated_viewer/CMakeLists.txt @@ -123,6 +123,12 @@ install(TARGETS ${PROJECT_NAME} install(FILES rviz_plugin_description.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(FILES + node/image_viewer_plugin/autoware_logo.png + node/image_viewer_plugin/car.png + node/image_viewer_plugin/pedestrian.png + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/node/image_viewer_plugin/) + add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ) diff --git a/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt index 8cb743759bd..9100b03162e 100644 --- a/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt +++ b/ros/src/computing/perception/localization/lib/ndt_tku/CMakeLists.txt @@ -32,7 +32,7 @@ target_link_libraries(ndt_tku install(TARGETS ndt_tku ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt index d72fd69eb2c..a8dc9a8fd76 100644 --- a/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt +++ b/ros/src/computing/perception/localization/packages/lidar_localizer/CMakeLists.txt @@ -50,6 +50,7 @@ find_package(catkin REQUIRED COMPONENTS velodyne_pointcloud ndt_tku ndt_cpu + autoware_health_checker ${PCL_OPENMP_PACKAGES} autoware_msgs autoware_config_msgs @@ -136,24 +137,21 @@ add_executable(icp_matching nodes/icp_matching/icp_matching.cpp) target_link_libraries(icp_matching ${catkin_LIBRARIES}) add_dependencies(icp_matching ${catkin_EXPORTED_TARGETS}) -install(TARGETS ndt_matching_tku ndt_mapping_tku ndt_mapping_tku ndt_matching_monitor +install(TARGETS + ndt_matching + ndt_mapping + approximate_ndt_mapping + ndt_mapping_tku + mapping + ndt_matching_monitor_lib + ndt_matching_monitor + icp_matching + queue_counter ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -install(TARGETS ndt_matching ndt_mapping approximate_ndt_mapping queue_counter - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) - -install(TARGETS icp_matching - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - - install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp b/ros/src/computing/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp index 8e1613d5e32..4ae31227324 100644 --- a/ros/src/computing/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp +++ b/ros/src/computing/perception/localization/packages/lidar_localizer/nodes/ndt_matching/ndt_matching.cpp @@ -69,12 +69,17 @@ #include +//headers in Autoware Health Checker +#include + #define PREDICT_POSE_THRESHOLD 0.5 #define Wa 0.4 #define Wb 0.3 #define Wc 0.3 +static std::shared_ptr node_status_publisher_ptr_; + struct pose { double x; @@ -916,6 +921,7 @@ static void imu_callback(const sensor_msgs::Imu::Ptr& input) static void points_callback(const sensor_msgs::PointCloud2::ConstPtr& input) { + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/points_raw/slow",8,5,1,"topic points_raw subscribe rate low."); if (map_loaded == 1 && init_pos_set == 1) { matching_start = std::chrono::system_clock::now(); @@ -1348,6 +1354,7 @@ static void points_callback(const sensor_msgs::PointCloud2::ConstPtr& input) } predict_pose_pub.publish(predict_pose_msg); + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/ndt_pose/slow",8,5,1,"topic points_raw publish rate low."); ndt_pose_pub.publish(ndt_pose_msg); // current_pose is published by vel_pose_mux // current_pose_pub.publish(current_pose_msg); @@ -1369,6 +1376,7 @@ static void points_callback(const sensor_msgs::PointCloud2::ConstPtr& input) matching_end = std::chrono::system_clock::now(); exe_time = std::chrono::duration_cast(matching_end - matching_start).count() / 1000.0; time_ndt_matching.data = exe_time; + node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/time_ndt_matching",time_ndt_matching.data,50,70,100,"value time_ndt_matching is too high."); time_ndt_matching_pub.publish(time_ndt_matching); // Set values for /estimate_twist @@ -1386,6 +1394,8 @@ static void points_callback(const sensor_msgs::PointCloud2::ConstPtr& input) geometry_msgs::Vector3Stamped estimate_vel_msg; estimate_vel_msg.header.stamp = current_scan_time; estimate_vel_msg.vector.x = current_velocity; + node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/estimate_twist/linear",current_velocity,5,10,15,"value linear estimated twist is too high."); + node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/estimate_twist/angular",angular_velocity,5,10,15,"value linear angular twist is too high."); estimated_vel_pub.publish(estimate_vel_msg); // Set values for /ndt_stat @@ -1514,6 +1524,9 @@ int main(int argc, char** argv) ros::NodeHandle nh; ros::NodeHandle private_nh("~"); + node_status_publisher_ptr_ = std::make_shared(nh,private_nh); + node_status_publisher_ptr_->ENABLE(); + node_status_publisher_ptr_->NODE_ACTIVATE(); // Set log file name. private_nh.getParam("output_log_data", _output_log_data); diff --git a/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml b/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml index 7d52101202a..56c51731a0e 100644 --- a/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml +++ b/ros/src/computing/perception/localization/packages/lidar_localizer/package.xml @@ -25,6 +25,7 @@ ndt_tku libpcl-all-dev eigen + autoware_health_checker roscpp std_msgs @@ -43,6 +44,7 @@ ndt_tku libpcl-all eigen + autoware_health_checker diff --git a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt index 6ccb1093799..eb20c81f656 100644 --- a/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt +++ b/ros/src/computing/perception/prediction/motion_predictor/packages/naive_motion_predict/CMakeLists.txt @@ -49,5 +49,8 @@ install(TARGETS naive_motion_predict ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt index 8dde126828d..2c71196477b 100644 --- a/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/object_map/CMakeLists.txt @@ -33,7 +33,15 @@ if (OPENMP_FOUND) endif () catkin_package( - CATKIN_DEPENDS roscpp pcl_ros pcl_conversions tf sensor_msgs nav_msgs autoware_msgs vector_map + CATKIN_DEPENDS + roscpp + pcl_ros + pcl_conversions + tf + sensor_msgs + nav_msgs + autoware_msgs + vector_map ) set(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") @@ -123,7 +131,15 @@ target_link_libraries(wayarea2grid wayarea2grid_lib ) -install(TARGETS wayarea2grid grid_map_filter potential_field points2costmap laserscan2costmap +install(TARGETS + wayarea2grid + wayarea2grid_lib + grid_map_filter_lib + grid_map_filter + potential_field + points2costmap + laserscan2costmap + object_map_utils_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) @@ -135,8 +151,3 @@ install(DIRECTORY launch/ install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config PATTERN ".svn" EXCLUDE) - -install(DIRECTORY include/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} - PATTERN ".svn" EXCLUDE - ) diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt index 7da8c9e52cd..8cc213a439d 100644 --- a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt +++ b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/CMakeLists.txt @@ -41,7 +41,7 @@ set(CMAKE_CXX_FLAGS "-O3 -g -Wall ${CMAKE_CXX_FLAGS}") #Road Occupancy Processor Library add_library(road_occupancy_processor_lib SHARED - include/road_occupancy_processor.h + include/road_occupancy_processor/road_occupancy_processor.h src/road_occupancy_processor.cpp ) @@ -87,11 +87,14 @@ target_include_directories(road_occupancy_processor PRIVATE target_link_libraries(road_occupancy_processor road_occupancy_processor_lib) -install(TARGETS road_occupancy_processor +install(TARGETS road_occupancy_processor road_occupancy_processor_lib ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/include/road_occupancy_processor.h b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/include/road_occupancy_processor/road_occupancy_processor.h similarity index 100% rename from ros/src/computing/perception/semantics/packages/road_occupancy_processor/include/road_occupancy_processor.h rename to ros/src/computing/perception/semantics/packages/road_occupancy_processor/include/road_occupancy_processor/road_occupancy_processor.h diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor.cpp b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor.cpp index 60849bd5094..534c8418225 100644 --- a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor.cpp +++ b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor.cpp @@ -20,7 +20,7 @@ * Created on: Jan 29, 2018 */ -#include "road_occupancy_processor.h" +#include "road_occupancy_processor/road_occupancy_processor.h" void ROSRoadOccupancyProcessorApp::ConvertXYZIToRTZ(const pcl::PointCloud::Ptr in_cloud, ROSRoadOccupancyProcessorApp::PointCloudXYZIRTColor &out_organized_points, diff --git a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor_node.cpp b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor_node.cpp index ec66a283953..7450ce98c9e 100644 --- a/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor_node.cpp +++ b/ros/src/computing/perception/semantics/packages/road_occupancy_processor/src/road_occupancy_processor_node.cpp @@ -20,7 +20,7 @@ * Created on: Jan 29, 2018 */ -#include "road_occupancy_processor.h" +#include "road_occupancy_processor/road_occupancy_processor.h" int main(int argc, char **argv) { diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index 97a2e7c6e10..5d3b695007c 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -71,14 +71,22 @@ target_link_libraries(decision_maker_node add_dependencies(decision_maker_node ${catkin_EXPORTED_TARGETS}) # This function will be integrated into decision_maker soon. -add_executable(planner_selector_node nodes/planner_selector/planner_selector_node.cpp) -target_link_libraries(planner_selector_node ${catkin_LIBRARIES}) -add_dependencies(planner_selector_node ${catkin_EXPORTED_TARGETS}) +add_executable(planner_selector_node + nodes/planner_selector/planner_selector_node.cpp + ) +target_link_libraries(planner_selector_node + ${catkin_LIBRARIES} + ) +add_dependencies(planner_selector_node + ${catkin_EXPORTED_TARGETS} + ) -install(TARGETS decision_maker_node planner_selector_node +install(TARGETS + decision_maker_node + planner_selector_node ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY launch diff --git a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt index 05a1a61579d..67646048c04 100644 --- a/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/freespace_planner/CMakeLists.txt @@ -25,6 +25,25 @@ include_directories( ${catkin_INCLUDE_DIRS} ) -add_executable(astar_navi nodes/astar_navi/astar_navi.cpp nodes/astar_navi/astar_search.cpp nodes/astar_navi/search_info_ros.cpp include/astar_util.cpp) -target_link_libraries(astar_navi ${catkin_LIBRARIES}) -add_dependencies(astar_navi ${catkin_EXPORTED_TARGETS}) +add_executable(astar_navi + nodes/astar_navi/astar_navi.cpp + nodes/astar_navi/astar_search.cpp + nodes/astar_navi/search_info_ros.cpp + include/astar_util.cpp + ) +target_link_libraries(astar_navi + ${catkin_LIBRARIES} + ) +add_dependencies(astar_navi + ${catkin_EXPORTED_TARGETS} + ) + +install(TARGETS astar_navi + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + diff --git a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt index 6533248fef4..914814689c0 100644 --- a/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/lane_planner/CMakeLists.txt @@ -37,13 +37,19 @@ include_directories( ${autoware_msgs_INCLUDE_DIRS} ) -add_library(lane_planner lib/lane_planner/lane_planner_vmap.cpp) -target_link_libraries(lane_planner ${catkin_LIBRARIES}) +add_library(lane_planner + lib/lane_planner/lane_planner_vmap.cpp + ) +target_link_libraries(lane_planner + ${catkin_LIBRARIES} + ) add_dependencies(lane_planner ${catkin_EXPORTED_TARGETS} ) -add_executable(lane_navi nodes/lane_navi/lane_navi.cpp) +add_executable(lane_navi + nodes/lane_navi/lane_navi.cpp + ) target_link_libraries(lane_navi lane_planner ${catkin_LIBRARIES} @@ -52,7 +58,9 @@ add_dependencies(lane_navi ${catkin_EXPORTED_TARGETS} ) -add_executable(lane_rule nodes/lane_rule/lane_rule.cpp) +add_executable(lane_rule + nodes/lane_rule/lane_rule.cpp + ) target_link_libraries(lane_rule lane_planner ${catkin_LIBRARIES} @@ -61,7 +69,9 @@ add_dependencies(lane_rule ${catkin_EXPORTED_TARGETS} ) -add_executable(lane_stop nodes/lane_stop/lane_stop.cpp) +add_executable(lane_stop + nodes/lane_stop/lane_stop.cpp + ) target_link_libraries(lane_stop lane_planner ${catkin_LIBRARIES}) add_dependencies(lane_stop ${catkin_EXPORTED_TARGETS} @@ -90,5 +100,8 @@ install(TARGETS lane_planner ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt index bb7d692c959..d9dbc0a99b0 100644 --- a/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/op_global_planner/CMakeLists.txt @@ -52,3 +52,14 @@ include_directories( target_link_libraries(op_global_planner ${catkin_LIBRARIES} ) add_dependencies(op_global_planner ${catkin_EXPORTED_TARGETS}) + +install(TARGETS + op_global_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt b/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt index 37de398e70e..e0177960bb9 100644 --- a/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt +++ b/ros/src/computing/planning/mission/packages/way_planner/CMakeLists.txt @@ -57,3 +57,14 @@ include_directories( target_link_libraries(way_planner ${catkin_LIBRARIES} ) + +install(TARGETS + way_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt index c9978c77545..9c40db28d6c 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/astar_planner/CMakeLists.txt @@ -15,6 +15,7 @@ find_package(catkin REQUIRED COMPONENTS tf waypoint_follower autoware_msgs + autoware_health_checker ) ################################### @@ -48,3 +49,18 @@ add_dependencies(obstacle_avoid ${catkin_EXPORTED_TARGETS}) add_executable(obstacle_sim nodes/obstacle_avoid/obstacle_sim/obstacle_sim.cpp nodes/obstacle_avoid/obstacle_sim/obstacle_sim_node.cpp) target_link_libraries(obstacle_sim ${catkin_LIBRARIES}) add_dependencies(obstacle_sim ${catkin_EXPORTED_TARGETS}) + + +install(TARGETS + velocity_set + obstacle_avoid + obstacle_sim + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp index 0680e9fef89..3e85174f357 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp +++ b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.cpp @@ -30,7 +30,10 @@ SearchInfo::SearchInfo() , state_("") , upper_bound_distance_(-1) { + ros::NodeHandle nh; ros::NodeHandle private_nh_("~"); + node_status_publisher_ptr_ = std::make_shared(nh,private_nh_); + node_status_publisher_ptr_->ENABLE(); private_nh_.param("map_frame", map_frame_, "map"); private_nh_.param("obstacle_detect_count", obstacle_detect_count_, 10); private_nh_.param("avoid_distance", avoid_distance_, 13); @@ -95,7 +98,15 @@ void SearchInfo::mapCallback(const nav_msgs::OccupancyGridConstPtr &msg) void SearchInfo::currentPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg) { current_pose_ = *msg; - + node_status_publisher_ptr_->NODE_ACTIVATE(); + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/current_pose/slow",8,5,1,"topic current_pose subscribe rate low."); + if(closest_waypoint_index_!=-1 && path_set_) + { + autoware_msgs::Waypoint closest_waypoint = subscribed_waypoints_.waypoints[closest_waypoint_index_]; + double dist = std::sqrt(std::pow(closest_waypoint.pose.pose.position.x-current_pose_.pose.position.x,2) + +std::pow(closest_waypoint.pose.pose.position.y-current_pose_.pose.position.y,2)); + node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/range/closest_waypoint_distance",dist,0.5,1.0,2.0,"distance between closest_waypoint and current_pose is too long."); + } return; } @@ -171,6 +182,7 @@ void SearchInfo::waypointsCallback(const autoware_msgs::LaneConstPtr &msg) void SearchInfo::closestWaypointCallback(const std_msgs::Int32ConstPtr &msg) { + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/closest_waypoint/slow",8,5,1,"topic closest_waypoint subscribe rate low."); closest_waypoint_index_ = msg->data; } diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h index 090081adcf5..4a0d0af0c4a 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h +++ b/ros/src/computing/planning/motion/packages/astar_planner/nodes/obstacle_avoid/search_info_ros.h @@ -27,6 +27,9 @@ #include #include +#include +#include + namespace astar_planner { class SearchInfo @@ -140,7 +143,7 @@ class SearchInfo private: double calcPathLength(const autoware_msgs::Lane &lane, const int start_waypoint_index, const int goal_waypoint_index) const; - + std::shared_ptr node_status_publisher_ptr_; nav_msgs::OccupancyGrid map_; geometry_msgs::PoseStamped start_pose_global_; geometry_msgs::PoseStamped goal_pose_global_; diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp b/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp index 1c6c4901881..32119763400 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp +++ b/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.cpp @@ -41,7 +41,10 @@ VelocitySetInfo::VelocitySetInfo() wpidx_detectionResultByOtherNodes_(-1) { ros::NodeHandle private_nh_("~"); + ros::NodeHandle nh; private_nh_.param("remove_points_upto", remove_points_upto_, 2.3); + node_status_publisher_ptr_ = std::make_shared(nh,private_nh_); + node_status_publisher_ptr_->ENABLE(); } VelocitySetInfo::~VelocitySetInfo() @@ -70,6 +73,7 @@ void VelocitySetInfo::configCallback(const autoware_config_msgs::ConfigVelocityS void VelocitySetInfo::pointsCallback(const sensor_msgs::PointCloud2ConstPtr &msg) { + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/points_no_ground/slow",8,5,1,"topic points_no_ground subscribe rate low."); pcl::PointCloud sub_points; pcl::fromROSMsg(*msg, sub_points); @@ -111,6 +115,8 @@ void VelocitySetInfo::controlPoseCallback(const geometry_msgs::PoseStampedConstP void VelocitySetInfo::localizerPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg) { + node_status_publisher_ptr_->NODE_ACTIVATE(); + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/current_pose/slow",8,5,1,"topic current_pose subscribe rate low."); localizer_pose_ = *msg; } diff --git a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h b/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h index 9d0104657fa..13afcc35c76 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h +++ b/ros/src/computing/planning/motion/packages/astar_planner/nodes/velocity_set/velocity_set_info.h @@ -24,6 +24,9 @@ #include "autoware_config_msgs/ConfigVelocitySet.h" +#include +#include + class VelocitySetInfo { private: @@ -51,6 +54,8 @@ class VelocitySetInfo bool set_pose_; bool use_obstacle_sim_; + std::shared_ptr node_status_publisher_ptr_; + public: VelocitySetInfo(); ~VelocitySetInfo(); diff --git a/ros/src/computing/planning/motion/packages/astar_planner/package.xml b/ros/src/computing/planning/motion/packages/astar_planner/package.xml index 73d4016a0b2..a351946f6f4 100644 --- a/ros/src/computing/planning/motion/packages/astar_planner/package.xml +++ b/ros/src/computing/planning/motion/packages/astar_planner/package.xml @@ -16,6 +16,7 @@ std_msgs tf vector_map + autoware_health_checker roscpp std_msgs @@ -23,6 +24,7 @@ waypoint_follower autoware_msgs vector_map + autoware_health_checker diff --git a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt index d99aa2515ac..0c9c590da78 100644 --- a/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/dp_planner/CMakeLists.txt @@ -78,3 +78,13 @@ target_link_libraries(dp_planner add_dependencies(dp_planner ${catkin_EXPORTED_TARGETS} ) + +install(TARGETS dp_planner + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + diff --git a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt index 4e846332951..6c49aaad486 100644 --- a/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/ff_waypoint_follower/CMakeLists.txt @@ -8,16 +8,16 @@ find_package(autoware_msgs REQUIRED) find_package(OpenCV REQUIRED) find_package(catkin REQUIRED COMPONENTS - roscpp - geometry_msgs - runtime_manager - map_file - op_utility - op_planner - op_simu - waypoint_follower - autoware_msgs -) + roscpp + geometry_msgs + runtime_manager + map_file + op_utility + op_planner + op_simu + waypoint_follower + autoware_msgs + ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) @@ -26,9 +26,9 @@ find_package(catkin REQUIRED COMPONENTS ## catkin specific configuration ## ################################### catkin_package( - INCLUDE_DIRS include - LIBRARIES - CATKIN_DEPENDS roscpp geometry_msgs runtime_manager map_file op_utility op_planner op_simu waypoint_follower autoware_msgs + INCLUDE_DIRS include + LIBRARIES + CATKIN_DEPENDS roscpp geometry_msgs runtime_manager map_file op_utility op_planner op_simu waypoint_follower autoware_msgs ) ########### @@ -38,10 +38,10 @@ catkin_package( SET(CMAKE_CXX_FLAGS "-O2 -g -Wall -Wno-unused-result -DROS ${CMAKE_CXX_FLAGS}") include_directories( - include -# /usr/local/include/zmp/minivan - ${catkin_INCLUDE_DIRS} - ${autoware_msgs_INCLUDE_DIRS} + include + # /usr/local/include/zmp/minivan + ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) ## Declare a C++ library @@ -50,14 +50,27 @@ include_directories( link_directories(lib) add_executable(ff_waypoint_follower nodes/ff_waypoint_follower.cpp nodes/ff_waypoint_follower_core.cpp) target_link_libraries(ff_waypoint_follower - ${catkin_LIBRARIES} - ${OpenCV_LIBS} - ) + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + ) #link_directories(/usr/local/lib/zmp/minivan) #add_executable(ff_waypoint_follower nodes/ff_waypoint_follower.cpp nodes/ff_waypoint_follower_core.cpp nodes/HevCnt.cpp nodes/HevComm.cpp) #target_link_libraries(ff_waypoint_follower utilityh plannerh simuh CANUSB hevcontrol ${catkin_LIBRARIES}) -add_dependencies(ff_waypoint_follower -${catkin_EXPORTED_TARGETS} -) +add_dependencies(ff_waypoint_follower + ${catkin_EXPORTED_TARGETS} + ) + +install(TARGETS ff_waypoint_follower + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY params/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt index 415a6d130ee..bb47dfbb8c7 100644 --- a/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/lattice_planner/CMakeLists.txt @@ -78,3 +78,16 @@ target_link_libraries(path_select ${catkin_LIBRARIES}) add_dependencies(path_select ${catkin_EXPORTED_TARGETS}) +install(TARGETS + libtraj_gen + lattice_trajectory_gen + lattice_twist_convert + lattice_velocity_set + path_select + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt index 0ce9778031a..6d19312901e 100644 --- a/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_local_planner/CMakeLists.txt @@ -79,3 +79,19 @@ add_executable(op_motion_predictor nodes/op_motion_predictor/op_motion_predictor target_link_libraries(op_motion_predictor ${catkin_LIBRARIES} ${PCL_LIBRARIES}) add_dependencies(op_common_params op_trajectory_generator op_trajectory_evaluator op_behavior_selector op_motion_predictor ${catkin_EXPORTED_TARGETS}) + + +install(TARGETS + op_common_params + op_trajectory_generator + op_trajectory_evaluator + op_behavior_selector + op_motion_predictor + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt index 34460fc7bea..0e2cefd2c33 100644 --- a/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_simulation_package/CMakeLists.txt @@ -90,3 +90,16 @@ add_dependencies(op_car_simulator op_signs_simulator ${catkin_EXPORTED_TARGETS} ) + +install(TARGETS + op_car_simulator + op_perception_simulator + op_signs_simulator + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt b/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt index ecef294632c..678cfb17946 100644 --- a/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/op_utilities/CMakeLists.txt @@ -74,3 +74,17 @@ target_link_libraries(op_bag_player add_dependencies(op_pose2tf op_data_logger op_bag_player ${catkin_EXPORTED_TARGETS}) + +install(TARGETS + op_pose2tf + op_data_logger + op_bag_player + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt index 70f43ed7c38..22a26efe0b6 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/CMakeLists.txt @@ -20,6 +20,7 @@ find_package(catkin REQUIRED COMPONENTS autoware_msgs autoware_config_msgs tablet_socket_msgs + autoware_health_checker ) ################################################ @@ -42,6 +43,7 @@ catkin_package( pcl_conversions sensor_msgs tablet_socket_msgs + autoware_health_checker ) ########### diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit.cpp index 804398a13ae..7ba4976ee86 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit.cpp @@ -28,6 +28,7 @@ PurePursuit::PurePursuit() , current_linear_velocity_(0) , minimum_lookahead_distance_(6) { + } // Destructor diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.cpp index 2a08a7294ca..edbdfc1e8fc 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.cpp @@ -36,7 +36,8 @@ PurePursuitNode::PurePursuitNode() , minimum_lookahead_distance_(6.0) { initForROS(); - + node_status_publisher_ptr_ = std::make_shared(nh_,private_nh_); + node_status_publisher_ptr_->ENABLE(); // initialize for PurePursuit pp_.setLinearInterpolationParameter(is_linear_interpolation_); } @@ -92,9 +93,11 @@ void PurePursuitNode::run() double kappa = 0; bool can_get_curvature = pp_.canGetCurvature(&kappa); + publishTwistStamped(can_get_curvature, kappa); publishControlCommandStamped(can_get_curvature, kappa); - + node_status_publisher_ptr_->NODE_ACTIVATE(); + node_status_publisher_ptr_->CHECK_RATE("/topic/rate/vehicle/slow",8,5,1,"topic vehicle_cmd publish rate low."); // for visualization with Rviz pub11_.publish(displayNextWaypoint(pp_.getPoseOfNextWaypoint())); pub13_.publish(displaySearchRadius(pp_.getCurrentPose().position, pp_.getLookaheadDistance())); @@ -121,6 +124,7 @@ void PurePursuitNode::publishTwistStamped(const bool &can_get_curvature, const d ts.header.stamp = ros::Time::now(); ts.twist.linear.x = can_get_curvature ? computeCommandVelocity() : 0; ts.twist.angular.z = can_get_curvature ? kappa * ts.twist.linear.x : 0; + node_status_publisher_ptr_->CHECK_MAX_VALUE("/value/twist",ts.twist.linear.x,2.2,3.3,4.4,"linear twist_cmd is too high"); pub1_.publish(ts); } diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.h b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.h index 2d1a69961bf..627851457c9 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.h +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/pure_pursuit/pure_pursuit_core.h @@ -31,6 +31,10 @@ #include "pure_pursuit.h" #include "pure_pursuit_viz.h" +#include + +#include + namespace waypoint_follower { enum class Mode : int32_t @@ -60,6 +64,8 @@ class PurePursuitNode ros::NodeHandle nh_; ros::NodeHandle private_nh_; + std::shared_ptr node_status_publisher_ptr_; + // class PurePursuit pp_; diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp index 70308506e30..341bd4d1731 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/nodes/twist_gate/twist_gate.cpp @@ -32,6 +32,7 @@ #include #include #include +#include #include #include @@ -48,6 +49,9 @@ #include "autoware_msgs/SteerCmd.h" #include "autoware_msgs/ControlCommandStamped.h" +//headers in Autowae Health Checker +#include + class TwistGate { using remote_msgs_t = autoware_msgs::RemoteCmd; @@ -72,6 +76,7 @@ class TwistGate ros::NodeHandle nh_; ros::NodeHandle private_nh_; + std::shared_ptr node_status_pub_ptr_; ros::Publisher emergency_stop_pub_; ros::Publisher control_command_pub_; ros::Publisher vehicle_cmd_pub_; @@ -99,6 +104,7 @@ TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_n ,command_mode_(CommandMode::AUTO) ,previous_command_mode_(CommandMode::AUTO) { + node_status_pub_ptr_ = std::make_shared(nh_,private_nh_); emergency_stop_pub_ = nh_.advertise("/emergency_stop", 1, true); control_command_pub_ = nh_.advertise("/ctrl_mode", 1); vehicle_cmd_pub_ = nh_.advertise("/vehicle_cmd", 1, true); @@ -118,6 +124,7 @@ TwistGate::TwistGate(const ros::NodeHandle& nh, const ros::NodeHandle& private_n twist_gate_msg_.header.seq = 0; emergency_stop_msg_.data = false; send_emergency_cmd = false; + node_status_pub_ptr_->ENABLE(); remote_cmd_time_ = ros::Time::now(); watchdog_timer_thread_ = std::thread(&TwistGate::watchdog_timer, this); @@ -226,6 +233,8 @@ void TwistGate::remote_cmd_callback(const remote_msgs_t::ConstPtr& input_msg) void TwistGate::auto_cmd_twist_cmd_callback(const geometry_msgs::TwistStamped::ConstPtr& input_msg) { + node_status_pub_ptr_->NODE_ACTIVATE(); + node_status_pub_ptr_->CHECK_RATE("/topic/rate/twist_cmd/slow",8,5,1,"topic twist_cmd subscribe rate low."); if(command_mode_ == CommandMode::AUTO) { twist_gate_msg_.header.frame_id = input_msg->header.frame_id; diff --git a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml index 19bfc70bc9d..a937b85dfc4 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml +++ b/ros/src/computing/planning/motion/packages/waypoint_follower/package.xml @@ -18,6 +18,7 @@ pcl_conversions sensor_msgs tablet_socket_msgs + autoware_health_checker roscpp std_msgs @@ -29,7 +30,7 @@ pcl_conversions sensor_msgs tablet_socket_msgs - + autoware_health_checker diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt index a1fbfb85c8c..93ba5575211 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/CMakeLists.txt @@ -44,16 +44,26 @@ include_directories( ${Boost_INCLUDE_DIRS} ) -add_executable(waypoint_loader nodes/waypoint_loader/waypoint_loader_core.cpp nodes/waypoint_loader/velocity_replanner.cpp nodes/waypoint_loader/waypoint_loader_node.cpp) +add_executable(waypoint_loader nodes/waypoint_loader/waypoint_loader_core.cpp nodes/waypoint_loader/waypoint_loader_node.cpp) target_link_libraries(waypoint_loader ${catkin_LIBRARIES}) add_dependencies(waypoint_loader ${catkin_EXPORTED_TARGETS}) +add_executable(waypoint_replanner nodes/waypoint_replanner/waypoint_replanner.cpp nodes/waypoint_replanner/waypoint_replanner_node.cpp) +target_link_libraries(waypoint_replanner ${catkin_LIBRARIES}) +add_dependencies(waypoint_replanner + ${catkin_EXPORTED_TARGETS}) + add_executable(waypoint_saver nodes/waypoint_saver/waypoint_saver.cpp) target_link_libraries(waypoint_saver ${catkin_LIBRARIES}) add_dependencies(waypoint_saver ${catkin_EXPORTED_TARGETS}) +add_executable(waypoint_extractor nodes/waypoint_extractor/waypoint_extractor.cpp) +target_link_libraries(waypoint_extractor ${catkin_LIBRARIES}) +add_dependencies(waypoint_extractor + ${catkin_EXPORTED_TARGETS}) + add_executable(waypoint_clicker nodes/waypoint_clicker/waypoint_clicker.cpp) target_link_libraries(waypoint_clicker ${catkin_LIBRARIES}) @@ -69,11 +79,16 @@ add_dependencies(waypoint_velocity_visualizer install(TARGETS waypoint_loader + waypoint_replanner waypoint_saver waypoint_clicker waypoint_marker_publisher waypoint_velocity_visualizer ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/README.md b/ros/src/computing/planning/motion/packages/waypoint_maker/README.md index 1da74b45fb4..db750161f81 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/README.md +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/README.md @@ -6,8 +6,10 @@ - waypoint_clicker - waypoint_saver + - waypoint_extractor - waypoint_marker_publisher - waypoint_loader + - waypoint_replanner - waypoint_velocity_visualizer - 3-formats of waypoints.csv handled by waypoint_maker @@ -63,18 +65,19 @@ 1. Overview + * waypoint_loader - Convert waypoints.csv to ROS message type. - Correspond to the above 3 types of csv. + * waypoint_replanner - Adjust waypoints offline (resample and replan velocity) - - Save waypoints.csv as ver3 format. 1. How to use * How to start - At `Computing`->`waypoint_loader`: - - Check app->`disable_decision_maker`. - If you want to use `decision_maker`, switch to false. - Otherwise switch to true. + - Check app->`load csv`. + If you want to load csv_files, switch to true. + Otherwise switch to false. - Check `waypoint_loader` and start. * Idea of velocity replanning - The velocity plan is based on the following idea. @@ -88,9 +91,13 @@ - On `multi_lane`, please select multiple input files. If you want lane change with `lane_select`, prepare ver3 type. - Check `replanning_mode` if you want to replan velocity. - On replanning mode: + * Check `realtime_tuning_mode` if you want to tune waypoint. * Check `resample_mode` if you want to resample waypoints. On resample mode, please set `resample_interval`. * Velocity replanning parameter + - Check `replan curve mode` if you want to decelerate on curve. + - Check `overwrite vmax mode` if you want to overwrite velocity of all waypoint. + - Check `replan endpoint mode` if you want to decelerate on endpoint. - `Vmax` is max velocity. - `Rth` is radius threshold for extracting curve in waypoints. Increasing this, you can extract curves more sensitively. @@ -101,27 +108,39 @@ - `Accel limit` is acceleration value for limitting velocity. - `Decel limit` is deceleration value for limitting velocity. - `Velocity Offset` is offset amount preceding the velocity plan. + - `Braking Distance` is the number of minimum velocity before end point offset. - `End Point Offset` is the number of 0 velocity points at the end of waypoints. 1. Subscribed Topics - - /config/waypoint_loader (autoware_config_msgs/ConfigWaypointLoadre) - - /config/waypoint_loader_output (std_msgs/Bool) + * waypoint_replanner + - /based/lane_waypoints_raw (autoware_msgs/LaneArray) + - /config/waypoint_replanner (autoware_config_msgs/ConfigWaypointReplanner) 1. Published Topics + * waypoint_loader + - /based/lane_waypoints_raw (autoware_msgs/LaneArray) + + * waypoint_replanner + - /based/lane_waypoints_array (autoware_msgs/LaneArray) - /lane_waypoints_array (autoware_msgs/LaneArray) 1. Parameters - - ~disable_decision_maker + * waypoint_loader + - ~multi_lane_csv ### waypoint_saver 1. Overview + * waypoint_saver - When activated, subscribe `/current_pose`, `/current_velocity`(option) and save waypoint in the file at specified intervals. + * waypoint_extractor + - When activated, subscribe autoware_msgs/LaneArray and save waypoint in the file. Input topic name is selectable. + * common - `change_flag` is basically stored as 0 (straight ahead), so if you want to change the lane, edit by yourself. (1 turn right, 2 turn left) - This node corresponds to preservation of ver3 format. @@ -129,24 +148,41 @@ 1. How to use On app: + * common - Ref on the `Save File` and specify the save file name. + - Select the function you want to use from the `Input Type`. + * if `Input Type` == VehicleFootprint (`waypoint_saver`) - Check `Save/current_velocity` if you want to save velocity. In otherwise, saved as 0 velocity. - Using `Interval`, it is set how many meters to store waypoint. + * if `Input Type` == LaneArrayTopic (`waypoint_extractor`) + - Set lane_array topic name you want to save. + - Cache starts at the same time as the node starts up. + - The cache is always overwritten while the node is running. + - The cache is flushed when the node is closed. 1. Subscribed Topics + * waypoint_saver - /current_pose (geometry_msgs/PoseStamped) : default - /current_velocity (geometry_msgs/TwistStamped) : default + * waypoint_extractor + - /lane_waypoints_array (autoware_msgs/LaneArray) : default + 1. Published Topics - nothing 1. Parameters + * waypoints_saver - ~save_filename - ~interval - ~velocity_topic - ~pose_topic - ~save_velocity + + * waypoints_extractor + - ~lane_csv + - ~lane_topic diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/interface.yaml b/ros/src/computing/planning/motion/packages/waypoint_maker/interface.yaml index 8b44fff7490..2f598c656e1 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/interface.yaml +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/interface.yaml @@ -3,8 +3,11 @@ subscribe: [/clicked_point, /vector_map_info/point, /vector_map_info/lane, /vector_map_info/node] - name: /waypoint_loader - publish: [/lane_waypoint_array] + publish: [/based/lane_waypoint_raw] subscribe: [] +- name: /waypoint_replanner + publish: [/based/lane_waypoint_array, /lane_waypoints_array] + subscribe: [/based/lane_waypoint_raw] - name: /waypoints_marker_publisher publish: [/local_waypoints_mark, /global_waypoints_mark] subscribe: [/light_color, /light_color_managed, /lane_waypoints_array, diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_loader.launch b/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_loader.launch index 5d90b2596df..70324ee61c1 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_loader.launch +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_loader.launch @@ -1,11 +1,13 @@ - + + - - + + + diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_saver.launch b/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_saver.launch index 03a5a6d587d..67519fce7f2 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_saver.launch +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/launch/waypoint_saver.launch @@ -1,18 +1,24 @@ + - - - - + + + + + - + + + + + diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_extractor/waypoint_extractor.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_extractor/waypoint_extractor.cpp new file mode 100644 index 00000000000..daa6edfa5a1 --- /dev/null +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_extractor/waypoint_extractor.cpp @@ -0,0 +1,139 @@ +/* + * Copyright 2015-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include +#include +#include +#include +#include +#include + +namespace waypoint_maker +{ +// Constructor +class WaypointExtractor +{ +private: + ros::NodeHandle nh_, private_nh_; + ros::Subscriber larray_sub_; + std::string lane_csv_, lane_topic_; + autoware_msgs::LaneArray lane_; +public: + WaypointExtractor() : private_nh_("~") + { + init(); + } + // Destructor + ~WaypointExtractor() + { + deinit(); + } + + double mps2kmph(double velocity_mps) + { + return (velocity_mps * 60 * 60) / 1000; + } + + const std::string addFileSuffix(std::string file_path, std::string suffix) + { + std::string output_file_path, tmp; + std::string directory_path, filename, extension; + + tmp = file_path; + const std::string::size_type idx_slash(tmp.find_last_of("/")); + if (idx_slash != std::string::npos) + { + tmp.erase(0, idx_slash); + } + const std::string::size_type idx_dot(tmp.find_last_of(".")); + const std::string::size_type idx_dot_allpath(file_path.find_last_of(".")); + if (idx_dot != std::string::npos && idx_dot != tmp.size() - 1) + { + file_path.erase(idx_dot_allpath, file_path.size() - 1); + } + file_path += suffix + ".csv"; + return file_path; + } + + void init() + { + private_nh_.param("lane_csv", lane_csv_, "/tmp/driving_lane.csv"); + private_nh_.param("lane_topic", lane_topic_, "/lane_waypoints_array"); + // setup publisher + larray_sub_ = nh_.subscribe(lane_topic_, 1, &WaypointExtractor::LaneArrayCallback, this); + } + + void deinit() + { + if (lane_.lanes.empty()) + { + return; + } + std::vector dst_multi_file_path(lane_.lanes.size(), lane_csv_); + if (lane_.lanes.size() > 1) + { + for (auto& el : dst_multi_file_path) + { + el = addFileSuffix(el, std::to_string(&el - &dst_multi_file_path[0])); + } + } + saveLaneArray(dst_multi_file_path, lane_); + } + + void LaneArrayCallback(const autoware_msgs::LaneArray::ConstPtr& larray) + { + if (larray->lanes.empty()) + { + return; + } + lane_ = *larray; + } + + void saveLaneArray(const std::vector& paths, + const autoware_msgs::LaneArray& lane_array) + { + for (const auto& file_path : paths) + { + const unsigned long idx = &file_path - &paths[0]; + std::ofstream ofs(file_path.c_str()); + ofs << "x,y,z,yaw,velocity,change_flag,steering_flag,accel_flag,stop_flag,event_flag" << std::endl; + for (const auto& el : lane_array.lanes[idx].waypoints) + { + const geometry_msgs::Point p = el.pose.pose.position; + const double yaw = tf::getYaw(el.pose.pose.orientation); + const double vel = mps2kmph(el.twist.twist.linear.x); + const int states[] = + { + el.change_flag, el.wpstate.steering_state, el.wpstate.accel_state, + el.wpstate.stop_state, el.wpstate.event_state + }; + ofs << std::fixed << std::setprecision(4); + ofs << p.x << "," << p.y << "," << p.z << "," << yaw << "," << vel; + for (int i = 0; i < 5; ofs << "," << states[i++]){} + ofs << std::endl; + } + } + } +}; + +} // waypoint_maker + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "waypoint_extractor"); + waypoint_maker::WaypointExtractor we; + ros::spin(); + return 0; +} diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.cpp deleted file mode 100644 index f57f605921c..00000000000 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.cpp +++ /dev/null @@ -1,381 +0,0 @@ -/* - * Copyright (c) 2018, TierIV, Inc. - - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of Autoware nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ -#include "velocity_replanner.h" - -namespace waypoint_maker -{ -inline double kmph2mps(double velocity_kmph) -{ - return (velocity_kmph * 1000) / (60 * 60); -} -inline double mps2kmph(double velocity_mps) -{ - return (velocity_mps * 60 * 60) / 1000; -} - -VelocityReplanner::VelocityReplanner() : private_nh_("~") -{ -} - -VelocityReplanner::~VelocityReplanner() -{ -} - -void VelocityReplanner::initParameter(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf) -{ - velocity_max_ = kmph2mps(conf->velocity_max); - velocity_min_ = kmph2mps(conf->velocity_min); - accel_limit_ = conf->accel_limit; - decel_limit_ = conf->decel_limit; - r_th_ = conf->radius_thresh; - r_min_ = conf->radius_min; - lookup_crv_width_ = 5; - resample_mode_ = conf->resample_mode; - resample_interval_ = conf->resample_interval; - velocity_offset_ = conf->velocity_offset; - end_point_offset_ = conf->end_point_offset; - r_inf_ = 10 * r_th_; - vel_param_ = calcVelParam(); -} - -void VelocityReplanner::replanLaneWaypointVel(autoware_msgs::Lane* lane) -{ - if (vel_param_ == DBL_MAX) - { - ROS_ERROR("velocity parameter is invalid: please change Rth or Rmin"); - return; - } - std::vector curve_radius; - std::unordered_map > curve_list; - - if (resample_mode_) - { - resampleLaneWaypoint(resample_interval_, lane); - } - createRadiusList(*lane, &curve_radius); - createCurveList(curve_radius, &curve_list); - // set velocity_max for all_point - for (auto& el : lane->waypoints) - { - el.twist.twist.linear.x = velocity_max_; - } - // set velocity by curve - for (const auto& el : curve_list) - { - const double& radius = el.second.second; - const double vmin = velocity_max_ - vel_param_ * (r_th_ - radius); - limitVelocityByRange(el.first, el.second.first, velocity_offset_, vmin, lane); - } - // set velocity on start & end of lane - limitVelocityByRange(0, 0, 0, velocity_min_, lane); - limitVelocityByRange(lane->waypoints.size() - 1 - end_point_offset_, lane->waypoints.size() - 1, 0, 0.0, lane); -} - -void VelocityReplanner::resampleLaneWaypoint(const double resample_interval, autoware_msgs::Lane* lane) -{ - if (lane->waypoints.empty()) - { - return; - } - autoware_msgs::Lane original_lane = *lane; - lane->waypoints.clear(); - lane->waypoints.push_back(original_lane.waypoints[0]); - lane->waypoints.reserve(ceil(1.5 * calcPathLength(original_lane) / resample_interval_)); - - for (unsigned long i = 1; i < original_lane.waypoints.size(); i++) - { - boost::circular_buffer curve_point = getCrvPointsOnResample(*lane, original_lane, i); - const std::vector curve_param = calcCurveParam(curve_point); - - // if going straight - if (curve_param.empty()) - { - resampleOnStraight(curve_point, lane); - } - // else if turnning curve - else - { - resampleOnCurve(curve_point[1], curve_param, lane); - } - - lane->waypoints.back().wpstate = original_lane.waypoints[i].wpstate; - lane->waypoints.back().change_flag = original_lane.waypoints[i].change_flag; - } - lane->waypoints.back().wpstate = original_lane.waypoints.back().wpstate; - lane->waypoints.back().change_flag = original_lane.waypoints.back().change_flag; -} - -void VelocityReplanner::resampleOnStraight(const boost::circular_buffer& curve_point, - autoware_msgs::Lane* lane) -{ - autoware_msgs::Waypoint wp = lane->waypoints.back(); - const geometry_msgs::Point& pt = wp.pose.pose.position; - const double yaw = atan2(curve_point[2].y - curve_point[0].y, curve_point[2].x - curve_point[0].x); - wp.pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); - - const std::vector nvec = { curve_point[1].x - pt.x, curve_point[1].y - pt.y, curve_point[1].z - pt.z }; - double dist = sqrt(nvec[0] * nvec[0] + nvec[1] * nvec[1]); - std::vector resample_vec = nvec; - const double coeff = resample_interval_ / dist; - for (auto& el : resample_vec) - { - el *= coeff; - } - for (; dist > resample_interval_; dist -= resample_interval_) - { - wp.pose.pose.position.x += resample_vec[0]; - wp.pose.pose.position.y += resample_vec[1]; - wp.pose.pose.position.z += resample_vec[2]; - lane->waypoints.push_back(wp); - } -} - -void VelocityReplanner::resampleOnCurve(const geometry_msgs::Point& target_point, - const std::vector& curve_param, autoware_msgs::Lane* lane) -{ - autoware_msgs::Waypoint wp = lane->waypoints.back(); - const double& cx = curve_param[0]; - const double& cy = curve_param[1]; - const double& radius = curve_param[2]; - - const geometry_msgs::Point& p0 = wp.pose.pose.position; - const geometry_msgs::Point& p1 = target_point; - double theta = fmod(atan2(p1.y - cy, p1.x - cx) - atan2(p0.y - cy, p0.x - cx), 2 * M_PI); - int sgn = (theta > 0.0) ? (1) : (-1); - if (fabs(theta) > M_PI) - { - theta -= 2 * sgn * M_PI; - } - sgn = (theta > 0.0) ? (1) : (-1); - // interport - double t = atan2(p0.y - cy, p0.x - cx); - double dist = radius * fabs(theta); - const double resample_dz = resample_interval_ * (p1.z - p0.z) / dist; - for (; dist > resample_interval_; dist -= resample_interval_) - { - if (lane->waypoints.size() == lane->waypoints.capacity()) - { - break; - } - t += sgn * resample_interval_ / radius; - const double yaw = fmod(t + sgn * M_PI / 2.0, 2 * M_PI); - wp.pose.pose.position.x = cx + radius * cos(t); - wp.pose.pose.position.y = cy + radius * sin(t); - wp.pose.pose.position.z += resample_dz; - wp.pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); - lane->waypoints.push_back(wp); - } -} - -// Three points used for curve detection (the target point is the center) -// [0] = previous point, [1] = target point, [2] = next point -const boost::circular_buffer VelocityReplanner::getCrvPointsOnResample( - const autoware_msgs::Lane& lane, const autoware_msgs::Lane& original_lane, unsigned long original_index) const -{ - unsigned long id = original_index; - boost::circular_buffer curve_point(3); - const unsigned int n = (lookup_crv_width_ - 1) / 2; - const autoware_msgs::Waypoint cp[3] = { - (lane.waypoints.size() < n) ? lane.waypoints.front() : lane.waypoints[lane.waypoints.size() - n], - original_lane.waypoints[id], - (id < original_lane.waypoints.size() - n) ? original_lane.waypoints[id + n] : original_lane.waypoints.back() - }; - for (int i = 0; i < 3; i++) - { - curve_point.push_back(cp[i].pose.pose.position); - } - return curve_point; -} - -const boost::circular_buffer VelocityReplanner::getCrvPoints(const autoware_msgs::Lane& lane, - unsigned long index) const -{ - boost::circular_buffer curve_point(3); - const unsigned int n = (lookup_crv_width_ - 1) / 2; - const unsigned long curve_index[3] = { (index < n) ? 0 : (index - n), index, (index >= lane.waypoints.size() - n) ? - (lane.waypoints.size() - 1) : - (index + n) }; - for (int i = 0; i < 3; i++) - { - curve_point.push_back(lane.waypoints[curve_index[i]].pose.pose.position); - } - return curve_point; -} - -void VelocityReplanner::createRadiusList(const autoware_msgs::Lane& lane, std::vector* curve_radius) -{ - if (lane.waypoints.empty()) - { - return; - } - curve_radius->resize(lane.waypoints.size()); - curve_radius->at(0) = curve_radius->back() = r_inf_; - - for (unsigned long i = 1; i < lane.waypoints.size() - 1; i++) - { - boost::circular_buffer curve_point = getCrvPoints(lane, i); - const std::vector curve_param = calcCurveParam(curve_point); - - // if going straight - if (curve_param.empty()) - { - curve_radius->at(i) = r_inf_; - } - // else if turnning curve - else - { - curve_radius->at(i) = (curve_param[2] > r_inf_) ? r_inf_ : curve_param[2]; - } - } -} - -const double VelocityReplanner::calcVelParam() const -{ - if (fabs(r_th_ - r_min_) < 1e-8) - { - return DBL_MAX; // error - } - return (velocity_max_ - velocity_min_) / (r_th_ - r_min_); -} - -void VelocityReplanner::createCurveList( - const std::vector& curve_radius, - std::unordered_map >* curve_list) -{ - unsigned long index = 0; - bool on_curve = false; - double radius_localmin = DBL_MAX; - for (unsigned long i = 1; i < curve_radius.size(); i++) - { - if (!on_curve && curve_radius[i] <= r_th_ && curve_radius[i - 1] > r_th_) - { - index = i; - on_curve = true; - } - else if (on_curve && curve_radius[i - 1] <= r_th_ && curve_radius[i] > r_th_) - { - on_curve = false; - if (radius_localmin < r_min_) - { - radius_localmin = r_min_; - } - (*curve_list)[index] = std::make_pair(i, radius_localmin); - radius_localmin = DBL_MAX; - } - if (!on_curve) - { - continue; - } - if (radius_localmin > curve_radius[i]) - { - radius_localmin = curve_radius[i]; - } - } -} - -void VelocityReplanner::limitVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, - double vmin, autoware_msgs::Lane* lane) -{ - if (offset > 0) - { - start_idx = (start_idx > offset) ? (start_idx - offset) : 0; - end_idx = (end_idx > offset) ? (end_idx - offset) : 0; - } - for (unsigned long idx = start_idx; idx <= end_idx; idx++) - { - if (lane->waypoints[idx].twist.twist.linear.x < vmin) - { - continue; - } - lane->waypoints[idx].twist.twist.linear.x = vmin; - } - limitAccelDecel(start_idx, lane); - limitAccelDecel(end_idx, lane); -} - -void VelocityReplanner::limitAccelDecel(const unsigned long idx, autoware_msgs::Lane* lane) -{ - const double acc[2] = { accel_limit_, decel_limit_ }; - const unsigned long end_idx[2] = { lane->waypoints.size() - idx, idx + 1 }; - const int sgn[2] = { 1, -1 }; - for (int j = 0; j < 2; j++) // [j=0]: accel_limit_process, [j=1]: decel_limit_process - { - double v = lane->waypoints[idx].twist.twist.linear.x; - unsigned long next = idx + sgn[j]; - for (unsigned long i = 1; i < end_idx[j]; i++, next += sgn[j]) - { - v = sqrt(2 * acc[j] * resample_interval_ + v * v); - if (v > velocity_max_ || v > lane->waypoints[next].twist.twist.linear.x) - { - break; - } - lane->waypoints[next].twist.twist.linear.x = v; - } - } -} - -// get curve 3-Parameter [center_x, center_y, radius] with 3 point input. If error occured, return empty vector. -const std::vector VelocityReplanner::calcCurveParam(boost::circular_buffer p) const -{ - for (int i = 0; i < 3; i++, p.push_back(p.front())) // if exception occured, change points order - { - const double d = 2 * ((p[0].y - p[2].y) * (p[0].x - p[1].x) - (p[0].y - p[1].y) * (p[0].x - p[2].x)); - if (fabs(d) < 1e-8) - { - continue; - } - const std::vector x2 = { p[0].x * p[0].x, p[1].x * p[1].x, p[2].x * p[2].x }; - const std::vector y2 = { p[0].y * p[0].y, p[1].y * p[1].y, p[2].y * p[2].y }; - const double a = y2[0] - y2[1] + x2[0] - x2[1]; - const double b = y2[0] - y2[2] + x2[0] - x2[2]; - std::vector param(3); - const double cx = param[0] = ((p[0].y - p[2].y) * a - (p[0].y - p[1].y) * b) / d; - const double cy = param[1] = ((p[0].x - p[2].x) * a - (p[0].x - p[1].x) * b) / -d; - param[2] = sqrt((cx - p[0].x) * (cx - p[0].x) + (cy - p[0].y) * (cy - p[0].y)); - return param; - } - return std::vector(); // error -} - -const double VelocityReplanner::calcPathLength(const autoware_msgs::Lane& lane) const -{ - double distance = 0.0; - for (unsigned long i = 1; i < lane.waypoints.size(); i++) - { - const geometry_msgs::Point& p0 = lane.waypoints[i - 1].pose.pose.position; - const geometry_msgs::Point& p1 = lane.waypoints[i].pose.pose.position; - tf::Vector3 tf0(p0.x, p0.y, 0.0); - tf::Vector3 tf1(p1.x, p1.y, 0.0); - distance += tf::tfDistance(tf0, tf1); - } - return distance; -} -} diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.h b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.h deleted file mode 100644 index 424f93dd505..00000000000 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/velocity_replanner.h +++ /dev/null @@ -1,89 +0,0 @@ -/* - * Copyright (c) 2018, TierIV, Inc. - - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * * Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * * Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * * Neither the name of Autoware nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*/ -#ifndef __VELOCITY_REPLANNER_H__ -#define __VELOCITY_REPLANNER_H__ - -#include -#include -#include -#include -#include -#include -#include -#include "autoware_msgs/Lane.h" - -namespace waypoint_maker -{ -class VelocityReplanner -{ -private: - ros::NodeHandle private_nh_; - double r_th_, r_min_, r_inf_; - int lookup_crv_width_; - double velocity_max_, velocity_min_; - double accel_limit_, decel_limit_, resample_interval_; - int velocity_offset_; - bool resample_mode_; - int end_point_offset_; - double vel_param_; - -public: - VelocityReplanner(); - ~VelocityReplanner(); - void initParameter(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf); - void replanLaneWaypointVel(autoware_msgs::Lane* lane); - -protected: - void resampleLaneWaypoint(const double resample_interval, autoware_msgs::Lane* lane); - void resampleOnStraight(const boost::circular_buffer& curve_point, autoware_msgs::Lane* lane); - void resampleOnCurve(const geometry_msgs::Point& target_point, const std::vector& param, - autoware_msgs::Lane* lane); - - const boost::circular_buffer getCrvPointsOnResample(const autoware_msgs::Lane& lane, - const autoware_msgs::Lane& original_lane, - unsigned long original_index) const; - const boost::circular_buffer getCrvPoints(const autoware_msgs::Lane& lane, - unsigned long index) const; - - void createRadiusList(const autoware_msgs::Lane& lane, std::vector* curve_radius); - const double calcVelParam() const; - void createCurveList(const std::vector& curve_radius, - std::unordered_map >* curve_list); - - void limitVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, double vmin, - autoware_msgs::Lane* lane); - void limitAccelDecel(const unsigned long idx, autoware_msgs::Lane* lane); - - const std::vector calcCurveParam(boost::circular_buffer point) const; - const double calcPathLength(const autoware_msgs::Lane& lane) const; -}; -} -#endif diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp index 204b15d80c1..1358c8c0e71 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.cpp @@ -31,70 +31,20 @@ WaypointLoaderNode::~WaypointLoaderNode() void WaypointLoaderNode::initPubSub() { - private_nh_.param("disable_decision_maker", disable_decision_maker_, true); + private_nh_.param("multi_lane_csv", multi_lane_csv_, "/tmp/driving_lane.csv"); // setup publisher - if (disable_decision_maker_) - { - lane_pub_ = nh_.advertise("/lane_waypoints_array", 10, true); - } - else - { - lane_pub_ = nh_.advertise("/based/lane_waypoints_array", 10, true); - } - config_sub_ = nh_.subscribe("/config/waypoint_loader", 1, &WaypointLoaderNode::configCallback, this); - output_cmd_sub_ = - nh_.subscribe("/config/waypoint_loader_output", 1, &WaypointLoaderNode::outputCommandCallback, this); -} - -void WaypointLoaderNode::initParameter(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf) -{ - // parameter settings - replanning_mode_ = conf->replanning_mode; - multi_lane_csv_ = conf->multi_lane_csv; + lane_pub_ = nh_.advertise("/based/lane_waypoints_raw", 10, true); } -void WaypointLoaderNode::configCallback(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf) +void WaypointLoaderNode::run() { - initParameter(conf); - replanner_.initParameter(conf); - multi_file_path_.clear(); parseColumns(multi_lane_csv_, &multi_file_path_); autoware_msgs::LaneArray lane_array; createLaneArray(multi_file_path_, &lane_array); lane_pub_.publish(lane_array); output_lane_array_ = lane_array; -} - -void WaypointLoaderNode::outputCommandCallback(const std_msgs::Bool::ConstPtr& output_cmd) -{ - std::vector dst_multi_file_path = multi_file_path_; - for (auto& el : dst_multi_file_path) - { - el = addFileSuffix(el, "_replanned"); - } - saveLaneArray(dst_multi_file_path, output_lane_array_); -} - -const std::string addFileSuffix(std::string file_path, std::string suffix) -{ - std::string output_file_path, tmp; - std::string directory_path, filename, extension; - - tmp = file_path; - const std::string::size_type idx_slash = tmp.find_last_of("/"); - if (idx_slash != std::string::npos) - { - tmp.erase(0, idx_slash); - } - const std::string::size_type idx_dot = tmp.find_last_of("."); - const std::string::size_type idx_dot_allpath = file_path.find_last_of("."); - if (idx_dot != std::string::npos && idx_dot != tmp.size() - 1) - { - file_path.erase(idx_dot_allpath, file_path.size() - 1); - } - file_path += suffix + ".csv"; - return file_path; + ros::spin(); } void WaypointLoaderNode::createLaneArray(const std::vector& paths, autoware_msgs::LaneArray* lane_array) @@ -103,31 +53,7 @@ void WaypointLoaderNode::createLaneArray(const std::vector& paths, { autoware_msgs::Lane lane; createLaneWaypoint(el, &lane); - if (replanning_mode_) - { - replanner_.replanLaneWaypointVel(&lane); - } - lane_array->lanes.push_back(lane); - } -} - -void WaypointLoaderNode::saveLaneArray(const std::vector& paths, - const autoware_msgs::LaneArray& lane_array) -{ - unsigned long idx = 0; - for (const auto& file_path : paths) - { - std::ofstream ofs(file_path.c_str()); - ofs << "x,y,z,yaw,velocity,change_flag,steering_flag,accel_flag,stop_flag,event_flag" << std::endl; - for (const auto& el : lane_array.lanes[idx].waypoints) - { - ofs << std::fixed << std::setprecision(4) << el.pose.pose.position.x << "," << el.pose.pose.position.y << "," - << el.pose.pose.position.z << "," << tf::getYaw(el.pose.pose.orientation) << "," - << mps2kmph(el.twist.twist.linear.x) << "," << (int)el.change_flag << "," << (int)el.wpstate.steering_state - << "," << (int)el.wpstate.accel_state << "," << (int)el.wpstate.stop_state << "," - << (int)el.wpstate.event_state << std::endl; - } - idx++; + lane_array->lanes.emplace_back(lane); } } @@ -175,7 +101,7 @@ void WaypointLoaderNode::loadWaypointsForVer1(const char* filename, std::vector< { autoware_msgs::Waypoint wp; parseWaypointForVer1(line, &wp); - wps->push_back(wp); + wps->emplace_back(wp); } size_t last = wps->size() - 1; @@ -221,7 +147,7 @@ void WaypointLoaderNode::loadWaypointsForVer2(const char* filename, std::vector< { autoware_msgs::Waypoint wp; parseWaypointForVer2(line, &wp); - wps->push_back(wp); + wps->emplace_back(wp); } } @@ -256,7 +182,7 @@ void WaypointLoaderNode::loadWaypointsForVer3(const char* filename, std::vector< { autoware_msgs::Waypoint wp; parseWaypointForVer3(line, contents, &wp); - wps->push_back(wp); + wps->emplace_back(wp); } } @@ -371,7 +297,7 @@ void parseColumns(const std::string& line, std::vector* columns) } if (!column.empty()) { - columns->push_back(column); + columns->emplace_back(column); } } } diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.h b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.h index cca5ba6e6cd..ebf945367e4 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.h +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_core.h @@ -29,7 +29,6 @@ #include #include "autoware_msgs/LaneArray.h" -#include "velocity_replanner.h" namespace waypoint_maker { @@ -60,6 +59,7 @@ class WaypointLoaderNode public: WaypointLoaderNode(); ~WaypointLoaderNode(); + void run(); private: // handle @@ -69,26 +69,18 @@ class WaypointLoaderNode // publisher & subscriber ros::Publisher lane_pub_; ros::Subscriber config_sub_; - ros::Subscriber output_cmd_sub_; // variables std::string multi_lane_csv_; - bool disable_decision_maker_; - bool replanning_mode_; - VelocityReplanner replanner_; std::vector multi_file_path_; autoware_msgs::LaneArray output_lane_array_; // initializer void initPubSub(); - void initParameter(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf); // functions - void configCallback(const autoware_config_msgs::ConfigWaypointLoader::ConstPtr& conf); - void outputCommandCallback(const std_msgs::Bool::ConstPtr& output_cmd); void createLaneWaypoint(const std::string& file_path, autoware_msgs::Lane* lane); void createLaneArray(const std::vector& paths, autoware_msgs::LaneArray* lane_array); - void saveLaneArray(const std::vector& paths, const autoware_msgs::LaneArray& lane_array); FileFormat checkFileFormat(const char* filename); bool verifyFileConsistency(const char* filename); diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_node.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_node.cpp index 7683be3c327..7b31e5ae463 100644 --- a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_node.cpp +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_loader/waypoint_loader_node.cpp @@ -23,7 +23,7 @@ int main(int argc, char** argv) { ros::init(argc, argv, "waypoint_loader"); waypoint_maker::WaypointLoaderNode wln; - ros::spin(); + wln.run(); return 0; } diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.cpp new file mode 100644 index 00000000000..184f1ea5eb7 --- /dev/null +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.cpp @@ -0,0 +1,457 @@ +/* + * Copyright 2015-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include "waypoint_replanner.h" + +namespace waypoint_maker +{ + +WaypointReplanner::WaypointReplanner() +{ +} + +WaypointReplanner::~WaypointReplanner() +{ +} + +void WaypointReplanner::initParameter(const autoware_config_msgs::ConfigWaypointReplanner::ConstPtr& conf) +{ + velocity_max_ = kmph2mps(conf->velocity_max); + velocity_min_ = kmph2mps(conf->velocity_min); + accel_limit_ = conf->accel_limit; + decel_limit_ = conf->decel_limit; + r_th_ = conf->radius_thresh; + r_min_ = conf->radius_min; + lookup_crv_width_ = 5; + resample_mode_ = conf->resample_mode; + resample_interval_ = conf->resample_interval; + replan_curve_mode_ = conf->replan_curve_mode; + replan_endpoint_mode_ = conf->replan_endpoint_mode; + overwrite_vmax_mode_ = conf->overwrite_vmax_mode; + velocity_offset_ = conf->velocity_offset; + end_point_offset_ = conf->end_point_offset; + braking_distance_ = conf->braking_distance; + r_inf_ = 10 * r_th_; + vel_param_ = calcVelParam(velocity_max_); +} + +void WaypointReplanner::changeVelSign(autoware_msgs::Lane& lane, bool positive) const +{ + const int sgn = positive ? 1 : -1; + for (auto& el : lane.waypoints) + { + el.twist.twist.linear.x = sgn * fabs(el.twist.twist.linear.x); + } +} + +int WaypointReplanner::getDirection(const autoware_msgs::Lane& lane) const +{ + if (lane.waypoints.size() < 2) + { + return 1; + } + const geometry_msgs::Pose& pose = lane.waypoints[0].pose.pose; + const geometry_msgs::Point& point = lane.waypoints[1].pose.pose.position; + const geometry_msgs::Point rlt_point(calcRelativeCoordinate(point, pose)); + return rlt_point.x < 0 ? -1 : 1; +} + +void WaypointReplanner::replanLaneWaypointVel(autoware_msgs::Lane& lane) +{ + if (lane.waypoints.empty()) + { + return; + } + const int dir = getDirection(lane); + const unsigned long last = lane.waypoints.size() - 1; + changeVelSign(lane, true); + limitVelocityByRange(0, last, 0, velocity_max_, lane); + if (resample_mode_) + { + resampleLaneWaypoint(resample_interval_, lane, dir); + } + if (replan_curve_mode_) + { + std::vector curve_radius; + KeyVal curve_list; + createRadiusList(lane, curve_radius); + createCurveList(curve_radius, curve_list); + if (overwrite_vmax_mode_) + {// set velocity_max for all_point + setVelocityByRange(0, last, 0, velocity_max_, lane); + } + // set velocity by curve + for (const auto& el : curve_list) + { + const double& radius = el.second.second; + double vmin = velocity_max_ - vel_param_ * (r_th_ - radius); + vmin = (vmin < velocity_min_) ? velocity_min_ : vmin; + limitVelocityByRange(el.first, el.second.first, velocity_offset_, vmin, lane); + } + } + // set velocity on start & end of lane + if (replan_endpoint_mode_) + { + const unsigned long zerospeed_start = last - end_point_offset_; + const unsigned long lowspeed_start = zerospeed_start - braking_distance_; + raiseVelocityByRange(0, last, 0, velocity_min_, lane); + limitVelocityByRange(0, 0, 0, velocity_min_, lane); + limitVelocityByRange(lowspeed_start, last, 0, velocity_min_, lane); + setVelocityByRange(zerospeed_start, last, 0, 0.0, lane); + } + if (dir < 0) + { + changeVelSign(lane, false); + } +} + +void WaypointReplanner::resampleLaneWaypoint(const double resample_interval, autoware_msgs::Lane& lane, int dir) +{ + if (lane.waypoints.size() < 2) + { + return; + } + autoware_msgs::Lane original_lane(lane); + lane.waypoints.clear(); + lane.waypoints.emplace_back(original_lane.waypoints[0]); + lane.waypoints.reserve(ceil(1.5 * calcPathLength(original_lane) / resample_interval_)); + + for (unsigned long i = 1; i < original_lane.waypoints.size(); i++) + { + CbufGPoint curve_point = getCrvPointsOnResample(lane, original_lane, i); + const std::vector curve_param = calcCurveParam(curve_point); + lane.waypoints.back().twist.twist = original_lane.waypoints[i - 1].twist.twist; + lane.waypoints.back().wpstate = original_lane.waypoints[i - 1].wpstate; + lane.waypoints.back().change_flag = original_lane.waypoints[i - 1].change_flag; + // if going straight + if (curve_param.empty()) + { + resampleOnStraight(curve_point, lane); + } + // else if turnning curve + else + { + resampleOnCurve(curve_point[1], curve_param, lane, dir); + } + } + lane.waypoints[0].pose.pose.orientation = lane.waypoints[1].pose.pose.orientation; + lane.waypoints.back().twist.twist = original_lane.waypoints.back().twist.twist; + lane.waypoints.back().wpstate = original_lane.waypoints.back().wpstate; + lane.waypoints.back().change_flag = original_lane.waypoints.back().change_flag; +} + +void WaypointReplanner::resampleOnStraight(const CbufGPoint& curve_point, autoware_msgs::Lane& lane) +{ + if (curve_point.size() != 3) + { + return; + } + autoware_msgs::Waypoint wp(lane.waypoints.back()); + const geometry_msgs::Point& pt = wp.pose.pose.position; + const double yaw = atan2(curve_point[2].y - curve_point[0].y, curve_point[2].x - curve_point[0].x); + wp.pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); + + const std::vector nvec = { curve_point[1].x - pt.x, curve_point[1].y - pt.y, curve_point[1].z - pt.z }; + double dist = sqrt(nvec[0] * nvec[0] + nvec[1] * nvec[1]); + std::vector resample_vec = nvec; + const double coeff = resample_interval_ / dist; + for (auto& el : resample_vec) + { + el *= coeff; + } + for (; dist > resample_interval_; dist -= resample_interval_) + { + wp.pose.pose.position.x += resample_vec[0]; + wp.pose.pose.position.y += resample_vec[1]; + wp.pose.pose.position.z += resample_vec[2]; + lane.waypoints.emplace_back(wp); + } +} + +void WaypointReplanner::resampleOnCurve(const geometry_msgs::Point& target_point, + const std::vector& curve_param, autoware_msgs::Lane& lane, int dir) +{ + if (curve_param.size() != 3) + { + return; + } + autoware_msgs::Waypoint wp(lane.waypoints.back()); + const double& cx = curve_param[0]; + const double& cy = curve_param[1]; + const double& radius = curve_param[2]; + const double reverse_angle = (dir < 0) ? M_PI : 0.0; + + const geometry_msgs::Point& p0 = wp.pose.pose.position; + const geometry_msgs::Point& p1 = target_point; + double theta = fmod(atan2(p1.y - cy, p1.x - cx) - atan2(p0.y - cy, p0.x - cx), 2 * M_PI); + int sgn = (theta > 0.0) ? (1) : (-1); + if (fabs(theta) > M_PI) + { + theta -= 2 * sgn * M_PI; + } + sgn = (theta > 0.0) ? (1) : (-1); + // interport + double t = atan2(p0.y - cy, p0.x - cx); + double dist = radius * fabs(theta); + const double resample_dz = resample_interval_ * (p1.z - p0.z) / dist; + for (; dist > resample_interval_; dist -= resample_interval_) + { + if (lane.waypoints.size() == lane.waypoints.capacity()) + { + break; + } + t += sgn * resample_interval_ / radius; + const double yaw = fmod(t + sgn * M_PI / 2.0, 2 * M_PI) + reverse_angle; + wp.pose.pose.position.x = cx + radius * cos(t); + wp.pose.pose.position.y = cy + radius * sin(t); + wp.pose.pose.position.z += resample_dz; + wp.pose.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); + lane.waypoints.emplace_back(wp); + } +} + +// Three points used for curve detection (the target point is the center) +// [0] = previous point, [1] = target point, [2] = next point +const CbufGPoint WaypointReplanner::getCrvPointsOnResample( + const autoware_msgs::Lane& lane, const autoware_msgs::Lane& original_lane, unsigned long original_index) const +{ + unsigned long id = original_index; + CbufGPoint curve_point(3); + const unsigned int n = (lookup_crv_width_ - 1) / 2; + const autoware_msgs::Waypoint cp[3] = { + (lane.waypoints.size() < n) ? lane.waypoints.front() : lane.waypoints[lane.waypoints.size() - n], + original_lane.waypoints[id], + (id < original_lane.waypoints.size() - n) ? original_lane.waypoints[id + n] : original_lane.waypoints.back() + }; + for (int i = 0; i < 3; i++) + { + curve_point.push_back(cp[i].pose.pose.position); + } + return curve_point; +} + +const CbufGPoint WaypointReplanner::getCrvPoints(const autoware_msgs::Lane& lane, unsigned long index) const +{ + CbufGPoint curve_point(3); + const unsigned int n = (lookup_crv_width_ - 1) / 2; + const unsigned long curve_index[3] = { (index < n) ? 0 : (index - n), index, (index >= lane.waypoints.size() - n) ? + (lane.waypoints.size() - 1) : + (index + n) }; + for (int i = 0; i < 3; i++) + { + curve_point.push_back(lane.waypoints[curve_index[i]].pose.pose.position); + } + return curve_point; +} + +void WaypointReplanner::createRadiusList(const autoware_msgs::Lane& lane, std::vector& curve_radius) +{ + if (lane.waypoints.empty()) + { + return; + } + curve_radius.resize(lane.waypoints.size()); + curve_radius.at(0) = curve_radius.back() = r_inf_; + + for (unsigned long i = 1; i < lane.waypoints.size() - 1; i++) + { + CbufGPoint curve_point(getCrvPoints(lane, i)); + const std::vector curve_param(calcCurveParam(curve_point)); + + // if going straight + if (curve_param.empty()) + { + curve_radius.at(i) = r_inf_; + } + // else if turnning curve + else + { + curve_radius.at(i) = (curve_param[2] > r_inf_) ? r_inf_ : curve_param[2]; + } + } +} + +const double WaypointReplanner::calcVelParam(double vmax) const +{ + if (fabs(r_th_ - r_min_) < 1e-8) + { + return DBL_MAX; // error + } + return (vmax - velocity_min_) / (r_th_ - r_min_); +} + +void WaypointReplanner::createCurveList(const std::vector& curve_radius, KeyVal& curve_list) +{ + unsigned long index = 0; + bool on_curve = false; + double radius_localmin = DBL_MAX; + for (unsigned long i = 1; i < curve_radius.size(); i++) + { + if (!on_curve && curve_radius[i] <= r_th_ && curve_radius[i - 1] > r_th_) + { + index = i; + on_curve = true; + } + else if (on_curve && curve_radius[i - 1] <= r_th_ && curve_radius[i] > r_th_) + { + on_curve = false; + if (radius_localmin < r_min_) + { + radius_localmin = r_min_; + } + curve_list[index] = std::make_pair(i, radius_localmin); + radius_localmin = DBL_MAX; + } + if (!on_curve) + { + continue; + } + if (radius_localmin > curve_radius[i]) + { + radius_localmin = curve_radius[i]; + } + } +} + + +void WaypointReplanner::setVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, + double vel, autoware_msgs::Lane& lane) +{ + if (lane.waypoints.empty()) + { + return; + } + if (offset > 0) + { + start_idx = (start_idx > offset) ? (start_idx - offset) : 0; + end_idx = (end_idx > offset) ? (end_idx - offset) : 0; + } + end_idx = (end_idx >= lane.waypoints.size()) ? lane.waypoints.size() - 1 : end_idx; + for (unsigned long idx = start_idx; idx <= end_idx; idx++) + { + lane.waypoints[idx].twist.twist.linear.x = vel; + } +} + +void WaypointReplanner::raiseVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, + double vmin, autoware_msgs::Lane& lane) +{ + if (lane.waypoints.empty()) + { + return; + } + if (offset > 0) + { + start_idx = (start_idx > offset) ? (start_idx - offset) : 0; + end_idx = (end_idx > offset) ? (end_idx - offset) : 0; + } + end_idx = (end_idx >= lane.waypoints.size()) ? lane.waypoints.size() - 1 : end_idx; + for (unsigned long idx = start_idx; idx <= end_idx; idx++) + { + if (lane.waypoints[idx].twist.twist.linear.x >= vmin) + { + continue; + } + lane.waypoints[idx].twist.twist.linear.x = vmin; + } +} + +void WaypointReplanner::limitVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, + double vmin, autoware_msgs::Lane& lane) +{ + if (lane.waypoints.empty()) + { + return; + } + if (offset > 0) + { + start_idx = (start_idx > offset) ? (start_idx - offset) : 0; + end_idx = (end_idx > offset) ? (end_idx - offset) : 0; + } + end_idx = (end_idx >= lane.waypoints.size()) ? lane.waypoints.size() - 1 : end_idx; + for (unsigned long idx = start_idx; idx <= end_idx; idx++) + { + if (lane.waypoints[idx].twist.twist.linear.x < vmin) + { + continue; + } + lane.waypoints[idx].twist.twist.linear.x = vmin; + } + limitAccelDecel(start_idx, lane); + limitAccelDecel(end_idx, lane); +} + +void WaypointReplanner::limitAccelDecel(const unsigned long idx, autoware_msgs::Lane& lane) +{ + const double acc[2] = { accel_limit_, decel_limit_ }; + const unsigned long end_idx[2] = { lane.waypoints.size() - idx, idx + 1 }; + const int sgn[2] = { 1, -1 }; + for (int j = 0; j < 2; j++) // [j=0]: accel_limit_process, [j=1]: decel_limit_process + { + double v = lane.waypoints[idx].twist.twist.linear.x; + unsigned long next = idx + sgn[j]; + for (unsigned long i = 1; i < end_idx[j]; i++, next += sgn[j]) + { + const geometry_msgs::Point& p0 = lane.waypoints[next - sgn[j]].pose.pose.position; + const geometry_msgs::Point& p1 = lane.waypoints[next].pose.pose.position; + const double dist = std::hypot(p0.x - p1.x, p0.y - p1.y); + v = sqrt(2 * acc[j] * dist + v * v); + if (v > velocity_max_ || v > lane.waypoints[next].twist.twist.linear.x) + { + break; + } + lane.waypoints[next].twist.twist.linear.x = v; + } + } +} + +// get curve 3-Parameter [center_x, center_y, radius] with 3 point input. If error occured, return empty vector. +const std::vector WaypointReplanner::calcCurveParam(CbufGPoint p) const +{ + for (int i = 0; i < 3; i++, p.push_back(p.front())) // if exception occured, change points order + { + const double d = 2 * ((p[0].y - p[2].y) * (p[0].x - p[1].x) - (p[0].y - p[1].y) * (p[0].x - p[2].x)); + if (fabs(d) < 1e-8) + { + continue; + } + const std::vector x2 = { p[0].x * p[0].x, p[1].x * p[1].x, p[2].x * p[2].x }; + const std::vector y2 = { p[0].y * p[0].y, p[1].y * p[1].y, p[2].y * p[2].y }; + const double a = y2[0] - y2[1] + x2[0] - x2[1]; + const double b = y2[0] - y2[2] + x2[0] - x2[2]; + std::vector param(3); + const double cx = param[0] = ((p[0].y - p[2].y) * a - (p[0].y - p[1].y) * b) / d; + const double cy = param[1] = ((p[0].x - p[2].x) * a - (p[0].x - p[1].x) * b) / -d; + param[2] = sqrt((cx - p[0].x) * (cx - p[0].x) + (cy - p[0].y) * (cy - p[0].y)); + return param; + } + return std::vector(); // error +} + +const double WaypointReplanner::calcPathLength(const autoware_msgs::Lane& lane) const +{ + double distance = 0.0; + for (unsigned long i = 1; i < lane.waypoints.size(); i++) + { + const geometry_msgs::Point& p0 = lane.waypoints[i - 1].pose.pose.position; + const geometry_msgs::Point& p1 = lane.waypoints[i].pose.pose.position; + tf::Vector3 tf0(p0.x, p0.y, 0.0); + tf::Vector3 tf1(p1.x, p1.y, 0.0); + distance += tf::tfDistance(tf0, tf1); + } + return distance; +} + +}; diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.h b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.h new file mode 100644 index 00000000000..f88119cf0de --- /dev/null +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner.h @@ -0,0 +1,85 @@ +/* + * Copyright 2015-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#ifndef __WAYPOINT_REPLANNER_H__ +#define __WAYPOINT_REPLANNER_H__ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace waypoint_maker +{ +typedef std::unordered_map> KeyVal; +typedef boost::circular_buffer CbufGPoint; + +class WaypointReplanner +{ +private: + double r_th_, r_min_, r_inf_; + int lookup_crv_width_; + double velocity_max_, velocity_min_; + double accel_limit_, decel_limit_, resample_interval_; + int velocity_offset_; + bool resample_mode_, replan_curve_mode_, replan_endpoint_mode_; + int end_point_offset_, braking_distance_; + double vel_param_; + bool overwrite_vmax_mode_; + +public: + WaypointReplanner(); + ~WaypointReplanner(); + void initParameter(const autoware_config_msgs::ConfigWaypointReplanner::ConstPtr& conf); + void replanLaneWaypointVel(autoware_msgs::Lane& lane); + +protected: + void changeVelSign(autoware_msgs::Lane& lane, bool positive) const; + int getDirection(const autoware_msgs::Lane& lane) const; + void resampleLaneWaypoint(const double resample_interval, autoware_msgs::Lane& lane, int dir); + void resampleOnStraight(const CbufGPoint& curve_point, autoware_msgs::Lane& lane); + void resampleOnCurve(const geometry_msgs::Point& target_point, + const std::vector& param,autoware_msgs::Lane& lane, int dir); + + const CbufGPoint getCrvPointsOnResample(const autoware_msgs::Lane& lane, + const autoware_msgs::Lane& original_lane, unsigned long original_index) const; + const CbufGPoint getCrvPoints(const autoware_msgs::Lane& lane, unsigned long index) const; + + void createRadiusList(const autoware_msgs::Lane& lane, std::vector& curve_radius); + const double calcVelParam(double vmax) const; + void createCurveList(const std::vector& curve_radius, KeyVal& curve_list); + void createVmaxList(const autoware_msgs::Lane& lane, const KeyVal &curve_list, + unsigned long offset, KeyVal &vmax_list); + double searchVmaxByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, + const autoware_msgs::Lane &lane) const; + void setVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, double vel, + autoware_msgs::Lane& lane); + void raiseVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, + double vmin, autoware_msgs::Lane& lane); + + void limitVelocityByRange(unsigned long start_idx, unsigned long end_idx, unsigned int offset, double vmin, + autoware_msgs::Lane& lane); + void limitAccelDecel(const unsigned long idx, autoware_msgs::Lane& lane); + + const std::vector calcCurveParam(CbufGPoint point) const; + const double calcPathLength(const autoware_msgs::Lane& lane) const; +}; +} +#endif diff --git a/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner_node.cpp b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner_node.cpp new file mode 100644 index 00000000000..3bee36e5ff0 --- /dev/null +++ b/ros/src/computing/planning/motion/packages/waypoint_maker/nodes/waypoint_replanner/waypoint_replanner_node.cpp @@ -0,0 +1,109 @@ +/* + * Copyright 2015-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include +#include +#include "waypoint_replanner.h" + +namespace waypoint_maker +{ +class WaypointReplannerNode +{ +public: + WaypointReplannerNode(); + ~WaypointReplannerNode(); +private: + ros::NodeHandle nh_; + std::map lane_pub_; + ros::Subscriber lane_sub_, config_sub_; + bool replanning_mode_, realtime_tuning_mode_; + WaypointReplanner replanner_; + autoware_msgs::LaneArray lane_array_; + bool withoutDecisionMaker(); + void replan(autoware_msgs::LaneArray &lane_array); + void publishLaneArray(); + void laneCallback(const autoware_msgs::LaneArray::ConstPtr& lane_array); + void configCallback(const autoware_config_msgs::ConfigWaypointReplanner::ConstPtr& conf); +}; + +WaypointReplannerNode::WaypointReplannerNode() : replanning_mode_(false) +{ + lane_pub_["with_decision"] = nh_.advertise("/based/lane_waypoints_array", 10, true); + lane_pub_["without_decision"] = nh_.advertise("/lane_waypoints_array", 10, true); + lane_sub_ = nh_.subscribe("/based/lane_waypoints_raw", 1, &WaypointReplannerNode::laneCallback, this); + config_sub_ = nh_.subscribe("/config/waypoint_replanner", 1, &WaypointReplannerNode::configCallback, this); +} + +WaypointReplannerNode::~WaypointReplannerNode() +{ +} + +void WaypointReplannerNode::replan(autoware_msgs::LaneArray& lane_array) +{ + for (auto &el : lane_array.lanes) + { + replanner_.replanLaneWaypointVel(el); + } +} + +bool WaypointReplannerNode::withoutDecisionMaker() +{ + std::vector node_list; + ros::master::getNodes(node_list); + return (std::find(node_list.begin(), node_list.end(), "/decision_maker") == node_list.end()); +} + +void WaypointReplannerNode::publishLaneArray() +{ + autoware_msgs::LaneArray array(lane_array_); + if (replanning_mode_) + { + replan(array); + } + lane_pub_["with_decision"].publish(array); + if (withoutDecisionMaker()) + { + lane_pub_["without_decision"].publish(array); + } +} + +void WaypointReplannerNode::laneCallback(const autoware_msgs::LaneArray::ConstPtr& lane_array) +{ + lane_array_ = *lane_array; + publishLaneArray(); +} + +void WaypointReplannerNode::configCallback(const autoware_config_msgs::ConfigWaypointReplanner::ConstPtr& conf) +{ + replanning_mode_ = conf->replanning_mode; + realtime_tuning_mode_ = conf->realtime_tuning_mode; + replanner_.initParameter(conf); + if (lane_array_.lanes.empty() || !realtime_tuning_mode_) + { + return; + } + publishLaneArray(); +} + +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "waypoint_replanner"); + waypoint_maker::WaypointReplannerNode wr; + ros::spin(); + + return 0; +} diff --git a/ros/src/data/packages/map_file/CMakeLists.txt b/ros/src/data/packages/map_file/CMakeLists.txt index 82019222360..c7cb61eb68b 100644 --- a/ros/src/data/packages/map_file/CMakeLists.txt +++ b/ros/src/data/packages/map_file/CMakeLists.txt @@ -9,33 +9,33 @@ find_package(autoware_msgs REQUIRED) find_package(vector_map REQUIRED) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - visualization_msgs - geometry_msgs - tf - pcl_ros - tf2_ros - tf2_geometry_msgs - autoware_msgs - vector_map -) + roscpp + std_msgs + visualization_msgs + geometry_msgs + tf + pcl_ros + tf2_ros + tf2_geometry_msgs + autoware_msgs + vector_map + ) find_package(PCL REQUIRED COMPONENTS io) # See: https://github.com/ros-perception/perception_pcl/blob/lunar-devel/pcl_ros/CMakeLists.txt#L10-L22 -if(NOT "${PCL_LIBRARIES}" STREQUAL "") - # FIXME: this causes duplicates and not found error in ubuntu:zesty - list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so") - - # For debian: https://github.com/ros-perception/perception_pcl/issues/139 - list(REMOVE_ITEM PCL_IO_LIBRARIES - "vtkGUISupportQt" - "vtkGUISupportQtOpenGL" - "vtkGUISupportQtSQL" - "vtkGUISupportQtWebkit" - "vtkViewsQt" - "vtkRenderingQt") -endif() +if (NOT "${PCL_LIBRARIES}" STREQUAL "") + # FIXME: this causes duplicates and not found error in ubuntu:zesty + list(REMOVE_ITEM PCL_LIBRARIES "/usr/lib/libmpi.so") + + # For debian: https://github.com/ros-perception/perception_pcl/issues/139 + list(REMOVE_ITEM PCL_IO_LIBRARIES + "vtkGUISupportQt" + "vtkGUISupportQtOpenGL" + "vtkGUISupportQtSQL" + "vtkGUISupportQtWebkit" + "vtkViewsQt" + "vtkRenderingQt") +endif () find_package(CURL REQUIRED) @@ -50,17 +50,17 @@ catkin_package( ########### include_directories( - include - ${vector_map_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${autoware_msgs_INCLUDE_DIRS} - ${PCL_IO_INCLUDE_DIRS} - ${CURL_INCLUDE_DIRS} + include + ${vector_map_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} + ${PCL_IO_INCLUDE_DIRS} + ${CURL_INCLUDE_DIRS} ) add_library(get_file - lib/map_file/get_file.cpp - ) + lib/map_file/get_file.cpp + ) target_link_libraries(get_file ${CURL_LIBRARIES}) add_executable(points_map_loader nodes/points_map_loader/points_map_loader.cpp) @@ -75,11 +75,20 @@ target_link_libraries(points_map_filter ${catkin_LIBRARIES}) add_dependencies(points_map_filter ${catkin_EXPORTED_TARGETS}) ## Install executables and/or libraries -install(TARGETS get_file points_map_loader vector_map_loader - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +install(TARGETS + get_file + points_map_loader + vector_map_loader + points_map_filter + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) ## Install project namespaced headers install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/data/packages/obj_db/CMakeLists.txt b/ros/src/data/packages/obj_db/CMakeLists.txt index 3b23d901f7d..470fe41b78a 100644 --- a/ros/src/data/packages/obj_db/CMakeLists.txt +++ b/ros/src/data/packages/obj_db/CMakeLists.txt @@ -51,3 +51,16 @@ set_target_properties(obj_uploader add_executable(can_uploader nodes/can_uploader/can_uploader.cpp) target_link_libraries(can_uploader ${catkin_LIBRARIES} obj_db) add_dependencies(can_uploader ${catkin_EXPORTED_TARGETS}) + +install(TARGETS + can_uploader + obj_uploader + obj_db + obj_downloader + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + + +install(DIRECTORY include + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) diff --git a/ros/src/data/packages/pos_db/CMakeLists.txt b/ros/src/data/packages/pos_db/CMakeLists.txt index d5d60cb7854..c3b6f1292f8 100644 --- a/ros/src/data/packages/pos_db/CMakeLists.txt +++ b/ros/src/data/packages/pos_db/CMakeLists.txt @@ -75,10 +75,14 @@ if (LIBSSH2_FOUND) pos_uploader ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY include DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) + + install(FILES model/prius_model.dae + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/model/ + ) else() message("LibSSH2 not found. pos_db package won't be built.") endif() diff --git a/ros/src/driveworks/packages/autoware_driveworks_gmsl_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_gmsl_interface/CMakeLists.txt index b4649a9374f..cd50c3bac20 100644 --- a/ros/src/driveworks/packages/autoware_driveworks_gmsl_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_gmsl_interface/CMakeLists.txt @@ -85,13 +85,18 @@ if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64" AND CUDA_FOUND) RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) - install(FILES - nodelet_gmsl_camera.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) + + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) else() find_package(catkin REQUIRED) catkin_package() message("gmsl_camera driver will not be built. CUDA was not found.") endif() + +install(FILES + nodelet_gmsl_camera.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) \ No newline at end of file diff --git a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt index b69ec552fee..031059681e8 100755 --- a/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt +++ b/ros/src/driveworks/packages/autoware_driveworks_interface/CMakeLists.txt @@ -96,6 +96,20 @@ if ("${CMAKE_SYSTEM_PROCESSOR}" STREQUAL "aarch64" AND CUDA_FOUND) # Use configure_file instead of file(COPY ...) so that if the input file # changes, it gets copied to the DEVEL space anyway configure_file(lib/libautoware_driveworks.so ${CATKIN_DEVEL_PREFIX}/lib/libautoware_driveworks.so COPYONLY) + + install(TARGETS tensorrt_interface gmsl_interface + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + + install(FILES + lib/libautoware_driveworks.so + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/lib/libautoware_driveworks.so + ) ELSE() message("autoware_driveworks_interface won't be built, CUDA and aarch64 are required.") ENDIF () diff --git a/ros/src/msgs/autoware_config_msgs/CMakeLists.txt b/ros/src/msgs/autoware_config_msgs/CMakeLists.txt index d4761d895a2..1b967b36824 100644 --- a/ros/src/msgs/autoware_config_msgs/CMakeLists.txt +++ b/ros/src/msgs/autoware_config_msgs/CMakeLists.txt @@ -42,7 +42,7 @@ add_message_files( ConfigVelocitySet.msg ConfigVoxelGridFilter.msg ConfigWaypointFollower.msg - ConfigWaypointLoader.msg + ConfigWaypointReplanner.msg ) ## Generate added messages and services with any dependencies listed here diff --git a/ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointLoader.msg b/ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointReplanner.msg similarity index 67% rename from ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointLoader.msg rename to ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointReplanner.msg index 94ea67b907a..4e885c40fb0 100644 --- a/ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointLoader.msg +++ b/ros/src/msgs/autoware_config_msgs/msg/ConfigWaypointReplanner.msg @@ -10,3 +10,8 @@ bool resample_mode float32 resample_interval int32 velocity_offset int32 end_point_offset +int32 braking_distance +bool replan_curve_mode +bool replan_endpoint_mode +bool overwrite_vmax_mode +bool realtime_tuning_mode diff --git a/ros/src/common/libs/diagnostics_lib/diag_msgs/CMakeLists.txt b/ros/src/msgs/autoware_system_msgs/CMakeLists.txt similarity index 53% rename from ros/src/common/libs/diagnostics_lib/diag_msgs/CMakeLists.txt rename to ros/src/msgs/autoware_system_msgs/CMakeLists.txt index b25afb2d0bf..f0b97cbc97b 100644 --- a/ros/src/common/libs/diagnostics_lib/diag_msgs/CMakeLists.txt +++ b/ros/src/msgs/autoware_system_msgs/CMakeLists.txt @@ -1,28 +1,33 @@ cmake_minimum_required(VERSION 2.8.3) -project(diag_msgs) - +project(autoware_system_msgs) +add_compile_options(-std=c++11) find_package(catkin REQUIRED COMPONENTS message_generation std_msgs - message_runtime + rosgraph_msgs ) add_message_files( FILES - diag_error.msg - diag_node_errors.msg - diag.msg - ) + DiagnosticStatus.msg + DiagnosticStatusArray.msg + SystemStatus.msg + NodeStatus.msg + HardwareStatus.msg +) -generate_messages( - DEPENDENCIES - std_msgs) +generate_messages(DEPENDENCIES + std_msgs + rosgraph_msgs +) catkin_package( CATKIN_DEPENDS - std_msgs message_runtime + message_runtime + std_msgs + rosgraph_msgs ) foreach(dir msg) diff --git a/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatus.msg b/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatus.msg new file mode 100755 index 00000000000..4abe2e1489d --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatus.msg @@ -0,0 +1,20 @@ +Header header + +string key + +string value + +string description + +uint8 UNDEFINED = 0 + +uint8 type +uint8 OUT_OF_RANGE = 1 +uint8 RATE_IS_SLOW = 2 +uint8 HARDWARE = 255 + +uint8 level +uint8 OK = 1 +uint8 WARN = 2 +uint8 ERROR = 3 +uint8 FATAL = 4 \ No newline at end of file diff --git a/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatusArray.msg b/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatusArray.msg new file mode 100755 index 00000000000..f0ea4636beb --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/msg/DiagnosticStatusArray.msg @@ -0,0 +1 @@ +autoware_system_msgs/DiagnosticStatus[] status \ No newline at end of file diff --git a/ros/src/msgs/autoware_system_msgs/msg/HardwareStatus.msg b/ros/src/msgs/autoware_system_msgs/msg/HardwareStatus.msg new file mode 100755 index 00000000000..4a408ef8f08 --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/msg/HardwareStatus.msg @@ -0,0 +1,3 @@ +std_msgs/Header header +string hardware_name +autoware_system_msgs/DiagnosticStatusArray[] status \ No newline at end of file diff --git a/ros/src/msgs/autoware_system_msgs/msg/NodeStatus.msg b/ros/src/msgs/autoware_system_msgs/msg/NodeStatus.msg new file mode 100755 index 00000000000..efd420a4108 --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/msg/NodeStatus.msg @@ -0,0 +1,4 @@ +Header header +string node_name +bool node_activated +autoware_system_msgs/DiagnosticStatusArray[] status \ No newline at end of file diff --git a/ros/src/msgs/autoware_system_msgs/msg/SystemStatus.msg b/ros/src/msgs/autoware_system_msgs/msg/SystemStatus.msg new file mode 100755 index 00000000000..0b46b9ea6b0 --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/msg/SystemStatus.msg @@ -0,0 +1,6 @@ +Header header +string[] available_nodes +bool detect_too_match_warning +autoware_system_msgs/NodeStatus[] node_status +autoware_system_msgs/HardwareStatus[] hardware_status +rosgraph_msgs/TopicStatistics[] topic_statistics \ No newline at end of file diff --git a/ros/src/msgs/autoware_system_msgs/package.xml b/ros/src/msgs/autoware_system_msgs/package.xml new file mode 100644 index 00000000000..42c95edc889 --- /dev/null +++ b/ros/src/msgs/autoware_system_msgs/package.xml @@ -0,0 +1,25 @@ + + + autoware_system_msgs + 0.0.0 + The autoware_system_msgs package + + Masaya Kataoka + + BSD + + catkin + message_generation + std_msgs + rosgraph_msgs + + std_msgs + rosgraph_msgs + + std_msgs + rosgraph_msgs + message_runtime + + + + diff --git a/ros/src/msgs/lgsvl_msgs b/ros/src/msgs/lgsvl_msgs index da97879fb78..a80edfbd988 160000 --- a/ros/src/msgs/lgsvl_msgs +++ b/ros/src/msgs/lgsvl_msgs @@ -1 +1 @@ -Subproject commit da97879fb78e1df3b84a60572d90faa6aea4189b +Subproject commit a80edfbd9880379af8a5e8dc0a90d6432494c9cd diff --git a/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt index 9f4e5f547b4..ea92b4a3a5d 100644 --- a/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/baumer/CMakeLists.txt @@ -25,32 +25,44 @@ set(BAUMER_LIB_DIR "$ENV{HOME}/Baumer/BaumerGAPI/Components/Bin/Systems/GigE") if(EXISTS "${BAUMER_INC_DIR}") -add_definitions(-D_GNULINUX) + add_definitions(-D_GNULINUX) -include_directories(include - ${catkin_INCLUDE_DIRS} - ${BAUMER_INC_DIR} - nodes/vlg22/src/ - ${OpenCV_INCLUDE_DIRS} -) + include_directories(include + ${catkin_INCLUDE_DIRS} + ${BAUMER_INC_DIR} + nodes/vlg22/src/ + ${OpenCV_INCLUDE_DIRS} + ) -link_directories("${BAUMER_LIB_DIR}") + link_directories("${BAUMER_LIB_DIR}") -add_executable(${PROJECT_NAME}_node - nodes/vlg22/src/vlg22_main.cpp - nodes/vlg22/src/bgapi_init.cpp -) + add_executable(${PROJECT_NAME}_node + nodes/vlg22/src/vlg22_main.cpp + nodes/vlg22/src/bgapi_init.cpp + ) -target_link_libraries(${PROJECT_NAME}_node - bgapi - ${OpenCV_LIBS} - ${catkin_LIBRARIES} -) + target_link_libraries(${PROJECT_NAME}_node + bgapi + ${OpenCV_LIBS} + ${catkin_LIBRARIES} + ) -add_custom_command(TARGET ${PROJECT_NAME}_node POST_BUILD - COMMAND ${CMAKE_COMMAND} -E copy_directory - ${BAUMER_LIB_DIR} $ -) + add_custom_command(TARGET ${PROJECT_NAME}_node POST_BUILD + COMMAND ${CMAKE_COMMAND} -E copy_directory + ${BAUMER_LIB_DIR} $ + ) + + + install(TARGETS + ${PROJECT_NAME}_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + + install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) else() message("'BGGAPI' is not installed. 'vlg22c_cam' will not be built.") diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/pointgrey/CMakeLists.txt index 41e691eaade..9141a760f12 100644 --- a/ros/src/sensing/drivers/camera/packages/pointgrey/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/CMakeLists.txt @@ -3,15 +3,18 @@ cmake_minimum_required(VERSION 2.8.12) project(autoware_pointgrey_drivers) find_package(catkin REQUIRED COMPONENTS - autoware_build_flags - roscpp - std_msgs - message_generation - tf + autoware_build_flags + roscpp + std_msgs + message_generation + tf + sensor_msgs + camera_info_manager + image_transport + cv_bridge ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") - find_package(OpenCV REQUIRED) catkin_package() @@ -20,54 +23,107 @@ catkin_package() ## Build ## ########### -if(EXISTS "/usr/include/flycapture") - include_directories( - /usr/include/flycapture - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ) - add_executable(grasshopper3_camera - nodes/grasshopper3/grasshopper3.cpp - ) +if (EXISTS "/usr/include/flycapture") + include_directories( + /usr/include/flycapture + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + ) + add_executable(grasshopper3_camera + nodes/grasshopper3/grasshopper3.cpp + ) + + target_link_libraries(grasshopper3_camera + ${catkin_LIBRARIES} + ${OpenCV_LIBS} + flycapture + ) + install(TARGETS + grasshopper3_camera + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + install(FILES + scripts/grasshopper3.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + ) + +else () + message("'FlyCapture SDK' is not installed. 'grasshopper3_camera' will not be built.") +endif () + + +if (EXISTS "/usr/include/ladybug") + + if (${CMAKE_VERSION} VERSION_LESS "3.1.3") + include(FindXercesC.cmake) + else () + find_package(XercesC REQUIRED) + endif () + + include_directories( + /usr/include/ladybug + nodes/ladybug + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${XercesC_INCLUDE_DIRS} + ) + + add_executable(ladybug_camera + nodes/ladybug/ladybug.cpp + ) - target_link_libraries(grasshopper3_camera + target_link_libraries(ladybug_camera ${catkin_LIBRARIES} ${OpenCV_LIBS} + ${XercesC_LIBRARIES} flycapture + ladybug ) + + install(TARGETS + ladybug_camera + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + install(FILES + scripts/ladybug.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + ) else() - message("'FlyCapture SDK' is not installed. 'grasshopper3_camera' will not be built.") + message("'SDK for Ladybug' is not installed. 'ladybug_camera' will not be built.") endif() - -if(EXISTS "/usr/include/ladybug") - - if(${CMAKE_VERSION} VERSION_LESS "3.1.3") - include(FindXercesC.cmake) - else() - find_package(XercesC REQUIRED) - endif() - +if(EXISTS "/usr/include/spinnaker") + include(FindSpinnaker.cmake) include_directories( - /usr/include/ladybug - nodes/ladybug + nodes/spinnaker + ${Spinnaker_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} - ${XercesC_INCLUDE_DIRS} ) - add_executable(ladybug_camera - nodes/ladybug/ladybug.cpp + add_executable(spinnaker_camera + nodes/spinnaker/spinnaker.cpp ) - target_link_libraries(ladybug_camera + target_link_libraries(spinnaker_camera ${catkin_LIBRARIES} ${OpenCV_LIBS} - ${XercesC_LIBRARIES} - flycapture - ladybug + ${Spinnaker_LIBRARIES} ) + install(TARGETS spinnaker_camera + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + install(FILES + scripts/spinnaker.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + ) else() - message("'SDK for Ladybug' is not installed. 'ladybug_camera' will not be built.") + message("'SDK for Spinnaker' is not installed. 'spinnaker_camera' will not be built.") endif() diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/FindSpinnaker.cmake b/ros/src/sensing/drivers/camera/packages/pointgrey/FindSpinnaker.cmake new file mode 100644 index 00000000000..bb4502b0dc1 --- /dev/null +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/FindSpinnaker.cmake @@ -0,0 +1,20 @@ +unset(Spinnaker_FOUND) +unset(Spinnaker_INCLUDE_DIRS) +unset(Spinnaker_LIBRARIES) + +find_path(Spinnaker_INCLUDE_DIRS NAMES + Spinnaker.h + PATHS + /usr/include/spinnaker/ + /usr/local/include/spinnaker/ +) + +find_library(Spinnaker_LIBRARIES NAMES Spinnaker + PATHS + /usr/lib + /usr/local/lib +) + +if (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES) + set(Spinnaker_FOUND 1) +endif (Spinnaker_INCLUDE_DIRS AND Spinnaker_LIBRARIES) \ No newline at end of file diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/README.md b/ros/src/sensing/drivers/camera/packages/pointgrey/README.md index cf6ac0864f8..5f60e65cad0 100644 --- a/ros/src/sensing/drivers/camera/packages/pointgrey/README.md +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/README.md @@ -4,7 +4,7 @@ This package allows the capture of an image stream from Point Grey cameras. It has been tested successfully with Grasshopper3 and LadyBug5 devices on both Ubuntu 14.04 and 16.04. ## Requirements -* FlyCapture SDK provided by Point Grey. +* FlyCapture SDK or Spinnaker SDK provided by Point Grey. --- @@ -72,3 +72,22 @@ Execute from `Autoware/ros` base path. |`WIDTH`|*integer*|Image width of the stream (Default 640).| |`HEIGHT`|*integer*|Image height of the camera (Default 512).| |`NS`|*string*|Namespace to add as prefix. Default `flir_adk`.| + +## Spinnaker + +### How to launch +* From a sourced terminal:\ +`roslaunch autoware_pointgrey_drivers spinnaker.launch` +* From Runtime manager:\ +Sensing Tab -> Cameras -> PointGrey Spinnaker + +### Parameters available + +|Parameter| Type| Description| +----------|-----|-------- +|`fps`|*integer* |Frame per second (Default 60).| +|`width`|*integer*|Image width of the stream (Default 1440).| +|`height`|*integer*|Image height of the camera (Default 1080).| +|`dltl`|*integer*|DeviceLinkThroughputLimit (Default 100000000).| + + diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/nodes/spinnaker/spinnaker.cpp b/ros/src/sensing/drivers/camera/packages/pointgrey/nodes/spinnaker/spinnaker.cpp new file mode 100644 index 00000000000..e1190d8ec7b --- /dev/null +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/nodes/spinnaker/spinnaker.cpp @@ -0,0 +1,336 @@ + +/* + * Copyright 2015-2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "SpinGenApi/SpinnakerGenApi.h" +#include "Spinnaker.h" + +using namespace Spinnaker; +using namespace Spinnaker::GenApi; +using namespace Spinnaker::GenICam; +using namespace std; + +#define __APP_NAME__ "autoware_spinnaker" + +class SpinnakerCamera +{ +public: + SpinnakerCamera(); + ~SpinnakerCamera(); + void spin(); + void publish_image(int); + +private: + ros::NodeHandle nh_, private_nh_; + image_transport::ImageTransport* image_transport_; + std::vector image_pubs_; + Spinnaker::SystemPtr system_; + Spinnaker::CameraList camList_; + CameraPtr* pCamList_; + + // config + int width_; + int height_; + double fps_; + int dltl_; + std::string format_; + + Spinnaker::GenApi::INodeMap* node_map_; +}; + +SpinnakerCamera::SpinnakerCamera() + : nh_() + , private_nh_("~") + , system_(Spinnaker::System::GetInstance()) + , camList_(system_->GetCameras()) + , width_(0) + , height_(0) + , fps_(0) + , dltl_(0) +{ + private_nh_.param("width", width_, 1440); + private_nh_.param("height", height_, 1080); + private_nh_.param("fps", fps_, 60.0); + private_nh_.param("dltl", dltl_, 100000000); + unsigned int num_cameras = camList_.GetSize(); + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Number of cameras detected: " << num_cameras); + if (num_cameras < 1) + { + ROS_ERROR("[%s] Error: This program requires at least 1 camera.", __APP_NAME__); + camList_.Clear(); + system_->ReleaseInstance(); + std::exit(-1); + } + image_transport_ = new image_transport::ImageTransport(nh_); + pCamList_ = new CameraPtr[num_cameras]; + + try + { + vector strSerialNumbers(camList_.GetSize()); + for (int i = 0; i < camList_.GetSize(); i++) + { + pCamList_[i] = camList_.GetByIndex(i); + pCamList_[i]->Init(); + node_map_ = &pCamList_[i]->GetNodeMap(); + // config + pCamList_[i]->Width.SetValue(width_); + pCamList_[i]->Height.SetValue(height_); + CEnumerationPtr ptrDeviceType = pCamList_[i]->GetTLDeviceNodeMap().GetNode("DeviceType"); + + if (IsAvailable(ptrDeviceType) && ptrDeviceType->GetCurrentEntry()->GetSymbolic() == "GEV") + { + /////////////////////// DeviceLinkThroughputLimit ///////////////////////////// + CIntegerPtr ptrDeviceLinkThroughputLimit = node_map_->GetNode("DeviceLinkThroughputLimit"); + if (IsAvailable(ptrDeviceLinkThroughputLimit) && IsWritable(ptrDeviceLinkThroughputLimit)) + { + ROS_INFO_STREAM("[" << __APP_NAME__ + << "] DeviceLinkThroughputLimit: " << ptrDeviceLinkThroughputLimit->GetValue()); + ptrDeviceLinkThroughputLimit->SetValue(dltl_); + } + else + { + ROS_WARN("[%s] This camera does not support DeviceLinkThroughputLimit, using default value.", __APP_NAME__); + } + } + + /////////////////////// FrameRate ///////////////////////////// + CFloatPtr ptrAcquisitionFrameRate = node_map_->GetNode("AcquisitionFrameRate"); + CBooleanPtr ptrAcquisitionFrameRateEnable = node_map_->GetNode("AcquisitionFrameRateEnable"); + CEnumerationPtr ptrAcquisitionFrameRateAuto = pCamList_[i]->GetNodeMap().GetNode("AcquisitionFrameRateAuto"); + if (IsAvailable(ptrAcquisitionFrameRateAuto) && IsWritable(ptrAcquisitionFrameRateAuto)) + { + CEnumEntryPtr ptrAcquisitionFrameRateAutoOff = ptrAcquisitionFrameRateAuto->GetEntryByName("Off"); + if (IsAvailable(ptrAcquisitionFrameRateAutoOff) && IsReadable(ptrAcquisitionFrameRateAutoOff)) + { + int64_t FrameRateAutoOff = ptrAcquisitionFrameRateAutoOff->GetValue(); + ptrAcquisitionFrameRateAuto->SetIntValue(FrameRateAutoOff); + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Updated FrameRateAuto to Off"); + } + else + { + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Cannot update FrameRateAuto to Off"); + } + } + if (IsAvailable(ptrAcquisitionFrameRateEnable) && IsWritable(ptrAcquisitionFrameRateEnable)) + { + ptrAcquisitionFrameRateEnable->SetValue(true); + } + if (IsAvailable(ptrAcquisitionFrameRate) && IsWritable(ptrAcquisitionFrameRate)) + { + ptrAcquisitionFrameRate->SetValue(fps_); + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Set FrameRate to " << fps_); + } + else + { + ROS_WARN("[%s] This camera does not support AcquisitionFrameRate, using default value.", __APP_NAME__); + } + + /////////////////////// PixelFormat ///////////////////////////// + CEnumerationPtr ptrPixelFormat = node_map_->GetNode("PixelFormat"); + if (IsAvailable(ptrPixelFormat) && IsWritable(ptrPixelFormat)) + { + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Current pixel Format" + << ptrPixelFormat->GetCurrentEntry()->GetSymbolic()); + /*gcstring pixel_format = format_.c_str(); + + CEnumEntryPtr ptrPixelFormatSetup = ptrPixelFormat->GetEntryByName(pixel_format); + if (IsAvailable(ptrPixelFormatSetup) && IsReadable(ptrPixelFormatSetup)) + { + int64_t pixelFormatSetup = ptrPixelFormatSetup->GetValue(); + ptrPixelFormat->SetIntValue(ptrPixelFormatSetup); + + ROS_INFO_STREAM("[" << __APP_NAME__ << "] Pixel format set to " << + ptrPixelFormat->GetCurrentEntry()->GetSymbolic()); + } + else + { + ROS_WARN("[%s] %s pixel format not available. Using default.", __APP_NAME__, format_.c_str()); + }*/ + } + else + { + ROS_WARN("[%s] Pixel format cannot be changed on this camera. Using default.", __APP_NAME__); + } + + /////////////////////// AcquisitionMode ///////////////////////////// + CEnumerationPtr ptrAcquisitionMode = pCamList_[i]->GetNodeMap().GetNode("AcquisitionMode"); + if (!IsAvailable(ptrAcquisitionMode) || !IsWritable(ptrAcquisitionMode)) + { + ROS_FATAL("[%s] Unable to set acquisition mode to continuous (node retrieval; " + "camera ", + __APP_NAME__); + } + + /////////////////////// ContinuousMode ///////////////////////////// + CEnumEntryPtr ptrAcquisitionModeContinuous = ptrAcquisitionMode->GetEntryByName("Continuous"); + if (!IsAvailable(ptrAcquisitionModeContinuous) || !IsReadable(ptrAcquisitionModeContinuous)) + { + ROS_FATAL("[%s] Unable to set acquisition mode to continuous (entry " + "'continuous' retrieval. Aborting...", + __APP_NAME__); + } + + int64_t acquisitionModeContinuous = ptrAcquisitionModeContinuous->GetValue(); + ptrAcquisitionMode->SetIntValue(acquisitionModeContinuous); + + ROS_INFO("[%s] [camera %d] acquisition mode set to continuous...", __APP_NAME__, i); + + strSerialNumbers[i] = ""; + CStringPtr ptrStringSerial = pCamList_[i]->GetTLDeviceNodeMap().GetNode("DeviceSerialNumber"); + if (IsAvailable(ptrStringSerial) && IsReadable(ptrStringSerial)) + { + strSerialNumbers[i] = ptrStringSerial->GetValue(); + ROS_INFO("[%s] [camera %d] serial number set to %s", __APP_NAME__, i, strSerialNumbers[i].c_str()); + } + std::string topic("image_raw"); + if (camList_.GetSize() > 1) + topic = "camera" + std::to_string(i) + "/" + topic; + image_pubs_.push_back(image_transport_->advertise(topic, 100)); + } + } + catch (Spinnaker::Exception& e) + { + ROS_ERROR("[%s] Error: %s", __APP_NAME__, e.what()); + } +} + +SpinnakerCamera::~SpinnakerCamera() +{ + for (int i = 0; i < camList_.GetSize(); i++) + { + pCamList_[i]->EndAcquisition(); + pCamList_[i]->DeInit(); + pCamList_[i] = NULL; + ROS_INFO("[%s] Shutting down camera %d", __APP_NAME__, i); + } + delete[] pCamList_; + node_map_ = NULL; + camList_.Clear(); + system_->ReleaseInstance(); +} + +void SpinnakerCamera::publish_image(int index) +{ + while (ros::ok()) + { + try + { + ImagePtr pResultImage = pCamList_[index]->GetNextImage(); + if (pResultImage->IsIncomplete()) + { + ROS_WARN("[%s] [camera %d] Image incomplete with image status %d", __APP_NAME__, index, + pResultImage->GetImageStatus()); + } + else + { + ros::Time receive_time = ros::Time::now(); + + // create opencv mat + int pixel_format = pResultImage->GetPixelFormat(); + std::string encoding_pattern; + switch (pixel_format) + { + case PixelFormatEnums::PixelFormat_BayerRG8: + encoding_pattern = "bayer_rggb8"; + break; + case PixelFormatEnums::PixelFormat_BayerGR8: + encoding_pattern = "bayer_grbg8"; + break; + case PixelFormatEnums::PixelFormat_BayerGB8: + encoding_pattern = "bayer_gbrg8"; + break; + case PixelFormatEnums::PixelFormat_BayerBG8: + encoding_pattern = "bayer_bggr8"; + break; + case PixelFormatEnums::PixelFormat_RGB8: + encoding_pattern = "rgb8"; + break; + case PixelFormatEnums::PixelFormat_BGR8: + encoding_pattern = "bgr8"; + break; + default: + encoding_pattern = "mono8"; + } + unsigned int XPadding = pResultImage->GetXPadding(); + unsigned int YPadding = pResultImage->GetYPadding(); + unsigned int rowsize = pResultImage->GetWidth(); + unsigned int colsize = pResultImage->GetHeight(); + + // create and publish ros message + std_msgs::Header header; + sensor_msgs::Image msg; + header.stamp = receive_time; + header.frame_id = (camList_.GetSize() > 1) ? "camera" + std::to_string(index) : "camera"; + + msg.header = header; + msg.height = pResultImage->GetHeight(); + msg.width = pResultImage->GetWidth(); + msg.encoding = encoding_pattern; + msg.step = pResultImage->GetStride(); + + size_t image_size = pResultImage->GetImageSize(); + msg.data.resize(image_size); + memcpy(msg.data.data(), pResultImage->GetData(), image_size); + + image_pubs_[index].publish(msg); + } + pResultImage->Release(); + } + catch (Spinnaker::Exception& e) + { + ROS_ERROR("[%s] Error: %s", __APP_NAME__, e.what()); + } + } +} +void SpinnakerCamera::spin() +{ + for (int i = 0; i < camList_.GetSize(); i++) + { + pCamList_[i]->BeginAcquisition(); + ROS_INFO("[%s] [camera %d] started acquisition", __APP_NAME__, i); + } + vector> threads(camList_.GetSize()); + for (int i = 0; i < camList_.GetSize(); i++) + { + threads[i] = make_shared(&SpinnakerCamera::publish_image, this, i); + } + for (auto& thread : threads) + { + thread->join(); + } +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "spinnaker"); + SpinnakerCamera node; + node.spin(); + return 0; +} diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml index b80064b2c7c..2932db90548 100644 --- a/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/package.xml @@ -5,6 +5,8 @@ The autoware_pointgrey_drivers package Masao KONDOH Abraham Monrroy + Daisuke Nishimatsu + Apache 2 catkin autoware_build_flags @@ -14,12 +16,14 @@ message_generation tf cv_bridge + image_transport roscpp std_msgs message_generation tf cv_bridge + image_transport v4l-utils gstreamer0.10-plugins-good diff --git a/ros/src/sensing/drivers/camera/packages/pointgrey/scripts/spinnaker.launch b/ros/src/sensing/drivers/camera/packages/pointgrey/scripts/spinnaker.launch new file mode 100644 index 00000000000..4b2c3566af4 --- /dev/null +++ b/ros/src/sensing/drivers/camera/packages/pointgrey/scripts/spinnaker.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt b/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt index 933054cecbf..03d96418387 100644 --- a/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt +++ b/ros/src/sensing/drivers/camera/packages/vectacam/CMakeLists.txt @@ -4,32 +4,49 @@ project(vectacam) find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - message_generation - tf - image_transport - cv_bridge -) + roscpp + std_msgs + message_generation + tf + image_transport + cv_bridge + ) FIND_PACKAGE(OpenCV REQUIRED) -set (CUDA_USE_STATIC_CUDA_RUNTIME OFF) +set(CUDA_USE_STATIC_CUDA_RUNTIME OFF) catkin_package( - LIBRARIES ${PROJECT_NAME} + LIBRARIES ${PROJECT_NAME} ) include_directories( - ${catkin_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} ) set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") -add_executable(vectacam_node nodes/vectacam/vectacam_node.cpp nodes/vectacam/VectaCam.cpp) +add_executable(vectacam_node + nodes/vectacam/vectacam_node.cpp + nodes/vectacam/VectaCam.cpp) -link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ) +link_directories(${catkin_LIBRARY_DIRS} + ${Boost_LIBRARY_DIRS}) target_link_libraries(vectacam_node - ${BOOST_LIBRARIES} ${OpenCV_LIBS} ${catkin_LIBRARIES} -lpthread -) + ${BOOST_LIBRARIES} + ${OpenCV_LIBS} + ${catkin_LIBRARIES} + -lpthread + ) + +install(TARGETS + vectacam_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY scripts/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/sensing/drivers/camera/packages/vectacam/initialization_params.txt b/ros/src/sensing/drivers/camera/packages/vectacam/scripts/initialization_params.txt similarity index 100% rename from ros/src/sensing/drivers/camera/packages/vectacam/initialization_params.txt rename to ros/src/sensing/drivers/camera/packages/vectacam/scripts/initialization_params.txt diff --git a/ros/src/sensing/drivers/camera/packages/vectacam/scripts/vectacam.launch b/ros/src/sensing/drivers/camera/packages/vectacam/scripts/vectacam.launch index 614bc19bc3e..3a626d72765 100644 --- a/ros/src/sensing/drivers/camera/packages/vectacam/scripts/vectacam.launch +++ b/ros/src/sensing/drivers/camera/packages/vectacam/scripts/vectacam.launch @@ -2,7 +2,7 @@ - + diff --git a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt index 3963d0a3a9d..40334a05724 100644 --- a/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt +++ b/ros/src/sensing/drivers/can/packages/kvaser/CMakeLists.txt @@ -25,22 +25,39 @@ include_directories( ) if (EXISTS "/usr/include/canlib.h") - add_executable(can_listener nodes/can_listener/can_listener.cpp) + + add_executable(can_listener + nodes/can_listener/can_listener.cpp + ) target_include_directories(can_listener PRIVATE ${catkin_INCLUDE_DIRS}) + target_link_libraries(can_listener ${catkin_LIBRARIES}) + target_link_libraries(can_listener canlib) + add_dependencies(can_listener ${catkin_EXPORTED_TARGETS}) + install(TARGETS can_listener + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) else () message("'canlib' is not installed. 'can_listener' is not built.") endif () -add_executable(can_converter nodes/can_converter/can_converter.cpp) +add_executable(can_converter + nodes/can_converter/can_converter.cpp) target_include_directories(can_converter PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(can_converter ${catkin_LIBRARIES}) add_dependencies(can_converter ${catkin_EXPORTED_TARGETS}) -add_executable(can_draw nodes/can_draw/can_draw.cpp) +add_executable(can_draw + nodes/can_draw/can_draw.cpp + ) target_include_directories(can_draw PRIVATE ${catkin_INCLUDE_DIRS}) target_link_libraries(can_draw ${catkin_LIBRARIES}) add_dependencies(can_draw ${catkin_EXPORTED_TARGETS}) +install(TARGETS can_converter can_draw + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) diff --git a/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt b/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt index e437c45d13e..dcafe4050e3 100644 --- a/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt +++ b/ros/src/sensing/drivers/gnss/packages/garmin/CMakeLists.txt @@ -25,3 +25,8 @@ include_directories( add_executable(garmin_gps_18x_lvc src/garmin_gps_18x_lvc.cc) target_link_libraries(garmin_gps_18x_lvc ${catkin_LIBRARIES}) + +install(TARGETS garmin_gps_18x_lvc + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt b/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt index 88deb53b81e..8d31eb6f530 100644 --- a/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt +++ b/ros/src/sensing/drivers/gnss/packages/javad_navsat_driver/CMakeLists.txt @@ -12,6 +12,12 @@ install(PROGRAMS nodes/javad_topic_serial_reader DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) +install(DIRECTORY cfg/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cfg + PATTERN ".svn" EXCLUDE) # Check package for pep8 style, add a test to fail on violations. roslint_python() diff --git a/ros/src/sensing/drivers/gnss/packages/nmea_navsat/CMakeLists.txt b/ros/src/sensing/drivers/gnss/packages/nmea_navsat/CMakeLists.txt index 3fc38e321d6..3d6d4133615 100644 --- a/ros/src/sensing/drivers/gnss/packages/nmea_navsat/CMakeLists.txt +++ b/ros/src/sensing/drivers/gnss/packages/nmea_navsat/CMakeLists.txt @@ -19,3 +19,6 @@ catkin_package( #target_link_libraries(javad_tty # ${catkin_LIBRARIES} #) +install(DIRECTORY scripts/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/sensing/drivers/imu/packages/memsic/CMakeLists.txt b/ros/src/sensing/drivers/imu/packages/memsic/CMakeLists.txt index bda0fe6c965..137ef279ac3 100755 --- a/ros/src/sensing/drivers/imu/packages/memsic/CMakeLists.txt +++ b/ros/src/sensing/drivers/imu/packages/memsic/CMakeLists.txt @@ -29,3 +29,12 @@ include_directories( add_executable(vg440_node nodes/vg440/vg440_node.cpp) target_link_libraries(vg440_node ${catkin_LIBRARIES}) + +install(TARGETS vg440_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/sensing/drivers/imu/packages/microstrain/CMakeLists.txt b/ros/src/sensing/drivers/imu/packages/microstrain/CMakeLists.txt index 51007bd3ae1..88f9170c340 100644 --- a/ros/src/sensing/drivers/imu/packages/microstrain/CMakeLists.txt +++ b/ros/src/sensing/drivers/imu/packages/microstrain/CMakeLists.txt @@ -83,3 +83,15 @@ add_executable(3dm_gx5_45_node src/3dm_gx5_45_node.cpp) target_link_libraries(microstrain_driver ${catkin_LIBRARIES}) target_link_libraries(3dm_gx5_15_node microstrain_driver ${catkin_LIBRARIES}) target_link_libraries(3dm_gx5_45_node microstrain_driver ${catkin_LIBRARIES}) + +install(TARGETS + microstrain_driver + 3dm_gx5_15_node + 3dm_gx5_45_node + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/sensing/drivers/imu/packages/xsens/src/xsens_driver/CMakeLists.txt b/ros/src/sensing/drivers/imu/packages/xsens/src/xsens_driver/CMakeLists.txt index ef65e4dea4b..fc1a5187e96 100755 --- a/ros/src/sensing/drivers/imu/packages/xsens/src/xsens_driver/CMakeLists.txt +++ b/ros/src/sensing/drivers/imu/packages/xsens/src/xsens_driver/CMakeLists.txt @@ -132,6 +132,10 @@ install(PROGRAMS DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + ## Mark executables and/or libraries for installation # install(TARGETS test_py test_py_node # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} diff --git a/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt index 8fdf8d10d8e..d1d959e3c2a 100644 --- a/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt +++ b/ros/src/sensing/drivers/lidar/packages/hokuyo/CMakeLists.txt @@ -20,3 +20,12 @@ include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}) add_executable(hokuyo_3d nodes/hokuyo_3d/hokuyo_3d.cpp nodes/hokuyo_3d/vssp.hpp) target_link_libraries(hokuyo_3d ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +install(TARGETS hokuyo_3d + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY scripts/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/sensing/drivers/lidar/packages/ouster b/ros/src/sensing/drivers/lidar/packages/ouster index ac1dbaef89b..e21ef1b8b01 160000 --- a/ros/src/sensing/drivers/lidar/packages/ouster +++ b/ros/src/sensing/drivers/lidar/packages/ouster @@ -1 +1 @@ -Subproject commit ac1dbaef89b8e1464642f362af6593f67a42af7b +Subproject commit e21ef1b8b0133dbb17b074a64a434d60e2dcc2b6 diff --git a/ros/src/sensing/drivers/lidar/packages/robosense b/ros/src/sensing/drivers/lidar/packages/robosense index 038e5f65243..4a284cc1ba5 160000 --- a/ros/src/sensing/drivers/lidar/packages/robosense +++ b/ros/src/sensing/drivers/lidar/packages/robosense @@ -1 +1 @@ -Subproject commit 038e5f6524305d0d287805fdc9029872627ac7de +Subproject commit 4a284cc1ba595a7ad0679c2e5978975189a33d51 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/.gitignore b/ros/src/sensing/drivers/lidar/packages/velodyne/.gitignore deleted file mode 100644 index da9cbf726df..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/.gitignore +++ /dev/null @@ -1,6 +0,0 @@ -*.pyc -*.tar.gz -*~ -*.user -doc -TAGS diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/.travis.yml b/ros/src/sensing/drivers/lidar/packages/velodyne/.travis.yml deleted file mode 100644 index 64853876521..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/.travis.yml +++ /dev/null @@ -1,33 +0,0 @@ -sudo: required -dist: trusty -# Force travis to use its minimal image with default Python settings -language: generic -compiler: - - gcc -env: - global: - - CATKIN_WS=~/catkin_ws - - CATKIN_WS_SRC=${CATKIN_WS}/src - matrix: - - CI_ROS_DISTRO="indigo" - - CI_ROS_DISTRO="jade" -install: - - sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list' - - wget http://packages.ros.org/ros.key -O - | sudo apt-key add - - - sudo apt-get update -qq - - sudo apt-get install -qq -y python-rosdep - - sudo rosdep init - - rosdep update - # Use rosdep to install all dependencies (including ROS itself) - - rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO -script: - - source /opt/ros/$CI_ROS_DISTRO/setup.bash - - mkdir -p $CATKIN_WS_SRC - - ln -s $TRAVIS_BUILD_DIR $CATKIN_WS_SRC - - cd $CATKIN_WS - # Build [and Install] packages, build tests, and run tests - - catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release && - catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args tests && - catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release --catkin-make-args run_tests - # Check results - - catkin_test_results ./build_isolated diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/COPYING b/ros/src/sensing/drivers/lidar/packages/velodyne/COPYING deleted file mode 100644 index be172875125..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/COPYING +++ /dev/null @@ -1,41 +0,0 @@ - - Copyright (C) 2010-2013 Austin Robot Technology, and others - All rights reserved. - - -All code in this repository is released under the terms of the -following Modified BSD License. - - -Modified BSD License: --------------------- - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions - are met: - - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - - * Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the following - disclaimer in the documentation and/or other materials provided - with the distribution. - - * Neither the names of the University of Texas at Austin, nor - Austin Robot Technology, nor the names of other contributors may - be used to endorse or promote products derived from this - software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - POSSIBILITY OF SUCH DAMAGE. diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/README.md b/ros/src/sensing/drivers/lidar/packages/velodyne/README.md deleted file mode 100644 index 21e50c61f40..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/README.md +++ /dev/null @@ -1,46 +0,0 @@ -Autoware's Velodyne Driver Subtree -================================== - -This directory is part of a subtree fetched from https://github.com/CPFL/velodyne on the **Autoware** branch, a fork from the original https://github.com/ros-drivers/velodyne - -This repo adds support to HDL-64 S3 and creates the launch files used by Autoware. -If you need to modify **any** file inside this folder structure, please use the following commands to either push or fetch changes from the subtree. -All the commands written here will suppose you're in the root of Autoware path. - -## Pulling in commits from the repository subtree - -Bring latest commits from https://github.com/CPFL/velodyne - -`git subtree pull --prefix ros/src/sensing/drivers/lidar/packages/velodyne https://github.com/CPFL/velodyne Autoware --squash` - -## Pushing changes to the repository subtree - -If you made any modification to the subtree you are encouraged to commit and publish your changes to the fork. You can do with the following command. - -`git subtree push --prefix ros/src/sensing/drivers/lidar/packages/velodyne https://github.com/CPFL/velodyne Autoware` - -**End of Section** - -**Original README from https://github.com/ros-drivers/velodyne** - ---- - -Overview -======== - -Velodyne_ is a collection of ROS_ packages supporting `Velodyne high -definition 3D LIDARs`_ . - -**Warning**:: - - The master branch normally contains code being tested for the next - ROS release. It will not always work with every previous release. - -The current ``master`` branch works with ROS Kinetic, Jade, and -Indigo. It may work with Hydro and Groovy, but that has not been -tested recently. To build for Fuerte from source, check out the -``rosbuild`` branch instead of ``master``. - -.. _ROS: http://www.ros.org -.. _Velodyne: http://www.ros.org/wiki/velodyne -.. _`Velodyne high definition 3D LIDARs`: http://www.velodynelidar.com/lidar/lidar.aspx diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CHANGELOG.rst b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CHANGELOG.rst deleted file mode 100644 index b1451825250..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CHANGELOG.rst +++ /dev/null @@ -1,56 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Modify package xml version other than 1.6.3 -* Removed flawed subtree -* Contributors: AMC, Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.3.0 (2017-11-10) ------------------- -* Merge pull request `#110 `_ from kmhallen/master - Added velodyne_laserscan package -* Added velodyne_laserscan package and inserted into existing launch files -* Contributors: Jack O'Quin, Joshua Whitley, Kevin Hallenbeck - - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CMakeLists.txt deleted file mode 100644 index 006a3f6beba..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/CMakeLists.txt +++ /dev/null @@ -1,4 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(velodyne) -find_package(catkin REQUIRED) -catkin_metapackage() diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/package.xml deleted file mode 100644 index d44e18f1ca0..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - velodyne - 1.10.0 - - Basic ROS support for the Velodyne 3D LIDARs. - - Josh Whitley - Jack O'Quin - BSD - - http://www.ros.org/wiki/velodyne - https://github.com/ros-drivers/velodyne - https://github.com/ros-drivers/velodyne/issues - - catkin - - velodyne_driver - velodyne_laserscan - velodyne_msgs - velodyne_pointcloud - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CHANGELOG.rst b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CHANGELOG.rst deleted file mode 100644 index 2f95f579fa6..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CHANGELOG.rst +++ /dev/null @@ -1,108 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne_driver -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- -* Use colcon as the build tool (`#1704 `_) - * Switch to colcon as the build tool instead of catkin - * Added cmake-target - * Added note about the second colcon call - * Added warning about catkin* scripts being deprecated - * Fix COLCON_OPTS - * Added install targets - * Update Docker image tags - * Message packages fixes - * Fix missing dependency -* Contributors: Esteve Fernandez - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- -* [Fix] Extend and Update interface.yaml (`#1291 `_) -* Contributors: Kenji Funaoka - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* [feature] vlc32c driver, velodyne drivers updated (`#1166 `_) - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 776a358..1a70413 - 1a70413 Merge branch 'master' into Autoware - 7976d12 support vlp32c now - 273520e Added hdl32c, fixed naming - e21b522 Merge pull request `#146 `_ from stsundermann/patch-2 - 0e5a200 Merge pull request `#150 `_ from ros-drivers/mikaelarguedas-patch-1 - db6b5ee update to use non deprecated pluginlib macro - 560fe12 Use std::abs instead of fabsf - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 1a704135c529c5d2995cd2c1972ca4f59d5ae1ad - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 1a70413..52c0a0d - 52c0a0d README format - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 52c0a0d63594ee71a156755954d240d24966829e - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 52c0a0d..a1d6f18 - a1d6f18 Update and rename README.rst to README.md - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: a1d6f186d3340f3ce5059e234ed7e3dcb828d09d -* Removed flawed subtree -* Contributors: AMC, Abraham Monrroy, Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.3.0 (2017-11-10) ------------------- -* Merge pull request `#129 `_ from kmhallen/pluginlib_macro - Modern pluginlib macro -* Update to use non deprecated pluginlib macro -* add launch args to support multiple devices (`#108 `_) -* Merge pull request `#101 `_ from teosnare/master - velodyne_driver/src/lib/input.cc : fix for device_ip filter -* Merge pull request `#104 `_ from altrouge/launch_options - Add more options in launch files. -* Rearranged alphabetically. -* Add more options in launch files. - - rpm, device_ip, port, read_once, read_fast, repeat_delay -* velodyne_driver/src/lib/input.cc : fix for device_ip filter - Fix for device_ip filter in InputSocket: initialization of devip\_ for correct ip filtering in InputSocket::getPacket. -* velodyne_driver: credit @priyankadey for VLP-16 bug fix (`#96 `_) -* Merge pull request `#96 `_ from priyankadey/master - updated VLP-16 packet rate from user manual. -* updated VLP-16 packet rate from user manual. - Also verified with sensor. It reduced overlap in the pointcloud -* update change history -* Merge pull request `#94 `_ from ros-drivers/pcap_port - velodyne_driver: use port number for PCAP data (`#46 `_, `#66 `_) -* fix g++ 5.3.1 compile errors (`#94 `_) -* merge current master (`#94 `_) -* Merge pull request `#91 `_ from chukcha2/master - update velodyne_driver package description to include all models -* update velodyne_driver package description to include all models -* Merge pull request `#89 `_ from Tones29/feat_dynrec_driver - Add dynamic latency configuration to velodyne_driver -* velodyne_driver: Add dynamic_reconfigure and time_offset correction - The value of time_offset is added to the calculated time stamp in live mode for each packet. -* velodyne_driver: Make input destructors virtual -* prepare change history for coming Indigo release (`#59 `_) -* velodyne_driver: use port number for PCAP data (`#66 `_) -* Merge pull request `#39 `_ from zooxco/multivelodyne - support for multiple velodynes -* Merge pull request `#44 `_ from SISegwayRmp/master - adding driver and pointcloud support for the VLP16 -* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap -* adding support for the VLP16 -* parameters to set the udp port -* fixed missing header -* cleanup debug line -* parameter and code added for working with multiple velodynes -* Contributors: Andreas Wachaja, Brice Rebsamen, Daniel Jartoux, Denis Dillenberger, Gabor Meszaros, Ilya, Jack O'Quin, Joshua Whitley, Kevin Hallenbeck, Matteo Murtas, Micho Radovnikovich, Priyanka Dey, William Woodall, jack.oquin, junior, phussey diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt deleted file mode 100644 index d8be7374f72..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/CMakeLists.txt +++ /dev/null @@ -1,80 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(velodyne_driver) - -set(${PROJECT_NAME}_CATKIN_DEPS - diagnostic_updater - dynamic_reconfigure - nodelet - roscpp - tf - velodyne_msgs) - - -find_package(velodyne_msgs REQUIRED) -find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS}) - -# This driver uses Boost threads -find_package(Boost REQUIRED COMPONENTS thread) - -# libpcap provides no pkg-config or find_package module: -set(libpcap_LIBRARIES -lpcap) - -include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS}) - -# Generate dynamic_reconfigure server -generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg) - -# objects needed by other ROS packages that depend on this one -catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS} - INCLUDE_DIRS include - LIBRARIES velodyne_input) - -# compile the driver and input library -add_subdirectory(src/lib) -add_subdirectory(src/driver) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) -install(FILES nodelet_velodyne.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) -install(PROGRAMS src/vdump - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -if (CATKIN_ENABLE_TESTING) - - # these dependencies are only needed for unit testing - find_package(roslaunch REQUIRED) - find_package(rostest REQUIRED) - - # Download packet capture (PCAP) files containing test data. - # Store them in devel-space, so rostest can easily find them. - catkin_download_test_data( - ${PROJECT_NAME}_tests_class.pcap - http://download.ros.org/data/velodyne/class.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 65808d25772101358a3719b451b3d015) - catkin_download_test_data( - ${PROJECT_NAME}_tests_32e.pcap - http://download.ros.org/data/velodyne/32e.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 e41d02aac34f0967c03a5597e1d554a9) - catkin_download_test_data( - ${PROJECT_NAME}_tests_vlp16.pcap - http://download.ros.org/data/velodyne/vlp16.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 f45c2bb1d7ee358274e423ea3b66fd73) - - # unit tests - add_rostest(tests/pcap_node_hertz.test) - add_rostest(tests/pcap_nodelet_hertz.test) - add_rostest(tests/pcap_32e_node_hertz.test) - add_rostest(tests/pcap_32e_nodelet_hertz.test) - add_rostest(tests/pcap_vlp16_node_hertz.test) - add_rostest(tests/pcap_vlp16_nodelet_hertz.test) - - # parse check all the launch/*.launch files - roslaunch_add_file_check(launch) - -endif (CATKIN_ENABLE_TESTING) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/cfg/VelodyneNode.cfg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/cfg/VelodyneNode.cfg deleted file mode 100755 index 16196722ab9..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/cfg/VelodyneNode.cfg +++ /dev/null @@ -1,14 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "velodyne_driver" -NODE_NAME = "velodyne_node" -PARAMS_NAME = "VelodyneNode" - -from math import pi -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("time_offset", double_t, 0, "A manually calibrated offset (in seconds) to add to the timestamp before publication of a message.", - 0.0, -1.0, 1.0) - -exit(gen.generate(PACKAGE, NODE_NAME, PARAMS_NAME)) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/input.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/input.h deleted file mode 100644 index 1cf55fd9fe6..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/input.h +++ /dev/null @@ -1,126 +0,0 @@ -/* -*- mode: C++ -*- - * - * Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2015, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - * - * Velodyne 3D LIDAR data input classes - * - * These classes provide raw Velodyne LIDAR input packets from - * either a live socket interface or a previously-saved PCAP dump - * file. - * - * Classes: - * - * velodyne::Input -- base class for accessing the data - * independently of its source - * - * velodyne::InputSocket -- derived class reads live data from the - * device via a UDP socket - * - * velodyne::InputPCAP -- derived class provides a similar interface - * from a PCAP dump file - */ - -#ifndef __VELODYNE_INPUT_H -#define __VELODYNE_INPUT_H - -#include -#include -#include -#include - -#include -#include - -namespace velodyne_driver -{ - static uint16_t DATA_PORT_NUMBER = 2368; // default data port - static uint16_t POSITION_PORT_NUMBER = 8308; // default position port - - /** @brief Velodyne input base class */ - class Input - { - public: - Input(ros::NodeHandle private_nh, uint16_t port); - virtual ~Input() {} - - /** @brief Read one Velodyne packet. - * - * @param pkt points to VelodynePacket message - * - * @returns 0 if successful, - * -1 if end of file - * > 0 if incomplete packet (is this possible?) - */ - virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, - const double time_offset) = 0; - - protected: - ros::NodeHandle private_nh_; - uint16_t port_; - std::string devip_str_; - }; - - /** @brief Live Velodyne input from socket. */ - class InputSocket: public Input - { - public: - InputSocket(ros::NodeHandle private_nh, - uint16_t port = DATA_PORT_NUMBER); - virtual ~InputSocket(); - - virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, - const double time_offset); - void setDeviceIP( const std::string& ip ); - private: - - private: - int sockfd_; - in_addr devip_; - }; - - - /** @brief Velodyne input from PCAP dump file. - * - * Dump files can be grabbed by libpcap, Velodyne's DSR software, - * ethereal, wireshark, tcpdump, or the \ref vdump_command. - */ - class InputPCAP: public Input - { - public: - InputPCAP(ros::NodeHandle private_nh, - uint16_t port = DATA_PORT_NUMBER, - double packet_rate = 0.0, - std::string filename="", - bool read_once=false, - bool read_fast=false, - double repeat_delay=0.0); - virtual ~InputPCAP(); - - virtual int getPacket(velodyne_msgs::VelodynePacket *pkt, - const double time_offset); - void setDeviceIP( const std::string& ip ); - - private: - ros::Rate packet_rate_; - std::string filename_; - pcap_t *pcap_; - bpf_program pcap_packet_filter_; - char errbuf_[PCAP_ERRBUF_SIZE]; - bool empty_; - bool read_once_; - bool read_fast_; - double repeat_delay_; - }; - -} // velodyne_driver namespace - -#endif // __VELODYNE_INPUT_H diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h deleted file mode 100644 index fb5d10722f9..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/include/velodyne_driver/ring_sequence.h +++ /dev/null @@ -1,54 +0,0 @@ -/* -*- mode: C++ -*- - * - * Copyright (C) 2010 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * Velodyne HDL-64E 3D LIDAR laser ring sequence. - * - * \author Jack O'Quin - */ - - -#ifndef __VELODYNE_RING_SEQUENCE_H -#define __VELODYNE_RING_SEQUENCE_H - -namespace velodyne -{ - /// number of lasers - const int N_LASERS = 64; - - /// ring sequence for device laser numbers - const int LASER_SEQUENCE[N_LASERS] = - { - 6, 7, 10, 11, 0, 1, 4, 5, - 8, 9, 14, 15, 18, 19, 22, 23, - 12, 13, 16, 17, 20, 21, 26, 27, - 30, 31, 2, 3, 24, 25, 28, 29, - 38, 39, 42, 43, 32, 33, 36, 37, - 40, 41, 46, 47, 50, 51, 54, 55, - 44, 45, 48, 49, 52, 53, 58, 59, - 62, 63, 34, 35, 56, 57, 60, 61 - }; - - /// convert laser number to ring sequence (inverse of LASER_SEQUENCE) - const int LASER_RING[N_LASERS] = - { - 4, 5, 26, 27, 6, 7, 0, 1, - 8, 9, 2, 3, 16, 17, 10, 11, - 18, 19, 12, 13, 20, 21, 14, 15, - 28, 29, 22, 23, 30, 31, 24, 25, - 36, 37, 58, 59, 38, 39, 32, 33, - 40, 41, 34, 35, 48, 49, 42, 43, - 50, 51, 44, 45, 52, 53, 46, 47, - 60, 61, 54, 55, 62, 63, 56, 57 - }; - -} // velodyne namespace - -#endif // __VELODYNE_RING_SEQUENCE_H diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/interface.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/interface.yaml deleted file mode 100644 index 3162d42a03f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/interface.yaml +++ /dev/null @@ -1,2 +0,0 @@ -- name: /velodyne_node - publish: [/velodyne_packets] diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/launch/nodelet_manager.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/launch/nodelet_manager.launch deleted file mode 100644 index 44eb60c4aec..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/launch/nodelet_manager.launch +++ /dev/null @@ -1,36 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/mainpage.dox b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/mainpage.dox deleted file mode 100644 index 63112536059..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/mainpage.dox +++ /dev/null @@ -1,77 +0,0 @@ -/** -\mainpage - -\htmlinclude manifest.html - -ROS device driver for Velodyne 3D LIDARs. - -\section read Velodyne device driver - -ROS device driver node that captures Velodyne 3D LIDAR data and -publishes it to the \b velodyne_msgs/VelodyneScan topic. - -\subsection read_examples Examples - -Read the Velodyne input socket as fast as possible. Publish each -complete revolution to \b velodyne/rawscan. - -\verbatim -$ rosrun velodyne_driver velodyne_node -\endverbatim - -Read previously captured Velodyne packets from dump.pcap file. -Publish messages to \b velodyne/rawscan at approximately 10 Hz rate. - -Dump files can be grabbed by libpcap, Velodyne's DSR software, -ethereal, wireshark, tcpdump, or the velodyne_driver vdump command. - -\verbatim -$ rosrun velodyne_driver velodyne_node _pcap:=dump.pcap -\endverbatim - -\subsection read_names ROS names - -Node name: \b velodyne_node - -Publishes: \b velodyne_packets raw Velodyne data packets for one -entire revolution of the device. - -Parameters: - - - \b ~pcap (string): PCAP dump input file name (default: use real device) - - \b ~input/read_once (bool): if true, read input file only once - (default false). - - \b ~input/read_fast (bool): if true, read input file as fast as - possible (default false). - - \b ~input/repeat_delay (double): number of seconds to delay before - repeating input file (default: 0.0). - -\section vdump_command Vdump Command - -The vdump command dumps raw data from the Velodyne LIDAR in PCAP -format. It is a shell script wrapper with some obscure options for -the powerful tcpdump command. - -Other methods of acquiring PCAP data include using tcpdump directly, -wireshark, Velodyne's DSR software, and programming with libpcap. - -\subsection vdump_usage Usage - -\verbatim - rosrun velodyne_driver vdump [ ] - - file name to dump (with 3-digit number suffix) - interface to read from (default: "eth1") -\endverbatim - -\subsection vdump_examples Examples - -Dump Velodyne packets to a series of files named "pcap-000", -"pcap-001", etc. Each file will be about 100MB, holding a little more -than 30 seconds of Velodyne packets. Type ^C when finished. - -\verbatim -$ rosrun velodyne_driver vdump pcap- eth0 -\endverbatim - -*/ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/nodelet_velodyne.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/nodelet_velodyne.xml deleted file mode 100644 index 7c08922e095..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/nodelet_velodyne.xml +++ /dev/null @@ -1,9 +0,0 @@ - - - - Publish raw Velodyne data packets. - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/package.xml deleted file mode 100644 index 3b71be21f83..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/package.xml +++ /dev/null @@ -1,48 +0,0 @@ - - - velodyne_driver - 1.10.0 - - ROS device driver for Velodyne 3D LIDARs. - - Josh Whitley - Brice Rebsamen - Jack O'Quin - Patrick Beeson - Michael Quinlan - Yaxin Liu - BSD - - http://www.ros.org/wiki/velodyne_driver - https://github.com/ros-drivers/velodyne - https://github.com/ros-drivers/velodyne/issues - - catkin - - diagnostic_updater - dynamic_reconfigure - libpcap - nodelet - pluginlib - roscpp - tf - velodyne_msgs - - - roslaunch - rostest - - diagnostic_updater - dynamic_reconfigure - libpcap - nodelet - pluginlib - roscpp - tf - velodyne_msgs - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/CMakeLists.txt deleted file mode 100644 index 8d4179d7cb0..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -# build the driver node -add_executable(velodyne_node velodyne_node.cc driver.cc) -add_dependencies(velodyne_node velodyne_driver_gencfg) -target_link_libraries(velodyne_node - velodyne_input - ${catkin_LIBRARIES} - ${libpcap_LIBRARIES} -) - -# build the nodelet version -add_library(driver_nodelet nodelet.cc driver.cc) -add_dependencies(driver_nodelet velodyne_driver_gencfg) -target_link_libraries(driver_nodelet - velodyne_input - ${catkin_LIBRARIES} - ${libpcap_LIBRARIES} -) - -# install runtime files -install(TARGETS velodyne_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - COMPONENT main -) -install(TARGETS driver_nodelet - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.cc deleted file mode 100644 index e35ccdeb350..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.cc +++ /dev/null @@ -1,236 +0,0 @@ -/* - * Copyright (C) 2007 Austin Robot Technology, Patrick Beeson - * Copyright (C) 2009-2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * ROS driver implementation for the Velodyne 3D LIDARs - */ - -#include -#include - -#include -#include -#include - -#include "driver.h" - -namespace velodyne_driver -{ - -VelodyneDriver::VelodyneDriver(ros::NodeHandle node, - ros::NodeHandle private_nh) -{ - // use private node handle to get parameters - private_nh.param("frame_id", config_.frame_id, std::string("velodyne")); - std::string tf_prefix = tf::getPrefixParam(private_nh); - ROS_DEBUG_STREAM("tf_prefix: " << tf_prefix); - config_.frame_id = tf::resolve(tf_prefix, config_.frame_id); - - // get model name, validate string, determine packet rate - private_nh.param("model", config_.model, std::string("64E")); - double packet_rate; // packet frequency (Hz) - std::string model_full_name; - if ((config_.model == "64E_S2") || - (config_.model == "64E_S2.1")) // generates 1333312 points per second - { // 1 packet holds 384 points - packet_rate = 3472.17; // 1333312 / 384 - model_full_name = std::string("HDL-") + config_.model; - } - else if (config_.model == "64E_S3") - { - packet_rate = 5800.0; // experimental - model_full_name = std::string("HDL-") + config_.model; - } - else if (config_.model == "64E") - { - packet_rate = 2600.0; - model_full_name = std::string("HDL-") + config_.model; - } - else if (config_.model == "32E") - { - packet_rate = 1808.0; - model_full_name = std::string("HDL-") + config_.model; - } - else if (config_.model == "32C") - { - packet_rate = 1507.0; - model_full_name = std::string("VLP-") + config_.model; - } - else if (config_.model == "VLP16") - { - packet_rate = 754; // 754 Packets/Second for Last or Strongest mode 1508 for dual (VLP-16 User Manual) - model_full_name = "VLP-16"; - } - else - { - ROS_ERROR_STREAM("unknown Velodyne LIDAR model: " << config_.model); - packet_rate = 2600.0; - } - std::string deviceName(std::string("Velodyne ") + model_full_name); - - private_nh.param("rpm", config_.rpm, 600.0); - ROS_INFO_STREAM(deviceName << " rotating at " << config_.rpm << " RPM"); - double frequency = (config_.rpm / 60.0); // expected Hz rate - - // default number of packets for each scan is a single revolution - // (fractions rounded up) - config_.npackets = (int) ceil(packet_rate / frequency); - private_nh.getParam("npackets", config_.npackets); - ROS_INFO_STREAM("publishing " << config_.npackets << " packets per scan"); - - std::string dump_file; - private_nh.param("pcap", dump_file, std::string("")); - - double cut_angle; - private_nh.param("cut_angle", cut_angle, -0.01); - if (cut_angle < 0.0) - { - ROS_INFO_STREAM("Cut at specific angle feature deactivated."); - } - else if (cut_angle < (2*M_PI)) - { - ROS_INFO_STREAM("Cut at specific angle feature activated. " - "Cutting velodyne points always at " << cut_angle << " rad."); - } - else - { - ROS_ERROR_STREAM("cut_angle parameter is out of range. Allowed range is " - << "between 0.0 and 2*PI or negative values to deactivate this feature."); - cut_angle = -0.01; - } - - // Convert cut_angle from radian to one-hundredth degree, - // which is used in velodyne packets - config_.cut_angle = int((cut_angle*360/(2*M_PI))*100); - - int udp_port; - private_nh.param("port", udp_port, (int) DATA_PORT_NUMBER); - - // Initialize dynamic reconfigure - srv_ = boost::make_shared > (private_nh); - dynamic_reconfigure::Server:: - CallbackType f; - f = boost::bind (&VelodyneDriver::callback, this, _1, _2); - srv_->setCallback (f); // Set callback function und call initially - - // initialize diagnostics - diagnostics_.setHardwareID(deviceName); - const double diag_freq = packet_rate/config_.npackets; - diag_max_freq_ = diag_freq; - diag_min_freq_ = diag_freq; - ROS_INFO("expected frequency: %.3f (Hz)", diag_freq); - - using namespace diagnostic_updater; - diag_topic_.reset(new TopicDiagnostic("velodyne_packets", diagnostics_, - FrequencyStatusParam(&diag_min_freq_, - &diag_max_freq_, - 0.1, 10), - TimeStampStatusParam())); - - // open Velodyne input device or file - if (dump_file != "") // have PCAP file? - { - // read data from packet capture file - input_.reset(new velodyne_driver::InputPCAP(private_nh, udp_port, - packet_rate, dump_file)); - } - else - { - // read data from live socket - input_.reset(new velodyne_driver::InputSocket(private_nh, udp_port)); - } - - // raw packet output topic - output_ = - node.advertise("velodyne_packets", 10); -} - -/** poll the device - * - * @returns true unless end of file reached - */ -bool VelodyneDriver::poll(void) -{ - // Allocate a new shared pointer for zero-copy sharing with other nodelets. - velodyne_msgs::VelodyneScanPtr scan(new velodyne_msgs::VelodyneScan); - - if( config_.cut_angle >= 0) //Cut at specific angle feature enabled - { - scan->packets.reserve(config_.npackets); - velodyne_msgs::VelodynePacket tmp_packet; - while(true) - { - while(true) - { - int rc = input_->getPacket(&tmp_packet, config_.time_offset); - if (rc == 0) break; // got a full packet? - if (rc < 0) return false; // end of file reached? - } - scan->packets.push_back(tmp_packet); - - static int last_azimuth = -1; - // Extract base rotation of first block in packet - std::size_t azimuth_data_pos = 100*0+2; - int azimuth = *( (u_int16_t*) (&tmp_packet.data[azimuth_data_pos])); - - // Handle overflow 35999->0 - if(azimuth= config_.cut_angle ) - { - last_azimuth = azimuth; - break; // Cut angle passed, one full revolution collected - } - last_azimuth = azimuth; - } - } - else // standard behaviour - { - // Since the velodyne delivers data at a very high rate, keep - // reading and publishing scans as fast as possible. - scan->packets.resize(config_.npackets); - for (int i = 0; i < config_.npackets; ++i) - { - while (true) - { - // keep reading until full packet received - int rc = input_->getPacket(&scan->packets[i], config_.time_offset); - if (rc == 0) break; // got a full packet? - if (rc < 0) return false; // end of file reached? - } - } - } - - // publish message using time of last packet read - ROS_DEBUG("Publishing a full Velodyne scan."); - scan->header.stamp = scan->packets.back().stamp; - scan->header.frame_id = config_.frame_id; - output_.publish(scan); - - // notify diagnostics that a message has been published, updating - // its status - diag_topic_->tick(scan->header.stamp); - diagnostics_.update(); - - return true; -} - -void VelodyneDriver::callback(velodyne_driver::VelodyneNodeConfig &config, - uint32_t level) -{ - ROS_INFO("Reconfigure Request"); - config_.time_offset = config.time_offset; -} - -} // namespace velodyne_driver diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.h deleted file mode 100644 index 68b58e1805d..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/driver.h +++ /dev/null @@ -1,73 +0,0 @@ -/* -*- mode: C++ -*- */ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * ROS driver interface for the Velodyne 3D LIDARs - */ - -#ifndef _VELODYNE_DRIVER_H_ -#define _VELODYNE_DRIVER_H_ 1 - -#include -#include -#include -#include -#include - -#include -#include - -namespace velodyne_driver -{ - -class VelodyneDriver -{ -public: - - VelodyneDriver(ros::NodeHandle node, - ros::NodeHandle private_nh); - ~VelodyneDriver() {} - - bool poll(void); - -private: - - ///Callback for dynamic reconfigure - void callback(velodyne_driver::VelodyneNodeConfig &config, - uint32_t level); - - ///Pointer to dynamic reconfigure service srv_ - boost::shared_ptr > srv_; - - // configuration parameters - struct - { - std::string frame_id; ///< tf frame ID - std::string model; ///< device model name - int npackets; ///< number of packets to collect - double rpm; ///< device rotation rate (RPMs) - int cut_angle; ///< cutting angle in 1/100° - double time_offset; ///< time in seconds added to each velodyne time stamp - } config_; - - boost::shared_ptr input_; - ros::Publisher output_; - - /** diagnostics updater */ - diagnostic_updater::Updater diagnostics_; - double diag_min_freq_; - double diag_max_freq_; - boost::shared_ptr diag_topic_; -}; - -} // namespace velodyne_driver - -#endif // _VELODYNE_DRIVER_H_ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/nodelet.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/nodelet.cc deleted file mode 100644 index f2dfca2b152..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/nodelet.cc +++ /dev/null @@ -1,85 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * ROS driver nodelet for the Velodyne 3D LIDARs - */ - -#include -#include - -#include -#include -#include - -#include "driver.h" - -namespace velodyne_driver -{ - -class DriverNodelet: public nodelet::Nodelet -{ -public: - - DriverNodelet(): - running_(false) - {} - - ~DriverNodelet() - { - if (running_) - { - NODELET_INFO("shutting down driver thread"); - running_ = false; - deviceThread_->join(); - NODELET_INFO("driver thread stopped"); - } - } - -private: - - virtual void onInit(void); - virtual void devicePoll(void); - - volatile bool running_; ///< device thread is running - boost::shared_ptr deviceThread_; - - boost::shared_ptr dvr_; ///< driver implementation class -}; - -void DriverNodelet::onInit() -{ - // start the driver - dvr_.reset(new VelodyneDriver(getNodeHandle(), getPrivateNodeHandle())); - - // spawn device poll thread - running_ = true; - deviceThread_ = boost::shared_ptr< boost::thread > - (new boost::thread(boost::bind(&DriverNodelet::devicePoll, this))); -} - -/** @brief Device poll thread main loop. */ -void DriverNodelet::devicePoll() -{ - while(ros::ok()) - { - // poll device until end of file - running_ = dvr_->poll(); - if (!running_) - break; - } - running_ = false; -} - -} // namespace velodyne_driver - -// Register this plugin with pluginlib. Names must match nodelet_velodyne.xml. -// -// parameters are: class type, base class type -PLUGINLIB_EXPORT_CLASS(velodyne_driver::DriverNodelet, nodelet::Nodelet) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/velodyne_node.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/velodyne_node.cc deleted file mode 100644 index 90f0a025ec1..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/driver/velodyne_node.cc +++ /dev/null @@ -1,33 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * ROS driver node for the Velodyne 3D LIDARs. - */ - -#include -#include "driver.h" - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "velodyne_node"); - ros::NodeHandle node; - ros::NodeHandle private_nh("~"); - - // start the driver - velodyne_driver::VelodyneDriver dvr(node, private_nh); - - // loop until shut down or end of file - while(ros::ok() && dvr.poll()) - { - ros::spinOnce(); - } - - return 0; -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/CMakeLists.txt deleted file mode 100644 index 29b9d22af09..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/CMakeLists.txt +++ /dev/null @@ -1,12 +0,0 @@ -add_library(velodyne_input input.cc) -target_link_libraries(velodyne_input - ${catkin_LIBRARIES} - ${libpcap_LIBRARIES} -) -if(catkin_EXPORTED_TARGETS) - add_dependencies(velodyne_input ${catkin_EXPORTED_TARGETS}) -endif() - -install(TARGETS velodyne_input - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/input.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/input.cc deleted file mode 100644 index 382b0bafe8f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/lib/input.cc +++ /dev/null @@ -1,327 +0,0 @@ -/* - * Copyright (C) 2007 Austin Robot Technology, Patrick Beeson - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2015, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - * - * Input classes for the Velodyne HDL-64E 3D LIDAR: - * - * Input -- base class used to access the data independently of - * its source - * - * InputSocket -- derived class reads live data from the device - * via a UDP socket - * - * InputPCAP -- derived class provides a similar interface from a - * PCAP dump - */ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -namespace velodyne_driver -{ - static const size_t packet_size = - sizeof(velodyne_msgs::VelodynePacket().data); - - //////////////////////////////////////////////////////////////////////// - // Input base class implementation - //////////////////////////////////////////////////////////////////////// - - /** @brief constructor - * - * @param private_nh ROS private handle for calling node. - * @param port UDP port number. - */ - Input::Input(ros::NodeHandle private_nh, uint16_t port): - private_nh_(private_nh), - port_(port) - { - private_nh.param("device_ip", devip_str_, std::string("")); - if (!devip_str_.empty()) - ROS_INFO_STREAM("Only accepting packets from IP address: " - << devip_str_); - } - - //////////////////////////////////////////////////////////////////////// - // InputSocket class implementation - //////////////////////////////////////////////////////////////////////// - - /** @brief constructor - * - * @param private_nh ROS private handle for calling node. - * @param port UDP port number - */ - InputSocket::InputSocket(ros::NodeHandle private_nh, uint16_t port): - Input(private_nh, port) - { - sockfd_ = -1; - - if (!devip_str_.empty()) { - inet_aton(devip_str_.c_str(),&devip_); - } - - // connect to Velodyne UDP port - ROS_INFO_STREAM("Opening UDP socket: port " << port); - sockfd_ = socket(PF_INET, SOCK_DGRAM, 0); - if (sockfd_ == -1) - { - perror("socket"); // TODO: ROS_ERROR errno - return; - } - - sockaddr_in my_addr; // my address information - memset(&my_addr, 0, sizeof(my_addr)); // initialize to zeros - my_addr.sin_family = AF_INET; // host byte order - my_addr.sin_port = htons(port); // port in network byte order - my_addr.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP - - if (bind(sockfd_, (sockaddr *)&my_addr, sizeof(sockaddr)) == -1) - { - perror("bind"); // TODO: ROS_ERROR errno - return; - } - - if (fcntl(sockfd_,F_SETFL, O_NONBLOCK|FASYNC) < 0) - { - perror("non-block"); - return; - } - - ROS_DEBUG("Velodyne socket fd is %d\n", sockfd_); - } - - /** @brief destructor */ - InputSocket::~InputSocket(void) - { - (void) close(sockfd_); - } - - /** @brief Get one velodyne packet. */ - int InputSocket::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset) - { - double time1 = ros::Time::now().toSec(); - - struct pollfd fds[1]; - fds[0].fd = sockfd_; - fds[0].events = POLLIN; - static const int POLL_TIMEOUT = 1000; // one second (in msec) - - sockaddr_in sender_address; - socklen_t sender_address_len = sizeof(sender_address); - - while (true) - { - // Unfortunately, the Linux kernel recvfrom() implementation - // uses a non-interruptible sleep() when waiting for data, - // which would cause this method to hang if the device is not - // providing data. We poll() the device first to make sure - // the recvfrom() will not block. - // - // Note, however, that there is a known Linux kernel bug: - // - // Under Linux, select() may report a socket file descriptor - // as "ready for reading", while nevertheless a subsequent - // read blocks. This could for example happen when data has - // arrived but upon examination has wrong checksum and is - // discarded. There may be other circumstances in which a - // file descriptor is spuriously reported as ready. Thus it - // may be safer to use O_NONBLOCK on sockets that should not - // block. - - // poll() until input available - do - { - int retval = poll(fds, 1, POLL_TIMEOUT); - if (retval < 0) // poll() error? - { - if (errno != EINTR) - ROS_ERROR("poll() error: %s", strerror(errno)); - return 1; - } - if (retval == 0) // poll() timeout? - { - ROS_WARN("Velodyne poll() timeout"); - return 1; - } - if ((fds[0].revents & POLLERR) - || (fds[0].revents & POLLHUP) - || (fds[0].revents & POLLNVAL)) // device error? - { - ROS_ERROR("poll() reports Velodyne error"); - return 1; - } - } while ((fds[0].revents & POLLIN) == 0); - - // Receive packets that should now be available from the - // socket using a blocking read. - ssize_t nbytes = recvfrom(sockfd_, &pkt->data[0], - packet_size, 0, - (sockaddr*) &sender_address, - &sender_address_len); - - if (nbytes < 0) - { - if (errno != EWOULDBLOCK) - { - perror("recvfail"); - ROS_INFO("recvfail"); - return 1; - } - } - else if ((size_t) nbytes == packet_size) - { - // read successful, - // if packet is not from the lidar scanner we selected by IP, - // continue otherwise we are done - if(devip_str_ != "" - && sender_address.sin_addr.s_addr != devip_.s_addr) - continue; - else - break; //done - } - - ROS_DEBUG_STREAM("incomplete Velodyne packet read: " - << nbytes << " bytes"); - } - - // Average the times at which we begin and end reading. Use that to - // estimate when the scan occurred. Add the time offset. - double time2 = ros::Time::now().toSec(); - pkt->stamp = ros::Time((time2 + time1) / 2.0 + time_offset); - - return 0; - } - - //////////////////////////////////////////////////////////////////////// - // InputPCAP class implementation - //////////////////////////////////////////////////////////////////////// - - /** @brief constructor - * - * @param private_nh ROS private handle for calling node. - * @param port UDP port number - * @param packet_rate expected device packet frequency (Hz) - * @param filename PCAP dump file name - */ - InputPCAP::InputPCAP(ros::NodeHandle private_nh, uint16_t port, - double packet_rate, std::string filename, - bool read_once, bool read_fast, double repeat_delay): - Input(private_nh, port), - packet_rate_(packet_rate), - filename_(filename) - { - pcap_ = NULL; - empty_ = true; - - // get parameters using private node handle - private_nh.param("read_once", read_once_, false); - private_nh.param("read_fast", read_fast_, false); - private_nh.param("repeat_delay", repeat_delay_, 0.0); - - if (read_once_) - ROS_INFO("Read input file only once."); - if (read_fast_) - ROS_INFO("Read input file as quickly as possible."); - if (repeat_delay_ > 0.0) - ROS_INFO("Delay %.3f seconds before repeating input file.", - repeat_delay_); - - // Open the PCAP dump file - ROS_INFO("Opening PCAP file \"%s\"", filename_.c_str()); - if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_) ) == NULL) - { - ROS_FATAL("Error opening Velodyne socket dump file."); - return; - } - - std::stringstream filter; - if( devip_str_ != "" ) // using specific IP? - { - filter << "src host " << devip_str_ << " && "; - } - filter << "udp dst port " << port; - pcap_compile(pcap_, &pcap_packet_filter_, - filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN); - } - - /** destructor */ - InputPCAP::~InputPCAP(void) - { - pcap_close(pcap_); - } - - /** @brief Get one velodyne packet. */ - int InputPCAP::getPacket(velodyne_msgs::VelodynePacket *pkt, const double time_offset) - { - struct pcap_pkthdr *header; - const u_char *pkt_data; - - while (true) - { - int res; - if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) - { - // Skip packets not for the correct port and from the - // selected IP address. - if (!devip_str_.empty() && - (0 == pcap_offline_filter(&pcap_packet_filter_, - header, pkt_data))) - continue; - - // Keep the reader from blowing through the file. - if (read_fast_ == false) - packet_rate_.sleep(); - - memcpy(&pkt->data[0], pkt_data+42, packet_size); - pkt->stamp = ros::Time::now(); // time_offset not considered here, as no synchronization required - empty_ = false; - return 0; // success - } - - if (empty_) // no data in file? - { - ROS_WARN("Error %d reading Velodyne packet: %s", - res, pcap_geterr(pcap_)); - return -1; - } - - if (read_once_) - { - ROS_INFO("end of file reached -- done reading."); - return -1; - } - - if (repeat_delay_ > 0.0) - { - ROS_INFO("end of file reached -- delaying %.3f seconds.", - repeat_delay_); - usleep(rint(repeat_delay_ * 1000000.0)); - } - - ROS_DEBUG("replaying Velodyne dump file"); - - // I can't figure out how to rewind the file, because it - // starts with some kind of header. So, close the file - // and reopen it with pcap. - pcap_close(pcap_); - pcap_ = pcap_open_offline(filename_.c_str(), errbuf_); - empty_ = true; // maybe the file disappeared? - } // loop back and try again - } - -} // velodyne namespace diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/vdump b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/vdump deleted file mode 100755 index 8ded1ddb491..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/src/vdump +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -# dump velodyne packets -# $Id: vdump 8892 2009-10-24 15:13:57Z joq $ - -if [ x$1 = x ] -then echo -e "usage:\t`basename $0` file-prefix [ interface ]" - echo -e "\n\tfile-prefix is completed with a three-digit number" - echo -e "\tinterface default is 'eth0'\n" - exit 9 -fi - -IF=${2:-eth0} -ID=`id -un` - -echo "acquiring packets on $IF for user $ID; press ^C when done" - -sudo /usr/sbin/tcpdump -i $IF -Z $ID -s 0 -C 100 -W 999 -w $1 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/diagnostic_agg.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/diagnostic_agg.yaml deleted file mode 100644 index 00dc03cbd19..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/diagnostic_agg.yaml +++ /dev/null @@ -1,17 +0,0 @@ -## Diagnostic aggregator parameters for testing Velodyne diagnostics. -# -# $ rosparam load $(rospack find velodyne_driver)/tests/diagnostic_agg.yaml -# $ rosrun diagnostic_aggregator aggregator_node -# -diagnostic_aggregator: - analyzers: - sensors: - type: diagnostic_aggregator/AnalyzerGroup - path: Sensors - analyzers: - velodyne: - type: diagnostic_aggregator/GenericAnalyzer - path: Velodyne HDL - timeout: 5.0 - find_and_remove_prefix: velodyne_nodelet_manager - num_items: 1 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test deleted file mode 100644 index 8b794da4bdd..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_node_hertz.test +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test deleted file mode 100644 index 935e76f4c3b..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_32e_nodelet_hertz.test +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_node_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_node_hertz.test deleted file mode 100644 index 348e4ba1a4f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_node_hertz.test +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test deleted file mode 100644 index 81c49d2640f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_nodelet_hertz.test +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test deleted file mode 100644 index 873e4fe10bf..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_node_hertz.test +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test deleted file mode 100644 index 77f11951fc7..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_driver/tests/pcap_vlp16_nodelet_hertz.test +++ /dev/null @@ -1,31 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CHANGELOG.rst b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CHANGELOG.rst deleted file mode 100644 index a110b5fa499..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CHANGELOG.rst +++ /dev/null @@ -1,55 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne_laserscan -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- -* [Fix] Extend and Update interface.yaml (`#1291 `_) -* Contributors: Kenji Funaoka - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Modify package xml version other than 1.6.3 -* [feature] vlc32c driver, velodyne drivers updated (`#1166 `_) - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 776a358..1a70413 - 1a70413 Merge branch 'master' into Autoware - 7976d12 support vlp32c now - 273520e Added hdl32c, fixed naming - e21b522 Merge pull request `#146 `_ from stsundermann/patch-2 - 0e5a200 Merge pull request `#150 `_ from ros-drivers/mikaelarguedas-patch-1 - db6b5ee update to use non deprecated pluginlib macro - 560fe12 Use std::abs instead of fabsf - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 1a704135c529c5d2995cd2c1972ca4f59d5ae1ad - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 1a70413..52c0a0d - 52c0a0d README format - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 52c0a0d63594ee71a156755954d240d24966829e - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 52c0a0d..a1d6f18 - a1d6f18 Update and rename README.rst to README.md - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: a1d6f186d3340f3ce5059e234ed7e3dcb828d09d -* Contributors: Abraham Monrroy, Kosuke Murakami - -1.3.0 (2017-11-10) ------------------- -* Merge pull request `#110 `_ from kmhallen/master - Added velodyne_laserscan package -* Added tests for velodyne_laserscan -* Fixed validating PointCloud2 field types -* Package.xml format version 2 -* Merge pull request `#1 `_ from volkandre/master - Fixed bug. Laserscans now cover full 360 degrees. -* Fixed bug. Laserscans now cover full 360 degrees. -* Added velodyne_laserscan package and inserted into existing launch files -* Contributors: Joshua Whitley, Kevin Hallenbeck, kmhallen, volkandre diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CMakeLists.txt deleted file mode 100644 index 09e92b9939f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/CMakeLists.txt +++ /dev/null @@ -1,51 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(velodyne_laserscan) - -find_package(catkin REQUIRED COMPONENTS - roscpp - nodelet - sensor_msgs - dynamic_reconfigure -) - -generate_dynamic_reconfigure_options( - cfg/VelodyneLaserScan.cfg -) - -catkin_package() - -include_directories( - ${catkin_INCLUDE_DIRS} -) - -add_library(${PROJECT_NAME} - src/VelodyneLaserScan.cpp - src/nodelet.cpp -) -add_dependencies(${PROJECT_NAME} - ${PROJECT_NAME}_gencfg -) -target_link_libraries(${PROJECT_NAME} - ${catkin_LIBRARIES} -) - -add_executable(${PROJECT_NAME}_node - src/node.cpp -) -target_link_libraries(${PROJECT_NAME}_node - ${catkin_LIBRARIES} - ${PROJECT_NAME} -) - -install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -) -install(FILES nodelets.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - -if (CATKIN_ENABLE_TESTING) - add_subdirectory(tests) -endif() - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg deleted file mode 100755 index deffd5fb4ae..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/cfg/VelodyneLaserScan.cfg +++ /dev/null @@ -1,13 +0,0 @@ -#! /usr/bin/env python - -PACKAGE='velodyne_laserscan' - -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -# Name Type Lvl Description Default Min Max -gen.add("ring", int_t, 0, "Ring to extract as laser scan (-1 default)", -1, -1, 31) -gen.add("resolution", double_t, 0, "Laser scan angular resolution (rad)", 0.007, 0.001, 0.05) - -exit(gen.generate(PACKAGE, PACKAGE, "VelodyneLaserScan")) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/interface.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/interface.yaml deleted file mode 100644 index 37a4e0c5186..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/interface.yaml +++ /dev/null @@ -1,3 +0,0 @@ -- name: /velodyne_laserscan_node - publish: [/scan] - subscribe: [/velodyne_points] diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/nodelets.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/nodelets.xml deleted file mode 100755 index 506ae9ad019..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/nodelets.xml +++ /dev/null @@ -1,10 +0,0 @@ - - - - Extract a single ring from a Velodyne PointCloud2 and publish - as a LaserScan. - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/package.xml deleted file mode 100755 index 748757251dc..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - velodyne_laserscan - 1.10.0 - - Extract a single ring of a Velodyne PointCloud2 and publish it as a LaserScan message - - Josh Whitley - Micho Radovnikovich - Kevin Hallenbeck - BSD - - http://ros.org/wiki/velodyne_laserscan - https://github.com/ros-drivers/velodyne - https://github.com/ros-drivers/velodyne/issues - - catkin - - roscpp - nodelet - sensor_msgs - dynamic_reconfigure - - roslaunch - rostest - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.cpp deleted file mode 100644 index 91910ac2c2b..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.cpp +++ /dev/null @@ -1,174 +0,0 @@ -#include "VelodyneLaserScan.h" -#include - -namespace velodyne_laserscan { - -VelodyneLaserScan::VelodyneLaserScan(ros::NodeHandle &nh, ros::NodeHandle &nh_priv) : - ring_count_(0), nh_(nh), srv_(nh_priv) -{ - ros::SubscriberStatusCallback connect_cb = boost::bind(&VelodyneLaserScan::connectCb, this); - pub_ = nh.advertise("scan", 10, connect_cb, connect_cb); - - srv_.setCallback(boost::bind(&VelodyneLaserScan::reconfig, this, _1, _2)); -} - -void VelodyneLaserScan::connectCb() -{ - boost::lock_guard lock(connect_mutex_); - if (!pub_.getNumSubscribers()) { - sub_.shutdown(); - } else if (!sub_) { - sub_ = nh_.subscribe("velodyne_points", 10, &VelodyneLaserScan::recvCallback, this); - } -} - -void VelodyneLaserScan::recvCallback(const sensor_msgs::PointCloud2ConstPtr& msg) -{ - // Latch ring count - if (!ring_count_) { - // Check for PointCloud2 field 'ring' - bool found = false; - for (size_t i = 0; i < msg->fields.size(); i++) { - if (msg->fields[i].datatype == sensor_msgs::PointField::UINT16) { - if (msg->fields[i].name == "ring") { - found = true; - break; - } - } - } - if (!found) { - ROS_ERROR("VelodyneLaserScan: Field 'ring' of type 'UINT16' not present in PointCloud2"); - return; - } - for (sensor_msgs::PointCloud2ConstIterator it(*msg, "ring"); it != it.end(); ++it) { - const uint16_t ring = *it; - if (ring + 1 > ring_count_) { - ring_count_ = ring + 1; - } - } - if (ring_count_) { - ROS_INFO("VelodyneLaserScan: Latched ring count of %u", ring_count_); - } else { - ROS_ERROR("VelodyneLaserScan: Field 'ring' of type 'UINT16' not present in PointCloud2"); - return; - } - } - - // Select ring to use - uint16_t ring; - if ((cfg_.ring < 0) || (cfg_.ring >= ring_count_)) { - // Default to ring closest to being level for each known sensor - if (ring_count_ > 32) { - ring = 57; // HDL-64E - } else if (ring_count_ > 16) { - ring = 23; // HDL-32E - } else { - ring = 8; // VLP-16 - } - } else { - ring = cfg_.ring; - } - ROS_INFO_ONCE("VelodyneLaserScan: Extracting ring %u", ring); - - // Load structure of PointCloud2 - int offset_x = -1; - int offset_y = -1; - int offset_z = -1; - int offset_i = -1; - int offset_r = -1; - for (size_t i = 0; i < msg->fields.size(); i++) { - if (msg->fields[i].datatype == sensor_msgs::PointField::FLOAT32) { - if (msg->fields[i].name == "x") { - offset_x = msg->fields[i].offset; - } else if (msg->fields[i].name == "y") { - offset_y = msg->fields[i].offset; - } else if (msg->fields[i].name == "z") { - offset_z = msg->fields[i].offset; - } else if (msg->fields[i].name == "intensity") { - offset_i = msg->fields[i].offset; - } - } else if (msg->fields[i].datatype == sensor_msgs::PointField::UINT16) { - if (msg->fields[i].name == "ring") { - offset_r = msg->fields[i].offset; - } - } - } - - // Construct LaserScan message - if ((offset_x >= 0) && (offset_y >= 0) && (offset_r >= 0)) { - const float RESOLUTION = std::abs(cfg_.resolution); - const size_t SIZE = 2.0 * M_PI / RESOLUTION; - sensor_msgs::LaserScanPtr scan(new sensor_msgs::LaserScan()); - scan->header = msg->header; - scan->angle_increment = RESOLUTION; - scan->angle_min = -M_PI; - scan->angle_max = M_PI; - scan->range_min = 0.0; - scan->range_max = 200.0; - scan->time_increment = 0.0; - scan->ranges.resize(SIZE, INFINITY); - if ((offset_x == 0) && (offset_y == 4) && (offset_z == 8) && (offset_i == 16) && (offset_r == 20)) { - scan->intensities.resize(SIZE); - for (sensor_msgs::PointCloud2ConstIterator it(*msg, "x"); it != it.end(); ++it) { - const uint16_t r = *((const uint16_t*)(&it[5])); // ring - if (r == ring) { - const float x = it[0]; // x - const float y = it[1]; // y - const float i = it[4]; // intensity - const int bin = (atan2f(y, x) + (float)M_PI) / RESOLUTION; - if ((bin >= 0) && (bin < (int)SIZE)) { - scan->ranges[bin] = sqrtf(x * x + y * y); - scan->intensities[bin] = i; - } - } - } - } else { - ROS_WARN_ONCE("VelodyneLaserScan: PointCloud2 fields in unexpected order. Using slower generic method."); - if (offset_i >= 0) { - scan->intensities.resize(SIZE); - sensor_msgs::PointCloud2ConstIterator iter_r(*msg, "ring"); - sensor_msgs::PointCloud2ConstIterator iter_x(*msg, "x"); - sensor_msgs::PointCloud2ConstIterator iter_y(*msg, "y"); - sensor_msgs::PointCloud2ConstIterator iter_i(*msg, "intensity"); - for ( ; iter_r != iter_r.end(); ++iter_x, ++iter_y, ++iter_r, ++iter_i) { - const uint16_t r = *iter_r; // ring - if (r == ring) { - const float x = *iter_x; // x - const float y = *iter_y; // y - const float i = *iter_i; // intensity - const int bin = (atan2f(y, x) + (float)M_PI) / RESOLUTION; - if ((bin >= 0) && (bin < (int)SIZE)) { - scan->ranges[bin] = sqrtf(x * x + y * y); - scan->intensities[bin] = i; - } - } - } - } else { - sensor_msgs::PointCloud2ConstIterator iter_r(*msg, "ring"); - sensor_msgs::PointCloud2ConstIterator iter_x(*msg, "x"); - sensor_msgs::PointCloud2ConstIterator iter_y(*msg, "y"); - for ( ; iter_r != iter_r.end(); ++iter_x, ++iter_y, ++iter_r) { - const uint16_t r = *iter_r; // ring - if (r == ring) { - const float x = *iter_x; // x - const float y = *iter_y; // y - const int bin = (atan2f(y, x) + (float)M_PI) / RESOLUTION; - if ((bin >= 0) && (bin < (int)SIZE)) { - scan->ranges[bin] = sqrtf(x * x + y * y); - } - } - } - } - } - pub_.publish(scan); - } else { - ROS_ERROR("VelodyneLaserScan: PointCloud2 missing one or more required fields! (x,y,ring)"); - } -} - -void VelodyneLaserScan::reconfig(VelodyneLaserScanConfig& config, uint32_t level) -{ - cfg_ = config; -} - -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.h deleted file mode 100644 index 477348e50ba..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/VelodyneLaserScan.h +++ /dev/null @@ -1,39 +0,0 @@ -#ifndef VELODYNELASERSCAN_H -#define VELODYNELASERSCAN_H - -#include -#include -#include - -#include -#include - -#include -#include - -namespace velodyne_laserscan { - -class VelodyneLaserScan -{ -public: - VelodyneLaserScan(ros::NodeHandle &nh, ros::NodeHandle &nh_priv); - -private: - boost::mutex connect_mutex_; - void connectCb(); - void recvCallback(const sensor_msgs::PointCloud2ConstPtr& msg); - - ros::NodeHandle nh_; - ros::Subscriber sub_; - ros::Publisher pub_; - - VelodyneLaserScanConfig cfg_; - dynamic_reconfigure::Server srv_; - void reconfig(VelodyneLaserScanConfig& config, uint32_t level); - - unsigned int ring_count_; -}; - -} - -#endif // VELODYNELASERSCAN_H diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/node.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/node.cpp deleted file mode 100644 index 6c95fb9edec..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/node.cpp +++ /dev/null @@ -1,17 +0,0 @@ -#include -#include "VelodyneLaserScan.h" - -int main(int argc, char** argv) -{ - ros::init(argc, argv, "velodyne_laserscan_node"); - ros::NodeHandle nh; - ros::NodeHandle nh_priv("~"); - - // create VelodyneLaserScan class - velodyne_laserscan::VelodyneLaserScan n(nh, nh_priv); - - // handle callbacks until shut down - ros::spin(); - - return 0; -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/nodelet.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/nodelet.cpp deleted file mode 100644 index a9e7df78d42..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/src/nodelet.cpp +++ /dev/null @@ -1,24 +0,0 @@ -#include -#include -#include -#include "VelodyneLaserScan.h" - -namespace velodyne_laserscan -{ - -class LaserScanNodelet: public nodelet::Nodelet -{ -public: - LaserScanNodelet() {} - ~LaserScanNodelet() {} - -private: - virtual void onInit() { - node_.reset(new VelodyneLaserScan(getNodeHandle(), getPrivateNodeHandle())); - } - boost::shared_ptr node_; -}; - -} - -PLUGINLIB_EXPORT_CLASS(velodyne_laserscan::LaserScanNodelet, nodelet::Nodelet); diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/CMakeLists.txt deleted file mode 100644 index 3b23421c21a..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/CMakeLists.txt +++ /dev/null @@ -1,30 +0,0 @@ -### Unit tests -# -# Only configured when CATKIN_ENABLE_TESTING is true. - -# These dependencies are only needed for unit testing -find_package(roslaunch REQUIRED) -find_package(rostest REQUIRED) - -# C++ gtests -#catkin_add_gtest(test_calibration test_calibration.cpp) -#add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS}) -#target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES}) - -# ROS rostests -add_rostest_gtest(test_lazy_subscriber_node lazy_subscriber_node.test lazy_subscriber.cpp) -add_dependencies(test_lazy_subscriber_node ${catkin_EXPORTED_TARGETS}) -target_link_libraries(test_lazy_subscriber_node ${catkin_LIBRARIES}) - -add_rostest_gtest(test_lazy_subscriber_nodelet lazy_subscriber_nodelet.test lazy_subscriber.cpp) -add_dependencies(test_lazy_subscriber_nodelet ${catkin_EXPORTED_TARGETS}) -target_link_libraries(test_lazy_subscriber_nodelet ${catkin_LIBRARIES}) - -add_rostest_gtest(test_system_node system_node.test system.cpp) -add_dependencies(test_system_node ${catkin_EXPORTED_TARGETS}) -target_link_libraries(test_system_node ${catkin_LIBRARIES}) - -add_rostest_gtest(test_system_nodelet system_nodelet.test system.cpp) -add_dependencies(test_system_nodelet ${catkin_EXPORTED_TARGETS}) -target_link_libraries(test_system_nodelet ${catkin_LIBRARIES}) - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp deleted file mode 100644 index 49918006860..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber.cpp +++ /dev/null @@ -1,90 +0,0 @@ -/********************************************************************* - * C++ unit test for velodyne_laserscan - * Verify correct handling of subscribe and unsubscribe events - *********************************************************************/ - -#include - -#include -#include -#include - -// Subscriber receive callback -void recv(const sensor_msgs::LaserScanConstPtr& msg) {} - -// Build and publish a minimal PointCloud2 message -void publish(const ros::Publisher &pub) { - const uint32_t POINT_STEP = 32; - sensor_msgs::PointCloud2 msg; - msg.header.frame_id = ""; - msg.header.stamp = ros::Time::now(); - msg.fields.resize(5); - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.fields[3].name = "intensity"; - msg.fields[3].offset = 16; - msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[3].count = 1; - msg.fields[4].name = "ring"; - msg.fields[4].offset = 20; - msg.fields[4].datatype = sensor_msgs::PointField::UINT16; - msg.fields[4].count = 1; - msg.data.resize(1 * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - msg.is_bigendian = false; - msg.is_dense = true; - pub.publish(msg); -} - -// Verify correct handling of subscribe and unsubscribe events -TEST(Main, subscribe_unsubscribe) -{ - ros::NodeHandle nh; - ros::Publisher pub = nh.advertise("velodyne_points", 2); - - // Wait for node to startup - ros::WallDuration(2.0).sleep(); - ros::spinOnce(); - EXPECT_EQ(0, pub.getNumSubscribers()); - - // Subscribe to 'scan' and expect the node to subscribe to 'velodyne_points' - ros::Subscriber sub = nh.subscribe("scan", 2, recv); - for (size_t i = 10; i > 0; i--) { - publish(pub); - ros::WallDuration(0.1).sleep(); - ros::spinOnce(); - } - EXPECT_EQ(1, sub.getNumPublishers()); - EXPECT_EQ(1, pub.getNumSubscribers()); - - // Unsubscribe from 'scan' and expect the node to unsubscribe from 'velodyne_points' - sub.shutdown(); - for (size_t i = 10; i > 0; i--) { - publish(pub); - ros::WallDuration(0.1).sleep(); - ros::spinOnce(); - } - EXPECT_EQ(0, sub.getNumPublishers()); - EXPECT_EQ(0, pub.getNumSubscribers()); -} - -// Run all the tests that were declared with TEST() -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - ros::init(argc, argv, "test_lazy_subscriber"); - return RUN_ALL_TESTS(); -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test deleted file mode 100644 index f852b0b3270..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_node.test +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test deleted file mode 100644 index 787a3a28b59..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/lazy_subscriber_nodelet.test +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system.cpp deleted file mode 100644 index a96613e6e7e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system.cpp +++ /dev/null @@ -1,582 +0,0 @@ -/********************************************************************* - * C++ unit test for velodyne_laserscan - * Verify all aspects of the system - *********************************************************************/ - -#include - -#include -#include -#include - -// Define our own PointCloud type for easy use -typedef struct { - float x; // x - float y; // y - float z; // z - float i; // intensity - uint16_t r; // ring -} Point; -typedef struct { - std_msgs::Header header; - std::vector points; -} PointCloud; - -// Global variables -ros::Publisher g_pub; -ros::Subscriber g_sub; -sensor_msgs::LaserScan g_scan; -volatile bool g_scan_new = false; - -// Convert WallTime to Time -static inline ros::Time rosTime(const ros::WallTime &stamp) { - return ros::Time(stamp.sec, stamp.nsec); -} - -// Subscriber receive callback -void recv(const sensor_msgs::LaserScanConstPtr& msg) { - g_scan = *msg; - g_scan_new = true; -} - -// Wait for incoming LaserScan message -bool waitForScan(ros::WallDuration dur) { - const ros::WallTime start = ros::WallTime::now(); - while (!g_scan_new) { - if ((ros::WallTime::now() - start) > dur) { - return false; - } - ros::WallDuration(0.001).sleep(); - ros::spinOnce(); - } - return true; -} - -// Build and publish PointCloud2 messages of various structures -void publishXYZIR1(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 32; - sensor_msgs::PointCloud2 msg; - msg.header.frame_id = cloud.header.frame_id; - msg.header.stamp = cloud.header.stamp; - msg.fields.resize(5); - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.fields[3].name = "intensity"; - msg.fields[3].offset = 16; - msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[3].count = 1; - msg.fields[4].name = "ring"; - msg.fields[4].offset = 20; - msg.fields[4].datatype = sensor_msgs::PointField::UINT16; - msg.fields[4].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - msg.is_bigendian = false; - msg.is_dense = true; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((float*)(ptr + 0)) = cloud.points[i].x; - *((float*)(ptr + 4)) = cloud.points[i].y; - *((float*)(ptr + 8)) = cloud.points[i].z; - *((float*)(ptr + 16)) = cloud.points[i].i; - *((uint16_t*)(ptr + 20)) = cloud.points[i].r; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishXYZIR2(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 19; - sensor_msgs::PointCloud2 msg; - msg.header.frame_id = cloud.header.frame_id; - msg.header.stamp = cloud.header.stamp; - msg.fields.resize(5); - msg.fields[0].name = "z"; - msg.fields[0].offset = 4; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 8; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "x"; - msg.fields[2].offset = 12; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.fields[3].name = "intensity"; - msg.fields[3].offset = 0; - msg.fields[3].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[3].count = 1; - msg.fields[4].name = "ring"; - msg.fields[4].offset = 16; - msg.fields[4].datatype = sensor_msgs::PointField::UINT16; - msg.fields[4].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - msg.is_bigendian = false; - msg.is_dense = true; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((float*)(ptr + 0)) = cloud.points[i].i; - *((float*)(ptr + 4)) = cloud.points[i].z; - *((float*)(ptr + 8)) = cloud.points[i].y; - *((float*)(ptr + 12)) = cloud.points[i].x; - *((uint16_t*)(ptr + 16)) = cloud.points[i].r; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishXYZR(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 15; - sensor_msgs::PointCloud2 msg; - msg.header.frame_id = cloud.header.frame_id; - msg.header.stamp = cloud.header.stamp; - msg.fields.resize(4); - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.fields[3].name = "ring"; - msg.fields[3].offset = 12; - msg.fields[3].datatype = sensor_msgs::PointField::UINT16; - msg.fields[3].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - msg.is_bigendian = false; - msg.is_dense = true; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((float*)(ptr + 0)) = cloud.points[i].x; - *((float*)(ptr + 4)) = cloud.points[i].y; - *((float*)(ptr + 8)) = cloud.points[i].z; - *((uint16_t*)(ptr + 12)) = cloud.points[i].r; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishR(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 2; - sensor_msgs::PointCloud2 msg; - msg.header.stamp = rosTime(ros::WallTime::now()); - msg.fields.resize(1); - msg.fields[0].name = "ring"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::UINT16; - msg.fields[0].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((uint16_t*)(ptr + 0)) = cloud.points[i].r; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishXYZR32(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 16; - sensor_msgs::PointCloud2 msg; - msg.header.frame_id = cloud.header.frame_id; - msg.header.stamp = cloud.header.stamp; - msg.fields.resize(4); - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.fields[3].name = "ring"; - msg.fields[3].offset = 12; - msg.fields[3].datatype = sensor_msgs::PointField::UINT32; - msg.fields[3].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - msg.is_bigendian = false; - msg.is_dense = true; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((float*)(ptr + 0)) = cloud.points[i].x; - *((float*)(ptr + 4)) = cloud.points[i].y; - *((float*)(ptr + 8)) = cloud.points[i].z; - *((uint32_t*)(ptr + 12)) = cloud.points[i].r; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishXYZ(const PointCloud &cloud) { - g_scan_new = false; - const uint32_t POINT_STEP = 12; - sensor_msgs::PointCloud2 msg; - msg.header.stamp = rosTime(ros::WallTime::now()); - msg.fields.resize(3); - msg.fields[0].name = "x"; - msg.fields[0].offset = 0; - msg.fields[0].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[0].count = 1; - msg.fields[1].name = "y"; - msg.fields[1].offset = 4; - msg.fields[1].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[1].count = 1; - msg.fields[2].name = "z"; - msg.fields[2].offset = 8; - msg.fields[2].datatype = sensor_msgs::PointField::FLOAT32; - msg.fields[2].count = 1; - msg.data.resize(std::max((size_t)1, cloud.points.size()) * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - uint8_t *ptr = msg.data.data(); - for (size_t i = 0; i < cloud.points.size(); i++) { - *((float*)(ptr + 0)) = cloud.points[i].x; - *((float*)(ptr + 4)) = cloud.points[i].y; - *((float*)(ptr + 8)) = cloud.points[i].z; - ptr += POINT_STEP; - } - g_pub.publish(msg); -} -void publishNone() { - g_scan_new = false; - const uint32_t POINT_STEP = 16; - sensor_msgs::PointCloud2 msg; - msg.header.stamp = rosTime(ros::WallTime::now()); - msg.data.resize(1 * POINT_STEP, 0x00); - msg.point_step = POINT_STEP; - msg.row_step = msg.data.size(); - msg.height = 1; - msg.width = msg.row_step / POINT_STEP; - g_pub.publish(msg); -} - -// Find the index of the point in the PointCloud with the shortest 2d distance to the point (x,y) -static inline float SQUARE(float x) { return x * x; } -size_t findClosestIndex(const PointCloud &cloud, uint16_t ring, float x, float y) { - size_t index = SIZE_MAX; - float delta = INFINITY; - for (size_t i = 0; i < cloud.points.size(); i++) { - if (cloud.points[i].r == ring) { - float dist = SQUARE(x - cloud.points[i].x) + SQUARE(y - cloud.points[i].y); - if (dist < delta) { - delta = dist; - index = i; - } - } - } - return index; -} - -// Verify that all LaserScan header values are values are passed through, and other values are default -void verifyScanEmpty(const PointCloud &cloud, bool intensity = true) { - ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); - EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); - for (size_t i = 0; i < g_scan.ranges.size(); i++) { - EXPECT_EQ(INFINITY, g_scan.ranges[i]); - } - if (!intensity) { - EXPECT_EQ(0, g_scan.intensities.size()); - } else { - EXPECT_EQ(g_scan.ranges.size(), g_scan.intensities.size()); - for (size_t i = 0; i < g_scan.intensities.size(); i++) { - EXPECT_EQ(0.0, g_scan.intensities[i]); - } - } -} - -// Verify that every PointCloud point made it to the LaserScan and other values are default -void verifyScanSparse(const PointCloud &cloud, uint16_t ring, uint16_t ring_count, bool intensity = true) { - ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); - EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); - EXPECT_EQ(intensity ? g_scan.ranges.size() : 0, g_scan.intensities.size()); - size_t count = 0; - for (size_t i = 0; i < g_scan.ranges.size(); i++) { - double r = g_scan.ranges[i]; - if (std::isfinite(r)) { - float a = g_scan.angle_min + i * g_scan.angle_increment; - float x = g_scan.ranges[i] * cosf(a); - float y = g_scan.ranges[i] * sinf(a); - float e = g_scan.ranges[i] * g_scan.angle_increment + (float)1e-3; // allowable error - size_t index = findClosestIndex(cloud, ring, x, y); - if (index < cloud.points.size()) { - count++; - EXPECT_NEAR(cloud.points[index].x, x, e); - EXPECT_NEAR(cloud.points[index].y, y, e); - if (i < g_scan.intensities.size()) { - EXPECT_EQ(cloud.points[index].i, g_scan.intensities[i]); - } - } else { - EXPECT_TRUE(false); // LaserScan point not found in PointCloud - } - } else { - EXPECT_EQ(INFINITY, r); - } - } - if (ring_count > 0) { - EXPECT_EQ(cloud.points.size() / ring_count, count); // Make sure that all points were converted to ranges - } -} - -// Verify that every LaserScan point is not default, and every point came from the PointCloud -void verifyScanDense(const PointCloud &cloud, uint16_t ring, bool intensity = true) { - ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); - EXPECT_EQ(cloud.header.frame_id, g_scan.header.frame_id); - EXPECT_EQ(intensity ? g_scan.ranges.size() : 0, g_scan.intensities.size()); - for (size_t i = 0; i < g_scan.ranges.size(); i++) { - double r = g_scan.ranges[i]; - if (std::isfinite(r)) { - float a = g_scan.angle_min + i * g_scan.angle_increment; - float x = g_scan.ranges[i] * cosf(a); - float y = g_scan.ranges[i] * sinf(a); - float e = g_scan.ranges[i] * g_scan.angle_increment + (float)1e-3; // allowable error - size_t index = findClosestIndex(cloud, ring, x, y); - if (index < cloud.points.size()) { - EXPECT_NEAR(cloud.points[index].x, x, e); - EXPECT_NEAR(cloud.points[index].y, y, e); - ///@TODO: Test for matching intensity - } else { - EXPECT_TRUE(false); // LaserScan point not found in PointCloud - } - } else { - EXPECT_TRUE(false); // Dense PointCloud should populate every range in LaserScan - } - } -} - -// Verify that no LaserScan is generated when the PointCloud2 message is missing required fields -TEST(System, missing_fields) -{ - // Make sure system is connected - ASSERT_EQ(1, g_sub.getNumPublishers()); - ASSERT_EQ(1, g_pub.getNumSubscribers()); - - // Create PointCloud with 16 rings - PointCloud cloud; - cloud.points.resize(1); - cloud.points[0].x = 0.0; - cloud.points[0].y = 0.0; - cloud.points[0].z = 0.0; - cloud.points[0].i = 0.0; - cloud.points[0].r = 15; - - // Verify no LaserScan when PointCloud2 fields are empty - publishNone(); - EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); - - // Verify no LaserScan when PointCloud2 fields are missing 'ring' - publishXYZ(cloud); - EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); - - // Verify no LaserScan when PointCloud2 field 'ring' is the incorrect type - publishXYZR32(cloud); - EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); - - - // Verify no LaserScan when PointCloud2 fields are missing 'x' and 'y' - publishR(cloud); - EXPECT_FALSE(waitForScan(ros::WallDuration(0.5))); - - // Verify that the node hasn't crashed by sending normal PointCloud2 fields - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR1(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - ASSERT_EQ(cloud.header.stamp, g_scan.header.stamp); -} - -// Verify that non-point fields are passed through unmodified -TEST(System, empty_data) -{ - // Make sure system is connected - ASSERT_EQ(1, g_sub.getNumPublishers()); - ASSERT_EQ(1, g_pub.getNumSubscribers()); - - // Create PointCloud with 16 rings - PointCloud cloud; - cloud.header.frame_id = "abcdefghijklmnopqrstuvwxyz"; - cloud.points.resize(1); - cloud.points[0].x = 0.0; - cloud.points[0].y = 0.0; - cloud.points[0].z = 0.0; - cloud.points[0].i = 0.0; - cloud.points[0].r = 15; - - // Verify that all three PointCloud2 types create proper default values - - // PointXYZIR (expected format) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR1(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanEmpty(cloud, true); - - // PointXYZIR (unexpected format with intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR2(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanEmpty(cloud, true); - - // PointXYZR (unexpected format without intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZR(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanEmpty(cloud, false); -} - -// Verify that every piece of a small amount of random data is passed through -TEST(System, random_data_sparse) -{ - // Make sure system is connected - ASSERT_EQ(1, g_sub.getNumPublishers()); - ASSERT_EQ(1, g_pub.getNumSubscribers()); - - // Create PointCloud with sparse random data - PointCloud cloud; - cloud.header.frame_id = "velodyne"; - const size_t RANGE_COUNT = 100; - const size_t RING_COUNT = 16; - const double RANGE_MAX = 20.0; - const double INTENSITY_MAX = 1.0; - for (size_t i = 0; i < RANGE_COUNT; i++) { - double angle_y = i * 1.99 * M_PI / RANGE_COUNT; // yaw - for (size_t j = 0; j < RING_COUNT; j++) { - double angle_p = j * 0.2 * M_PI / RING_COUNT - 0.1 * M_PI; // pitch - double range = rand() * (RANGE_MAX / RAND_MAX); - Point point; - point.x = range * cos(angle_p) * cos(angle_y); - point.y = range * cos(angle_p) * sin(angle_y); - point.z = range * sin(angle_p); - point.i = rand() * (INTENSITY_MAX / RAND_MAX); - point.r = j; - cloud.points.push_back(point); - } - } - - // Verify that all three PointCloud2 types are handled correctly - - // PointXYZIR (expected format) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR1(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanSparse(cloud, 8, RING_COUNT, true); - - // PointXYZIR (unexpected format with intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR2(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanSparse(cloud, 8, RING_COUNT, true); - - // PointXYZR (unexpected format without intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZR(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanSparse(cloud, 8, RING_COUNT, false); -} - -// Verify that every LaserScan range is valid when given an extra large amount of random data -TEST(System, random_data_dense) -{ - // Make sure system is connected - ASSERT_EQ(1, g_sub.getNumPublishers()); - ASSERT_EQ(1, g_pub.getNumSubscribers()); - - // Create PointCloud with dense random data - PointCloud cloud; - cloud.header.frame_id = "velodyne"; - const size_t RANGE_COUNT = 2500; - const size_t RING_COUNT = 16; - const double RANGE_MAX = 20.0; - const double INTENSITY_MAX = 1.0; - for (size_t i = 0; i < RANGE_COUNT; i++) { - double angle_y = i * 2.0 * M_PI / RANGE_COUNT; // yaw - for (size_t j = 0; j < RING_COUNT; j++) { - double angle_p = j * 0.2 * M_PI / RING_COUNT - 0.1 * M_PI; // pitch - double range = rand() * (RANGE_MAX / RAND_MAX); - Point point; - point.x = range * cos(angle_p) * cos(angle_y); - point.y = range * cos(angle_p) * sin(angle_y); - point.z = range * sin(angle_p); - point.i = rand() * (INTENSITY_MAX / RAND_MAX); - point.r = j; - cloud.points.push_back(point); - } - } - - // Verify that all three PointCloud2 types are handled correctly - - // PointXYZIR (expected format) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR1(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanDense(cloud, 8, true); - - // PointXYZIR (unexpected format with intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZIR2(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanDense(cloud, 8, true); - - // PointXYZR (unexpected format without intensity) - cloud.header.stamp = rosTime(ros::WallTime::now()); - publishXYZR(cloud); - ASSERT_TRUE(waitForScan(ros::WallDuration(1.0))); - verifyScanDense(cloud, 8, false); -} - -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - - // Initialize ROS - ros::init(argc, argv, "test_lazy_subscriber"); - ros::NodeHandle nh; - - // Setup publisher and subscriber - g_pub = nh.advertise("velodyne_points", 2); - g_sub = nh.subscribe("scan", 2, recv); - - // Wait for other nodes to startup - ros::WallDuration(1.0).sleep(); - ros::spinOnce(); - - // Run all the tests that were declared with TEST() - return RUN_ALL_TESTS(); -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_node.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_node.test deleted file mode 100644 index 05daf8bf8a6..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_node.test +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_nodelet.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_nodelet.test deleted file mode 100644 index 55a1e991e05..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_laserscan/tests/system_nodelet.test +++ /dev/null @@ -1,21 +0,0 @@ - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CHANGELOG.rst b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CHANGELOG.rst deleted file mode 100644 index 0dbd2e5da2a..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CHANGELOG.rst +++ /dev/null @@ -1,58 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne_msgs -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Removed flawed subtree -* Contributors: AMC, Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- -* version number must equal current release number so we can start releasing in the future -* Contributors: Dejan Pangercic - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CMakeLists.txt deleted file mode 100644 index d3485da661e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/CMakeLists.txt +++ /dev/null @@ -1,16 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(velodyne_msgs) - -find_package(catkin REQUIRED COMPONENTS message_generation std_msgs) - -add_message_files( - DIRECTORY msg - FILES - VelodynePacket.msg - VelodyneScan.msg -) -generate_messages(DEPENDENCIES std_msgs) - -catkin_package( - CATKIN_DEPENDS message_runtime std_msgs -) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/mainpage.dox b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/mainpage.dox deleted file mode 100644 index f79cc87a70f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/mainpage.dox +++ /dev/null @@ -1,10 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -The @b velodyne_msgs package collects ROS messages specific to the -Velodyne HDL-64E 3D and HDL-64E S2 LIDARs. - -No other programming interfaces or ROS nodes are provided. - -*/ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodynePacket.msg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodynePacket.msg deleted file mode 100644 index fcea2733339..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodynePacket.msg +++ /dev/null @@ -1,5 +0,0 @@ -# Raw Velodyne LIDAR packet. - -time stamp # packet timestamp -uint8[1206] data # packet contents - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodyneScan.msg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodyneScan.msg deleted file mode 100644 index 61cb8bee32a..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/msg/VelodyneScan.msg +++ /dev/null @@ -1,4 +0,0 @@ -# Velodyne LIDAR scan packets. - -Header header # standard ROS message header -VelodynePacket[] packets # vector of raw packets diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/package.xml deleted file mode 100644 index 2b3432b541c..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_msgs/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - velodyne_msgs - 1.10.0 - - ROS message definitions for Velodyne 3D LIDARs. - - Josh Whitley - Jack O'Quin - BSD - - http://ros.org/wiki/velodyne_msgs - https://github.com/ros-drivers/velodyne - https://github.com/ros-drivers/velodyne/issues - - catkin - - message_generation - std_msgs - - message_runtime - std_msgs - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CHANGELOG.rst b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CHANGELOG.rst deleted file mode 100644 index f93de64bd6d..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CHANGELOG.rst +++ /dev/null @@ -1,246 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package velodyne_pointcloud -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- -* Use colcon as the build tool (`#1704 `_) - * Switch to colcon as the build tool instead of catkin - * Added cmake-target - * Added note about the second colcon call - * Added warning about catkin* scripts being deprecated - * Fix COLCON_OPTS - * Added install targets - * Update Docker image tags - * Message packages fixes - * Fix missing dependency -* Contributors: Esteve Fernandez - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- -* [Fix] Extend and Update interface.yaml (`#1291 `_) -* Contributors: Kenji Funaoka - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* [feature] vlc32c driver, velodyne drivers updated (`#1166 `_) - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 776a358..1a70413 - 1a70413 Merge branch 'master' into Autoware - 7976d12 support vlp32c now - 273520e Added hdl32c, fixed naming - e21b522 Merge pull request `#146 `_ from stsundermann/patch-2 - 0e5a200 Merge pull request `#150 `_ from ros-drivers/mikaelarguedas-patch-1 - db6b5ee update to use non deprecated pluginlib macro - 560fe12 Use std::abs instead of fabsf - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 1a704135c529c5d2995cd2c1972ca4f59d5ae1ad - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 1a70413..52c0a0d - 52c0a0d README format - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: 52c0a0d63594ee71a156755954d240d24966829e - * Squashed 'ros/src/sensing/drivers/lidar/packages/velodyne/' changes from 52c0a0d..a1d6f18 - a1d6f18 Update and rename README.rst to README.md - git-subtree-dir: ros/src/sensing/drivers/lidar/packages/velodyne - git-subtree-split: a1d6f186d3340f3ce5059e234ed7e3dcb828d09d -* rename hdl32c to vlp32c -* Added hdl32c, fixed naming -* Removed flawed subtree -* Contributors: AMC, Abraham Monrroy, Kosuke Murakami, yukikitsukawa - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.3.0 (2017-11-10) -------------------- -* Merge pull request `#110 `_ from kmhallen/master - Added velodyne_laserscan package -* Merge remote-tracking branch ros-drivers/master -* Merge pull request `#129 `_ from kmhallen/pluginlib_macro - Modern pluginlib macro -* Update to use non deprecated pluginlib macro -* Merge pull request `#127 `_ from swri-robotics/add_vlp16_hires_support - Add VLP16 Puck Hi-Res config file -* Add VLP16 Puck Hi-Res support -* velodyne_pointcloud: remove incorrect catkin_package() DEPENDS option (`#93 `_) - This eliminates a CMake warning when building on Xenial. -* Merge pull request `#111 `_ from OrebroUniversity/master - Added an interface to set up raw data processing offline -* Added an interface to set up raw data processing from a locally defined calibration file. This method is useful when processing data offline from a bag file, without starting any ros master -* Added velodyne_laserscan package and inserted into existing launch files -* test multiple nodelet manager support (`#108 `_) -* add launch args to support multiple devices (`#108 `_) -* Merge pull request `#105 `_ from fudger/patch-1 - Remove unused constants. -* Merge pull request `#104 `_ from altrouge/launch_options - Add more options in launch files. -* Rearranged alphabetically. -* Remove unused constants. - DISTANCE_MAX and DISTANCE_MAX_UNITS are not used anywhere in the code. - Furthermore, using them would lead to errors as both VLP-64 manuals state that returns above 120 m should not be used. The VLP-32 manual allows 70 m as the maximum valid sensor range. -* Merge pull request `#103 `_ from fudger/patch-1 - Fix misleading typecasts. -* Add more options in launch files. - - rpm, device_ip, port, read_once, read_fast, repeat_delay -* Fix misleading typecasts. - intensity and VPoint::intensity are both of type float. -* update change history -* merge current master (`#94 `_) -* Merge pull request `#92 `_ from adasta/master - GCC Build Warnings -* Modified velodyne_point_cloud/src/lib/rawdata.cc to address warning - that last_azimuth_diff variable may be used uninitialized. Variable - is now initialized to 0 at creation. - velodyne/velodyne_pointcloud/src/lib/rawdata.cc:328:57: error: ‘last_azimuth_diff’ may be used uninitialized in this function [-Werror=maybe-uninitialized] - azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION); -* Modified velodyne_pointcloud/src/conversion/colors.cc to remove - address build warning for strict-aliasing. - velodyne/velodyne_pointcloud/src/conversions/colors.cc:84:58: -* Merge pull request `#89 `_ from Tones29/feat_dynrec_driver - Add dynamic latency configuration to velodyne_driver -* velodyne_pointcloud: Fix compile warning "Wrong initialization order" -* velodyne_pointcloud: add dynamic reconfig update to change log (`#78 `_) -* Merge branch fudger-reconfigure_transform_node -* velodyne_pointcloud: use recommended add_dependencies() CMake variable `#78 `_ -* velodyne_pointcloud: fix transform unit tests - Use tf2_ros static_transform_publisher for more consistent timing (`#2 `_) -* Merge branch reconfigure_transform_node of https://github.com/fudger/velodyne -* prepare change history for coming Indigo release (`#59 `_) -* calibration: unit test case improvements (`#84 `_) -* calibration: read all intensities as float, then convert (`#84 `_) -* calibration: add gtest for `#84 `_ - This currently fails on 64e_s2.1-sztaki.yaml and on issue_84_float_intensities.yaml. -* calibration: make max_intensity and min_intensity optional (`#84 `_) - This fixes a regression in the 32e and VLP-16 calibrations which do not contain - intensity values. There is still a problem with the 64e_s2.1 calibration. -* Merge pull request `#76 `_ from pomerlef/master - Sign inversion in some equations -* Merge pull request `#82 `_ from ros-drivers/fix_pr_80 - Fix pr 80; adding travis CI tests. -* fix the yaml-cpp 0.5 code paths -* Merge pull request `#80 `_ from ros-drivers/fix_yaml_import - allow floats in min/max_intensity and make horiz_offset_correction optional -* allow horiz_offset_correction to be optional with 0 as default -* allow floats instead of ints in min/max_intensity -* Resolve frame ID name using tf prefix. -* Improve coding style. -* Set up dynamic reconfiguration for transform_node. - Previously, transform_node has neither read parameters other than frame_id from the command line nor has it exposed these parameters via dynamic reconfigure. As parameters like max_range and view_width have been initialized to zero, the inconfigurable transform_node has returned an empty point cloud. - Now, transform_node launches an reconfigure server just as cloud_node. In contrast to cloud_node, transform node exposes another parameter for dynamic reconfiguration: frame_id, i.e. the frame of reference the incoming Velodyne points are transformed to. -* Merge pull request `#77 `_ from fudger/pretty_print - Fix output of calibration data onto console -* Add a missing space. -* Fix line that always indicates use of model VLP-16. -* Align console output of calibration data. -* Merge branch master of https://github.com/ros-drivers/velodyne -* resolve sign error -* Merge pull request `#73 `_ from fudger/master - Correct important data type error for VLP-16 -* Fix data type error that distorts the point cloud. -* Fix and add a few comments. -* Merge pull request `#68 `_ from jlblancoc/patch-1 - Remove unused variable -* Remove unused variable - I think that `dsr` was unused. See line 317: - for (int dsr=0; ... -* VLP-16: skip badly formatted data packets (`#62 `_, `#63 `_) -* restore VLP-16 min_range setting to 0.4 (`#60 `_) - NOTE: There is still some other problem keeping that from working. -* permit min_range settings below 0.9 meters (`#60 `_) - No known models are currently known to return closer measurements. -* Merge pull request `#55 `_ from lemiant/azimuth_bug_VLP16 - Fixed azimuth overflow bug. -* Fixed azimuth overflow bug. - For interpolated azimuth values between 35999.5 and 36000.0 the nested round(fmod()) - yields a value of 36000 which is invalid and overflows the pre-computed sin/cos arrays, - since they only go form 0..35999 -* Merge pull request `#51 `_ from kunlileo/master - Added vertical sin angle correction -* Added vertical sin angle correction -* Merge pull request `#47 `_ from prclibo/master - fixed rounding bug in intensity calculation found by songshiyu -* fixed rounding bug in intensity calculation found by songshiyu -* fix some overly long C++ source lines -* Merge pull request `#44 `_ from SISegwayRmp/master - adding driver and pointcloud support for the VLP16 -* missed the space in the file name which caused the build to fail, removed space before extension -* adding the VLP16 test scripts and updating the CMakeLists to include the test file from http://download.ros.org/data/velodyne/vlp16.pcap -* adding support for the VLP16 -* Merge pull request `#43 `_ from prclibo/fix_rawdata - fixed point computation according to the 64e_s2(.1) velodyne manual -* fixed point computation according to the 64e_s2(.1) velodyne manual, with luopei"s help -* Merge pull request `#41 `_ from prclibo/master - fixed a calibration file parsing bug -* Merge pull request `#42 `_ from prclibo/fix_gen_calibration - fixed gen_calibration min/max intensity type -* fixed gen_calibration min/max intensity type -* fixed a calibration file parsing bug -* Contributors: Adam Stambler, Alex Rodrigues, Alexander Schaefer, Andreas Wachaja, Bo Li, Daniel Jartoux, Gabor Meszaros, Jack OQuin, Jose Luis Blanco-Claraco, Joshua Whitley, Kevin Hallenbeck, Kris Kozak, Kun Li, Micho Radovnikovich, Scott K Logan, Thomas Solatges, Todor Stoyanov, William Woodall, jack.oquin, libo24, phussey, piyushk, pomerlef - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- - - * Completely revised API, anticipating a 1.0.0 release. - * HDL-32E device support. - * New YAML configuration file format. - * New velodyne_driver and velodyne_pointcloud packages. - * Old velodyne_common and velodyne_pcl packages no longer included. - * Released to Electric, Fuerte and Groovy. - -0.2.6 (2011-02-23) ------------------- - - * Label all timing-dependent tests "realtime" so they do not run by - default on the build farm machines. - -0.2.5 (2010-11-19) ------------------- - - * Initial implementation of new 0.3 interfaces. - * Support for ROS 1.3 `std_msgs::Header` changes. - -0.2.0 (2010-08-17) ------------------- - - * Initial release to ROS C-turtle. - -.. _`#1`: https://github.com/ros-drivers/velodyne/issues/1 -.. _`#4`: https://github.com/ros-drivers/velodyne/issues/4 -.. _`#7`: https://github.com/ros-drivers/velodyne/issues/7 -.. _`#8`: https://github.com/ros-drivers/velodyne/pull/8 -.. _`#9`: https://github.com/ros-drivers/velodyne/issues/9 -.. _`#10`: https://github.com/ros-drivers/velodyne/issues/10 -.. _`#11`: https://github.com/ros-drivers/velodyne/issues/11 -.. _`#12`: https://github.com/ros-drivers/velodyne/pull/12 -.. _`#13`: https://github.com/ros-drivers/velodyne/issues/13 -.. _`#14`: https://github.com/ros-drivers/velodyne/pull/14 -.. _`#17`: https://github.com/ros-drivers/velodyne/issues/17 -.. _`#18`: https://github.com/ros-drivers/velodyne/issues/18 -.. _`#20`: https://github.com/ros-drivers/velodyne/issues/20 -.. _`#50`: https://github.com/ros-drivers/velodyne/issue/50 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt deleted file mode 100644 index b9022314e9f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/CMakeLists.txt +++ /dev/null @@ -1,95 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(velodyne_pointcloud) - -set(${PROJECT_NAME}_CATKIN_DEPS - angles - nodelet - pcl_ros - roscpp - roslib - sensor_msgs - tf - dynamic_reconfigure -) - - -find_package(velodyne_msgs REQUIRED) - -find_package(velodyne_driver REQUIRED) -find_package(catkin REQUIRED COMPONENTS - angles - nodelet - pcl_ros - roscpp - roslib - sensor_msgs - tf - dynamic_reconfigure - pcl_conversions) -find_package(Boost COMPONENTS signals) - -# Resolve system dependency on yaml-cpp, which apparently does not -# provide a CMake find_package() module. -find_package(PkgConfig REQUIRED) -pkg_check_modules(YAML_CPP REQUIRED yaml-cpp) -find_path(YAML_CPP_INCLUDE_DIR - NAMES yaml_cpp.h - PATHS ${YAML_CPP_INCLUDE_DIRS}) -find_library(YAML_CPP_LIBRARY - NAMES YAML_CPP - PATHS ${YAML_CPP_LIBRARY_DIRS}) - -link_directories(${YAML_CPP_LIBRARY_DIRS}) - -generate_dynamic_reconfigure_options( - cfg/CloudNode.cfg cfg/TransformNode.cfg -) - -if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") -add_definitions(-DHAVE_NEW_YAMLCPP) -endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5") - -include_directories( - include - ${velodyne_msgs_INCLUDE_DIRS} - ${catkin_INCLUDE_DIRS} - ${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake -) - -catkin_package( - CATKIN_DEPENDS - angles - nodelet - pcl_ros - roscpp - roslib - sensor_msgs - tf - dynamic_reconfigure - velodyne_driver - INCLUDE_DIRS include - LIBRARIES velodyne_rawdata) - -#add_executable(dynamic_reconfigure_node src/dynamic_reconfigure_node.cpp) -#target_link_libraries(dynamic_reconfigure_node -# ${catkin_LIBRARIES} -# ) - -add_subdirectory(src/lib) -add_subdirectory(src/conversions) - -install(DIRECTORY include/${PROJECT_NAME}/ - DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) -install(FILES nodelets.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) -install(DIRECTORY launch/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) -install(DIRECTORY params/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params) -install(PROGRAMS scripts/gen_calibration.py - DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - - -if (CATKIN_ENABLE_TESTING) - add_subdirectory(tests) -endif() diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/CloudNode.cfg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/CloudNode.cfg deleted file mode 100755 index c4f45c78365..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/CloudNode.cfg +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "velodyne_pointcloud" - -from math import pi -from dynamic_reconfigure.parameter_generator_catkin import * - -gen = ParameterGenerator() - -gen.add("min_range", double_t, 0, "min range to publish", 0.9, 0.1, 10.0) -gen.add("max_range", double_t, 0, "max range to publish", 130, 0.1, 200) -gen.add("view_direction", double_t, 0, "angle defining the center of view", - 0.0, -pi, pi) -gen.add("view_width", double_t, 0, "angle defining the view width", - 2*pi, 0.0, 2*pi) - -exit(gen.generate(PACKAGE, "cloud_node", "CloudNode")) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg deleted file mode 100755 index e6948b9b733..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/cfg/TransformNode.cfg +++ /dev/null @@ -1,39 +0,0 @@ -#!/usr/bin/env python -PACKAGE = "velodyne_pointcloud" - -from math import pi -import dynamic_reconfigure.parameter_generator_catkin as pgc - -gen = pgc.ParameterGenerator() - -gen.add("min_range", - pgc.double_t, - 0, - "min range to publish", - 0.9, 0.1, 10.0) - -gen.add("max_range", - pgc.double_t, - 0, - "max range to publish", - 130, 0.1, 200) - -gen.add("view_direction", - pgc.double_t, - 0, - "angle defining the center of view", - 0.0, -pi, pi) - -gen.add("view_width", - pgc.double_t, - 0, - "angle defining the view width", - 2*pi, 0.0, 2*pi) - -gen.add("frame_id", - pgc.str_t, - 0, - "new frame of reference for point clouds", - "odom") - -exit(gen.generate(PACKAGE, "transform_node", "TransformNode")) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h deleted file mode 100644 index 483709fd35e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/calibration.h +++ /dev/null @@ -1,84 +0,0 @@ -/** - * \file calibration.h - * - * \author Piyush Khandelwal (piyushk@cs.utexas.edu) - * Copyright (C) 2012, Austin Robot Technology, University of Texas at Austin - * - * License: Modified BSD License - * - * $ Id: 02/14/2012 11:25:34 AM piyushk $ - */ - -#ifndef __VELODYNE_CALIBRATION_H -#define __VELODYNE_CALIBRATION_H - -#include -#include - -namespace velodyne_pointcloud { - - /** \brief correction values for a single laser - * - * Correction values for a single laser (as provided by db.xml from - * Velodyne). Includes parameters for Velodyne HDL-64E S2.1. - * - * http://velodynelidar.com/lidar/products/manual/63-HDL64E%20S2%20Manual_Rev%20D_2011_web.pdf - */ - - /** \brief Correction information for a single laser. */ - struct LaserCorrection { - - /** parameters in db.xml */ - float rot_correction; - float vert_correction; - float dist_correction; - bool two_pt_correction_available; - float dist_correction_x; - float dist_correction_y; - float vert_offset_correction; - float horiz_offset_correction; - int max_intensity; - int min_intensity; - float focal_distance; - float focal_slope; - - /** cached values calculated when the calibration file is read */ - float cos_rot_correction; ///< cosine of rot_correction - float sin_rot_correction; ///< sine of rot_correction - float cos_vert_correction; ///< cosine of vert_correction - float sin_vert_correction; ///< sine of vert_correction - - int laser_ring; ///< ring number for this laser - }; - - /** \brief Calibration information for the entire device. */ - class Calibration { - - public: - - std::map laser_corrections; - int num_lasers; - bool initialized; - bool ros_info; - - public: - - Calibration(bool info=true): - initialized(false), ros_info(info) {} - Calibration(const std::string& calibration_file, - bool info=true): - ros_info(info) - { - read(calibration_file); - } - - void read(const std::string& calibration_file); - void write(const std::string& calibration_file); - }; - -} /* velodyne_pointcloud */ - - -#endif /* end of include guard: __VELODYNE_CALIBRATION_H */ - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h deleted file mode 100644 index 75a75e2806f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/point_types.h +++ /dev/null @@ -1,46 +0,0 @@ -/* -*- mode: C++ -*- - * - * Copyright (C) 2011, 2012 Austin Robot Technology - * - * License: Modified BSD Software License Agreement - * - * $Id: data_base.h 1554 2011-06-14 22:11:17Z jack.oquin $ - */ - -/** \file - * - * Point Cloud Library point structures for Velodyne data. - * - * @author Jesse Vera - * @author Jack O'Quin - * @author Piyush Khandelwal - */ - -#ifndef __VELODYNE_POINTCLOUD_POINT_TYPES_H -#define __VELODYNE_POINTCLOUD_POINT_TYPES_H - -#include - -namespace velodyne_pointcloud -{ - /** Euclidean Velodyne coordinate, including intensity and ring number. */ - struct PointXYZIR - { - PCL_ADD_POINT4D; // quad-word XYZ - float intensity; ///< laser intensity reading - uint16_t ring; ///< laser ring number - EIGEN_MAKE_ALIGNED_OPERATOR_NEW // ensure proper alignment - } EIGEN_ALIGN16; - -}; // namespace velodyne_pointcloud - - -POINT_CLOUD_REGISTER_POINT_STRUCT(velodyne_pointcloud::PointXYZIR, - (float, x, x) - (float, y, y) - (float, z, z) - (float, intensity, intensity) - (uint16_t, ring, ring)) - -#endif // __VELODYNE_POINTCLOUD_POINT_TYPES_H - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h deleted file mode 100644 index f7f828331f1..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/include/velodyne_pointcloud/rawdata.h +++ /dev/null @@ -1,189 +0,0 @@ -/* -*- mode: C++ -*- - * - * Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson - * Copyright (C) 2009, 2010, 2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - * - * @brief Interfaces for interpreting raw packets from the Velodyne 3D LIDAR. - * - * @author Yaxin Liu - * @author Patrick Beeson - * @author Jack O'Quin - */ - -#ifndef __VELODYNE_RAWDATA_H -#define __VELODYNE_RAWDATA_H - -#include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - -namespace velodyne_rawdata -{ - // Shorthand typedefs for point cloud representations - typedef velodyne_pointcloud::PointXYZIR VPoint; - typedef pcl::PointCloud VPointCloud; - - /** - * Raw Velodyne packet constants and structures. - */ - static const int SIZE_BLOCK = 100; - static const int RAW_SCAN_SIZE = 3; - static const int SCANS_PER_BLOCK = 32; - static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE); - - static const float ROTATION_RESOLUTION = 0.01f; // [deg] - static const uint16_t ROTATION_MAX_UNITS = 36000u; // [deg/100] - static const float DISTANCE_RESOLUTION = 0.002f; // [m] - - /** @todo make this work for both big and little-endian machines */ - static const uint16_t UPPER_BANK = 0xeeff; - static const uint16_t LOWER_BANK = 0xddff; - - - /** Special Defines for VLP16 support **/ - static const int VLP16_FIRINGS_PER_BLOCK = 2; - static const int VLP16_SCANS_PER_FIRING = 16; - static const float VLP16_BLOCK_TDURATION = 110.592f; // [µs] - static const float VLP16_DSR_TOFFSET = 2.304f; // [µs] - static const float VLP16_FIRING_TOFFSET = 55.296f; // [µs] - - - /** \brief Raw Velodyne data block. - * - * Each block contains data from either the upper or lower laser - * bank. The device returns three times as many upper bank blocks. - * - * use stdint.h types, so things work with both 64 and 32-bit machines - */ - typedef struct raw_block - { - uint16_t header; ///< UPPER_BANK or LOWER_BANK - uint16_t rotation; ///< 0-35999, divide by 100 to get degrees - uint8_t data[BLOCK_DATA_SIZE]; - } raw_block_t; - - /** used for unpacking the first two data bytes in a block - * - * They are packed into the actual data stream misaligned. I doubt - * this works on big endian machines. - */ - union two_bytes - { - uint16_t uint; - uint8_t bytes[2]; - }; - - static const int PACKET_SIZE = 1206; - static const int BLOCKS_PER_PACKET = 12; - static const int PACKET_STATUS_SIZE = 4; - static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET); - - /** \brief Raw Velodyne packet. - * - * revolution is described in the device manual as incrementing - * (mod 65536) for each physical turn of the device. Our device - * seems to alternate between two different values every third - * packet. One value increases, the other decreases. - * - * \todo figure out if revolution is only present for one of the - * two types of status fields - * - * status has either a temperature encoding or the microcode level - */ - typedef struct raw_packet - { - raw_block_t blocks[BLOCKS_PER_PACKET]; - uint16_t revolution; - uint8_t status[PACKET_STATUS_SIZE]; - } raw_packet_t; - - /** \brief Velodyne data conversion class */ - class RawData - { - public: - - RawData(); - ~RawData() {} - - /** \brief Set up for data processing. - * - * Perform initializations needed before data processing can - * begin: - * - * - read device-specific angles calibration - * - * @param private_nh private node handle for ROS parameters - * @returns 0 if successful; - * errno value for failure - */ - int setup(ros::NodeHandle private_nh); - - /** \brief Set up for data processing offline. - * Performs the same initialization as in setup, in the abscence of a ros::NodeHandle. - * this method is useful if unpacking data directly from bag files, without passing - * through a communication overhead. - * - * @param calibration_file path to the calibration file - * @param max_range_ cutoff for maximum range - * @param min_range_ cutoff for minimum range - * @returns 0 if successful; - * errno value for failure - */ - int setupOffline(std::string calibration_file, double max_range_, double min_range_); - - void unpack(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc, int packets_num); - - void setParameters(double min_range, double max_range, double view_direction, - double view_width); - - private: - - /** configuration parameters */ - typedef struct { - std::string calibrationFile; ///< calibration file name - double max_range; ///< maximum range to publish - double min_range; ///< minimum range to publish - int min_angle; ///< minimum angle to publish - int max_angle; ///< maximum angle to publish - - double tmp_min_angle; - double tmp_max_angle; - } Config; - Config config_; - - /** - * Calibration file - */ - velodyne_pointcloud::Calibration calibration_; - float sin_rot_table_[ROTATION_MAX_UNITS]; - float cos_rot_table_[ROTATION_MAX_UNITS]; - - /** add private function to handle the VLP16 **/ - void unpack_vlp16(const velodyne_msgs::VelodynePacket &pkt, VPointCloud &pc); - - /** in-line test whether a point is in range */ - bool pointInRange(float range) - { - return (range >= config_.min_range - && range <= config_.max_range); - } - }; - -} // namespace velodyne_rawdata - -#endif // __VELODYNE_RAWDATA_H diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/interface.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/interface.yaml deleted file mode 100644 index 18bd6798126..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/interface.yaml +++ /dev/null @@ -1,9 +0,0 @@ -- name: /cloud_node - publish: [/velodyne_points] - subscribe: [/velodyne_packets] -- name: /colors_node - publish: [/velodyne_rings] - subscribe: [/velodyne_points] -- name: /transform_node - publish: [/velodyne_points] - subscribe: [/velodyne_packets] diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32c_points.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32c_points.launch deleted file mode 100644 index 8ed72f2761f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32c_points.launch +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32e_points.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32e_points.launch deleted file mode 100644 index 460687e5581..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/32e_points.launch +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch deleted file mode 100644 index d745c269d78..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP-32C_points.launch +++ /dev/null @@ -1,51 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP16_points.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP16_points.launch deleted file mode 100644 index 1234280f89c..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/VLP16_points.launch +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/cloud_nodelet.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/cloud_nodelet.launch deleted file mode 100644 index 049a89f5146..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/cloud_nodelet.launch +++ /dev/null @@ -1,16 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch deleted file mode 100644 index 7c5be247bb8..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/laserscan_nodelet.launch +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch deleted file mode 100644 index 465f33fc283..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/transform_nodelet.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl32c.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl32c.launch deleted file mode 100644 index 134c8dbbf2e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl32c.launch +++ /dev/null @@ -1,53 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/mainpage.dox b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/mainpage.dox deleted file mode 100644 index 7e1d763adeb..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/mainpage.dox +++ /dev/null @@ -1,8 +0,0 @@ -/** -\mainpage -\htmlinclude manifest.html - -Nodes and nodelets for converting raw Velodyne 3D LIDAR data to point -clouds. - -*/ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/nodelets.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/nodelets.xml deleted file mode 100644 index 0b02a54a221..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/nodelets.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - - Aggregates points from multiple packets, publishing PointCloud2. - - - - - - - - Converts a Velodyne PointCloud2 to PointXYZRGB, assigning colors - for visualization of the laser rings. - - - - - - - - Transforms packets into /odom frame, publishing multiple packets - as PointCloud2. - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml deleted file mode 100644 index 7115ffbe143..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - velodyne_pointcloud - 1.10.0 - - Point cloud conversions for Velodyne 3D LIDARs. - - Josh Whitley - Jack O'Quin - Piyush Khandelwal - Jesse Vera - BSD - http://ros.org/wiki/velodyne_pointcloud - https://github.com/ros-drivers/velodyne - https://github.com/ros-drivers/velodyne/issues - - catkin - - angles - nodelet - pcl_conversions - pcl_ros - pluginlib - roscpp - roslib - sensor_msgs - tf - velodyne_driver - velodyne_msgs - yaml-cpp - dynamic_reconfigure - vector_map_msgs - - - roslaunch - rostest - tf2_ros - - angles - nodelet - pcl_ros - pluginlib - python-yaml - roscpp - roslib - sensor_msgs - tf - velodyne_driver - velodyne_msgs - yaml-cpp - dynamic_reconfigure - velodyne_laserscan - vector_map_msgs - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32c-db.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32c-db.yaml deleted file mode 100644 index fbd9b083afc..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32c-db.yaml +++ /dev/null @@ -1,98 +0,0 @@ -lasers: -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: -0.024434609527920613, - vert_correction: -0.4363323129985824, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.07330382858376185, - vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: -0.024434609527920613, - vert_correction: -0.029094638630745476, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.024434609527920613, - vert_correction: -0.2729520417193932, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: -0.024434609527920613, - vert_correction: -0.19739673840055869, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.024434609527920613, - vert_correction: 0.0, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: -0.07330382858376185, - vert_correction: -0.011641346110802179, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.024434609527920613, - vert_correction: -0.15433946575385857, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: -0.024434609527920613, - vert_correction: -0.12660618393966866, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.07330382858376185, - vert_correction: 0.005811946409141118, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: -0.024434609527920613, - vert_correction: -0.005811946409141118, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.024434609527920613, - vert_correction: -0.10730284241261137, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: -0.07330382858376185, - vert_correction: -0.0930784090088576, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.024434609527920613, - vert_correction: 0.02326523892908441, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: -0.07330382858376185, - vert_correction: 0.011641346110802179, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.024434609527920613, - vert_correction: -0.06981317007977318, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, rot_correction: -0.024434609527920613, - vert_correction: -0.08145451619057535, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, rot_correction: 0.07330382858376185, - vert_correction: 0.029094638630745476, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, rot_correction: -0.024434609527920613, - vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, rot_correction: 0.07330382858376185, - vert_correction: -0.06400122367063206, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, rot_correction: -0.07330382858376185, - vert_correction: -0.058171823968971005, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, rot_correction: 0.024434609527920613, - vert_correction: 0.058171823968971005, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, rot_correction: -0.024434609527920613, - vert_correction: 0.04071853144902771, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, rot_correction: 0.024434609527920613, - vert_correction: -0.04654793115068877, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, rot_correction: -0.024434609527920613, - vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, rot_correction: 0.024434609527920613, - vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, rot_correction: -0.024434609527920613, - vert_correction: 0.08145451619057535, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, rot_correction: 0.07330382858376185, - vert_correction: -0.04071853144902771, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, rot_correction: -0.07330382858376185, - vert_correction: -0.03490658503988659, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, rot_correction: 0.024434609527920613, - vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, rot_correction: -0.024434609527920613, - vert_correction: 0.18034487160857407, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, rot_correction: 0.024434609527920613, - vert_correction: -0.02326523892908441, vert_offset_correction: 0.0} -num_lasers: 32 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32db.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32db.yaml deleted file mode 100644 index 3f0bde5dad4..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/32db.yaml +++ /dev/null @@ -1,99 +0,0 @@ -# standard Velodyne HDL-32E calibration parameters -lasers: -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, - vert_correction: -0.5352924815866609, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, - vert_correction: -0.1628392174657417, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, - vert_correction: -0.5119050696099369, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, - vert_correction: -0.13962634015954636, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, - vert_correction: -0.4886921905584123, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, - vert_correction: -0.11641346285335104, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, - vert_correction: -0.4654793115068877, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, - vert_correction: -0.09302604738596851, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, - vert_correction: -0.44209189953016365, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, - vert_correction: -0.06981317007977318, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, - vert_correction: -0.4188790204786391, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, - vert_correction: -0.046600292773577856, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, - vert_correction: -0.39566614142711454, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, - vert_correction: -0.023212879051524585, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, - vert_correction: -0.3722787294503905, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, - vert_correction: 0.0, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, rot_correction: 0.0, - vert_correction: -0.3490658503988659, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, rot_correction: 0.0, - vert_correction: 0.023212879051524585, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, rot_correction: 0.0, - vert_correction: -0.32585297134734137, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, rot_correction: 0.0, - vert_correction: 0.046600292773577856, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, rot_correction: 0.0, - vert_correction: -0.30246555937061725, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, rot_correction: 0.0, - vert_correction: 0.06981317007977318, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, rot_correction: 0.0, - vert_correction: -0.2792526803190927, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, rot_correction: 0.0, - vert_correction: 0.09302604738596851, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, rot_correction: 0.0, - vert_correction: -0.25603980126756815, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, rot_correction: 0.0, - vert_correction: 0.11641346285335104, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, rot_correction: 0.0, - vert_correction: -0.23265238929084414, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, rot_correction: 0.0, - vert_correction: 0.13962634015954636, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, rot_correction: 0.0, - vert_correction: -0.20943951023931956, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, rot_correction: 0.0, - vert_correction: 0.1628392174657417, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, rot_correction: 0.0, - vert_correction: -0.18622663118779495, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, rot_correction: 0.0, - vert_correction: 0.18622663118779495, vert_offset_correction: 0.0} -num_lasers: 32 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64_s3.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64_s3.yaml deleted file mode 100644 index 33b3c041290..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64_s3.yaml +++ /dev/null @@ -1,236 +0,0 @@ -lasers: -- {dist_correction: 1.3341370000000001, dist_correction_x: 1.3770175, dist_correction_y: 1.3693201, - focal_distance: 23.0, focal_slope: 0.80000001, horiz_offset_correction: 0.025999999, - laser_id: 0, min_intensity: 40, rot_correction: -0.0875638125990495, vert_correction: -0.11998075876479478, - vert_offset_correction: 0.21524197} -- {dist_correction: 1.2784334, dist_correction_x: 1.3453961, dist_correction_y: 1.3687756, - focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, - laser_id: 1, min_intensity: 40, rot_correction: -0.0516039806967789, vert_correction: -0.11377040779263016, - vert_offset_correction: 0.21478924} -- {dist_correction: 1.2389702, dist_correction_x: 1.3081396, dist_correction_y: 1.3355688000000001, - focal_distance: 24.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 2, min_intensity: 40, rot_correction: 0.04853123779152178, vert_correction: 0.011001473674968943, - vert_offset_correction: 0.20578202999999998} -- {dist_correction: 1.3441640000000001, dist_correction_x: 1.3580962, dist_correction_y: 1.4128375, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 3, - min_intensity: 40, rot_correction: 0.08738408208333763, vert_correction: 0.017214444386340795, - vert_offset_correction: 0.2053352} -- {dist_correction: 1.1810606000000001, dist_correction_x: 1.2801595000000001, dist_correction_y: 1.2827992000000001, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 4, - min_intensity: 40, rot_correction: -0.01254561725328956, vert_correction: -0.10835938096596465, - vert_offset_correction: 0.21439533000000002} -- {dist_correction: 1.2961924999999999, dist_correction_x: 1.3474356, dist_correction_y: 1.3811745, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 5, - min_intensity: 40, rot_correction: 0.026674055453788554, vert_correction: -0.10229472309843952, - vert_offset_correction: 0.21395437} -- {dist_correction: 1.2419437, dist_correction_x: 1.2903035, dist_correction_y: 1.2895184000000002, - focal_distance: 18.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 6, - min_intensity: 40, rot_correction: -0.026249280711096678, vert_correction: -0.14464475168031724, - vert_offset_correction: 0.21704693} -- {dist_correction: 1.331787, dist_correction_x: 1.3404492, dist_correction_y: 1.3704454000000001, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 7, - min_intensity: 40, rot_correction: 0.012960040448187856, vert_correction: -0.136949821901077, - vert_offset_correction: 0.21648251} -- {dist_correction: 1.4419050999999998, dist_correction_x: 1.4522223, dist_correction_y: 1.4566838000000002, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 8, - min_intensity: 40, rot_correction: 0.06214989882783487, vert_correction: -0.0973970360020291, - vert_offset_correction: 0.21359867000000002} -- {dist_correction: 1.2242116, dist_correction_x: 1.2461514, dist_correction_y: 1.2859863000000002, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 9, - min_intensity: 20, rot_correction: 0.10129050253474403, vert_correction: -0.09075139991441711, - vert_offset_correction: 0.21311657} -- {dist_correction: 1.2606423, dist_correction_x: 1.2659447000000001, dist_correction_y: 1.2614133, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 10, - min_intensity: 40, rot_correction: 0.04840783777741802, vert_correction: -0.13221247471238878, - vert_offset_correction: 0.21613562000000003} -- {dist_correction: 1.2711886000000001, dist_correction_x: 1.2960101, dist_correction_y: 1.3366455, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 11, - min_intensity: 40, rot_correction: 0.08791822962893499, vert_correction: -0.12569898099310378, - vert_offset_correction: 0.21565939} -- {dist_correction: 1.3744284, dist_correction_x: 1.4837148, dist_correction_y: 1.4738747, - focal_distance: 24.0, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999, - laser_id: 12, min_intensity: 40, rot_correction: -0.08779799564209434, vert_correction: -0.048893669373332414, - vert_offset_correction: 0.21009163} -- {dist_correction: 1.2048839, dist_correction_x: 1.2105705, dist_correction_y: 1.221711, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 13, - min_intensity: 40, rot_correction: -0.04901914632924604, vert_correction: -0.042406825086396115, - vert_offset_correction: 0.20962421} -- {dist_correction: 1.2685587, dist_correction_x: 1.3017062000000001, dist_correction_y: 1.2806761, - focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: 0.025999999, - laser_id: 14, min_intensity: 40, rot_correction: -0.1014407876006455, vert_correction: -0.08413830549070854, - vert_offset_correction: 0.21263739} -- {dist_correction: 1.3096053, dist_correction_x: 1.3180252, dist_correction_y: 1.3305025000000001, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 15, - min_intensity: 40, rot_correction: -0.06274414155023689, vert_correction: -0.07784292556804527, - vert_offset_correction: 0.21218174} -- {dist_correction: 1.1794215, dist_correction_x: 1.2482835, dist_correction_y: 1.2621236, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 16, - min_intensity: 20, rot_correction: -0.01320811282142007, vert_correction: -0.03677380634151095, - vert_offset_correction: 0.20921852000000002} -- {dist_correction: 1.3635158, dist_correction_x: 1.3565096, dist_correction_y: 1.3900846999999998, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 17, - min_intensity: 40, rot_correction: 0.02572681989017068, vert_correction: -0.03077087029765335, - vert_offset_correction: 0.20878639} -- {dist_correction: 1.4423683, dist_correction_x: 1.4654208, dist_correction_y: 1.4381956, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 18, - min_intensity: 40, rot_correction: -0.02671174583898537, vert_correction: -0.07316812923441927, - vert_offset_correction: 0.21184366000000002} -- {dist_correction: 1.2666303, dist_correction_x: 1.3264554000000002, dist_correction_y: 1.3313803, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 19, - min_intensity: 40, rot_correction: 0.01210807123832914, vert_correction: -0.066536682673626, - vert_offset_correction: 0.2113645} -- {dist_correction: 1.1811635, dist_correction_x: 1.2530032, dist_correction_y: 1.2701639, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 20, - min_intensity: 40, rot_correction: 0.061021080954168756, vert_correction: -0.025133421907126623, - vert_offset_correction: 0.20838072000000002} -- {dist_correction: 1.1797396, dist_correction_x: 1.1966942, dist_correction_y: 1.2427734, - focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 21, - min_intensity: 40, rot_correction: 0.09963826914505108, vert_correction: -0.017818762719981656, - vert_offset_correction: 0.20785452} -- {dist_correction: 1.2759121, dist_correction_x: 1.3082083, dist_correction_y: 1.2781748000000002, - focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 22, - min_intensity: 40, rot_correction: 0.04789914062297325, vert_correction: -0.061039906075480765, - vert_offset_correction: 0.21096764} -- {dist_correction: 1.1052917, dist_correction_x: 1.1863661, dist_correction_y: 1.2294272, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 23, - min_intensity: 40, rot_correction: 0.0864218331974941, vert_correction: -0.054765011082248155, - vert_offset_correction: 0.21051493000000002} -- {dist_correction: 1.4327750000000001, dist_correction_x: 1.4601050000000002, dist_correction_y: 1.4634244, - focal_distance: 24.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 24, - min_intensity: 40, rot_correction: -0.08853664865213563, vert_correction: 0.022690591018194532, - vert_offset_correction: 0.20494126999999998} -- {dist_correction: 1.3748683, dist_correction_x: 1.3880458, dist_correction_y: 1.4084926, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 25, - min_intensity: 40, rot_correction: -0.0500542749286651, vert_correction: 0.02865556615082126, - vert_offset_correction: 0.20451208} -- {dist_correction: 1.5232005000000002, dist_correction_x: 1.5581267, dist_correction_y: 1.5533673, - focal_distance: 24.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 26, - min_intensity: 40, rot_correction: -0.1022799087437486, vert_correction: -0.013486229117863189, - vert_offset_correction: 0.2075429} -- {dist_correction: 1.2030782, dist_correction_x: 1.2052515, dist_correction_y: 1.2159852, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 27, - min_intensity: 40, rot_correction: -0.06285698057703683, vert_correction: -0.007231806662223545, - vert_offset_correction: 0.20709312000000002} -- {dist_correction: 1.3160265999999998, dist_correction_x: 1.3362192, dist_correction_y: 1.3606879, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 28, - min_intensity: 40, rot_correction: -0.01320027105709086, vert_correction: 0.03421014630846329, - vert_offset_correction: 0.20411228} -- {dist_correction: 1.2353125, dist_correction_x: 1.2489084, dist_correction_y: 1.2976976, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 29, - min_intensity: 40, rot_correction: 0.025127123013856178, vert_correction: 0.039885086116652105, - vert_offset_correction: 0.20370367000000003} -- {dist_correction: 1.4900142, dist_correction_x: 1.4986922000000003, dist_correction_y: 1.4892090999999998, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 30, - min_intensity: 40, rot_correction: -0.027599874082155206, vert_correction: -0.0015491891506552067, - vert_offset_correction: 0.20668451000000002} -- {dist_correction: 1.37972, dist_correction_x: 1.3738556, dist_correction_y: 1.4163486, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 31, - min_intensity: 10, rot_correction: 0.01160064032025669, vert_correction: 0.004951184754109629, - vert_offset_correction: 0.20621710000000001} -- {dist_correction: 1.3428465, dist_correction_x: 1.3557657, dist_correction_y: 1.3418614, - focal_distance: 10.0, focal_slope: 1.8, horiz_offset_correction: 0.025999999, laser_id: 32, - max_intensity: 240, rot_correction: -0.138260122601024, vert_correction: -0.38958258687977804, - vert_offset_correction: 0.15966215} -- {dist_correction: 1.2656889, dist_correction_x: 1.2834363, dist_correction_y: 1.2928867, - focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 33, rot_correction: -0.07863341834752928, vert_correction: -0.3813684914612396, - vert_offset_correction: 0.15906769} -- {dist_correction: 1.3147719, dist_correction_x: 1.3500304, dist_correction_y: 1.3394234, - focal_distance: 0.25, focal_slope: 0.60000002, horiz_offset_correction: 0.025999999, - laser_id: 34, rot_correction: 0.07737380899037723, vert_correction: -0.19529038779278932, - vert_offset_correction: 0.14644182} -- {dist_correction: 1.2474113, dist_correction_x: 1.2436385, dist_correction_y: 1.2742156, - focal_distance: 8.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 35, - rot_correction: 0.13389198061697338, vert_correction: -0.18440860897245506, vert_offset_correction: 0.14574067} -- {dist_correction: 1.3043698000000001, dist_correction_x: 1.3455293000000002, dist_correction_y: 1.3310945, - focal_distance: 6.0, focal_slope: 0.69999999, horiz_offset_correction: 0.025999999, - laser_id: 36, rot_correction: -0.01809471498268523, vert_correction: -0.3735607435991504, - vert_offset_correction: 0.15850626} -- {dist_correction: 1.3558932, dist_correction_x: 1.3648607000000001, dist_correction_y: 1.3844502, - focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 37, - rot_correction: 0.04160905428393128, vert_correction: -0.3643492972328523, vert_offset_correction: 0.15784829} -- {dist_correction: 1.3631388999999998, dist_correction_x: 1.3619556, dist_correction_y: 1.32826, - focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 38, - rot_correction: -0.04136107615847867, vert_correction: -0.4249418405144618, vert_offset_correction: 0.16226859999999999} -- {dist_correction: 1.2119859, dist_correction_x: 1.195593, dist_correction_y: 1.2124264, - focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 39, - rot_correction: 0.019412234364418465, vert_correction: -0.4177926751923203, vert_offset_correction: 0.16173511999999998} -- {dist_correction: 1.1596658, dist_correction_x: 1.2247992, dist_correction_y: 1.1987354000000001, - focal_distance: 0.25, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 40, rot_correction: 0.10110012725592424, vert_correction: -0.3549289349550905, - vert_offset_correction: 0.15718016} -- {dist_correction: 1.2120467, dist_correction_x: 1.2054861, dist_correction_y: 1.2306758, - focal_distance: 11.0, focal_slope: 1.8, horiz_offset_correction: -0.025999999, laser_id: 41, - rot_correction: 0.16126966730403272, vert_correction: -0.3449354938174363, vert_offset_correction: 0.15647646} -- {dist_correction: 1.3333382, dist_correction_x: 1.2956323, dist_correction_y: 1.3181738, - focal_distance: 0.25, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 42, - rot_correction: 0.08026351398098995, vert_correction: -0.4069834497089914, vert_offset_correction: 0.16093489000000002} -- {dist_correction: 1.2031100000000001, dist_correction_x: 1.1726703, dist_correction_y: 1.1966344, - focal_distance: 5.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 43, - rot_correction: 0.14212699904258477, vert_correction: -0.3982280404229469, vert_offset_correction: 0.16029216999999998} -- {dist_correction: 1.3584755000000002, dist_correction_x: 1.3747638, dist_correction_y: 1.3606628, - focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 44, - rot_correction: -0.13554782509288874, vert_correction: -0.27988262200601505, vert_offset_correction: 0.15201041} -- {dist_correction: 1.2297962, dist_correction_x: 1.2653230000000002, dist_correction_y: 1.2591778, - focal_distance: 4.0, focal_slope: 0.5, horiz_offset_correction: -0.025999999, laser_id: 45, - rot_correction: -0.0759075648670938, vert_correction: -0.2741710494821561, vert_offset_correction: 0.15162681} -- {dist_correction: 1.3673357, dist_correction_x: 1.4087834000000001, dist_correction_y: 1.3718388, - focal_distance: 11.0, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 46, - rot_correction: -0.16045821835622, vert_correction: -0.33278957301988255, vert_offset_correction: 0.15562797} -- {dist_correction: 1.3467569000000001, dist_correction_x: 1.3862437, dist_correction_y: 1.3835794000000001, - focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 47, rot_correction: -0.09918226173539475, vert_correction: -0.3263478594567443, - vert_offset_correction: 0.15518085} -- {dist_correction: 1.3194414, dist_correction_x: 1.3914738, dist_correction_y: 1.3407483, - focal_distance: 13.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 48, - rot_correction: -0.017567135111063132, vert_correction: -0.2663114478879902, vert_offset_correction: 0.15110094999999998} -- {dist_correction: 1.1799297, dist_correction_x: 1.2140034, dist_correction_y: 1.2188379, - focal_distance: 13.0, focal_slope: 1.6, horiz_offset_correction: -0.025999999, laser_id: 49, - rot_correction: 0.040753359494251254, vert_correction: -0.2574624191408687, vert_offset_correction: 0.15051157} -- {dist_correction: 1.3178593, dist_correction_x: 1.3847113, dist_correction_y: 1.3503816000000002, - focal_distance: 11.5, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 50, - rot_correction: -0.03918480766087442, vert_correction: -0.31943572730031605, vert_offset_correction: 0.15470325000000001} -- {dist_correction: 1.1757167, dist_correction_x: 1.2291534, dist_correction_y: 1.2066114000000001, - focal_distance: 10.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 51, - rot_correction: 0.019609919082145603, vert_correction: -0.31071396796225, vert_offset_correction: 0.15410372} -- {dist_correction: 1.3012508, dist_correction_x: 1.3459103, dist_correction_y: 1.3279784000000001, - focal_distance: 3.0, focal_slope: 0.60000002, horiz_offset_correction: 0.025999999, - laser_id: 52, rot_correction: 0.09831982124815579, vert_correction: -0.2485719737305974, - vert_offset_correction: 0.14992219} -- {dist_correction: 1.3961946, dist_correction_x: 1.3866818, dist_correction_y: 1.4235323, - focal_distance: 10.0, focal_slope: 1.8, horiz_offset_correction: -0.025999999, laser_id: 53, - rot_correction: 0.15524662855785065, vert_correction: -0.23431031245389858, vert_offset_correction: 0.14898224000000002} -- {dist_correction: 1.3121657, dist_correction_x: 1.3609177, dist_correction_y: 1.3314134000000002, - focal_distance: 2.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 54, - rot_correction: 0.0774651054182198, vert_correction: -0.30134662878716373, vert_offset_correction: 0.15346353000000001} -- {dist_correction: 1.3857425, dist_correction_x: 1.3832364000000001, dist_correction_y: 1.4127867, - focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55, - rot_correction: 0.13762208607703091, vert_correction: -0.29222440365222757, vert_offset_correction: 0.15284367} -- {dist_correction: 1.3394890000000002, dist_correction_x: 1.355778, dist_correction_y: 1.3378203, - focal_distance: 8.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 56, - rot_correction: -0.1324210241047096, vert_correction: -0.17344281000192982, vert_offset_correction: 0.14503697000000002} -- {dist_correction: 1.2533094, dist_correction_x: 1.2771513, dist_correction_y: 1.2885771, - focal_distance: 0.25, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 57, rot_correction: -0.07550436239395657, vert_correction: -0.16800350360539426, - vert_offset_correction: 0.14468894000000002} -- {dist_correction: 1.3952191, dist_correction_x: 1.3993332, dist_correction_y: 1.4028029000000002, - focal_distance: 10.0, focal_slope: 1.8, horiz_offset_correction: 0.025999999, laser_id: 58, - rot_correction: -0.15500965822399038, vert_correction: -0.2253176954692155, vert_offset_correction: 0.14839286} -- {dist_correction: 1.4072631999999998, dist_correction_x: 1.4515788, dist_correction_y: 1.4461058, - focal_distance: 2.0, focal_slope: 0.5, horiz_offset_correction: -0.025999999, laser_id: 59, - rot_correction: -0.0964995842099951, vert_correction: -0.2195225565807711, vert_offset_correction: 0.14801434} -- {dist_correction: 1.2998834, dist_correction_x: 1.3250862, dist_correction_y: 1.3162988000000002, - focal_distance: 3.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 60, - rot_correction: -0.018001111229571518, vert_correction: -0.1604433882935658, vert_offset_correction: 0.14420626} -- {dist_correction: 1.2459258, dist_correction_x: 1.2490827, dist_correction_y: 1.2775961, - focal_distance: 4.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 61, - rot_correction: 0.03613890442885447, vert_correction: -0.1503078633921653, vert_offset_correction: 0.14356099} -- {dist_correction: 1.3532121000000001, dist_correction_x: 1.3825903, dist_correction_y: 1.3751887999999999, - focal_distance: 12.0, focal_slope: 0.60000002, horiz_offset_correction: 0.025999999, - laser_id: 62, rot_correction: -0.03914617479788153, vert_correction: -0.21215009383412933, - vert_offset_correction: 0.1475342} -- {dist_correction: 1.4005698000000002, dist_correction_x: 1.4151000999999999, dist_correction_y: 1.4399539, - focal_distance: 6.0, focal_slope: 0.44999999, horiz_offset_correction: -0.025999999, - laser_id: 63, rot_correction: 0.01847893350954851, vert_correction: -0.20283293287503792, - vert_offset_correction: 0.14692958} -num_lasers: 64 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml deleted file mode 100644 index 4c191d2447a..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_s2.1-sztaki.yaml +++ /dev/null @@ -1,245 +0,0 @@ -lasers: -- {dist_correction: 1.5195264000000002, dist_correction_x: 1.5500304, dist_correction_y: 1.5231381, - focal_distance: 12.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 0, - max_intensity: 235.0, min_intensity: 30.0, rot_correction: -0.1248942899601548, - vert_correction: -0.15304134919741974, vert_offset_correction: 0.19548199} -- {dist_correction: 1.5145139, dist_correction_x: 1.5256960000000002, dist_correction_y: 1.5491043, - focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 1, - min_intensity: 40.0, rot_correction: -0.06924466398252106, vert_correction: -0.1458455539136526, - vert_offset_correction: 0.19601112} -- {dist_correction: 1.4963768, dist_correction_x: 1.5571011, dist_correction_y: 1.5456782999999998, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 2, min_intensity: 60.0, rot_correction: 0.0824016906676694, vert_correction: 0.04339494149708345, - vert_offset_correction: 0.20969539999999998} -- {dist_correction: 1.3771207, dist_correction_x: 1.4103835, dist_correction_y: 1.4343457000000002, - focal_distance: 9.5, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 3, - min_intensity: 20.0, rot_correction: 0.137808349360133, vert_correction: 0.05196082373432465, - vert_offset_correction: 0.21031273} -- {dist_correction: 1.2947885, dist_correction_x: 1.3720455999999999, dist_correction_y: 1.4025244000000001, - focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 4, - min_intensity: 50.0, rot_correction: -0.011199603626188263, vert_correction: -0.1358262679404349, - vert_offset_correction: 0.19674603999999998} -- {dist_correction: 1.4395787000000002, dist_correction_x: 1.4801956, dist_correction_y: 1.5074649, - focal_distance: 7.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 5, - min_intensity: 30.0, rot_correction: 0.045795414990398894, vert_correction: -0.12678532627942263, - vert_offset_correction: 0.19740747} -- {dist_correction: 1.3618773, dist_correction_x: 1.4004077000000001, dist_correction_y: 1.3900876, - focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 6, - min_intensity: 65.0, rot_correction: -0.031646046452444135, vert_correction: -0.1895564226946273, - vert_offset_correction: 0.19277746} -- {dist_correction: 1.5325716, dist_correction_x: 1.5337143, dist_correction_y: 1.5452948000000002, - focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 7, - min_intensity: 10.0, rot_correction: 0.023408326257150665, vert_correction: -0.18086723120040343, - vert_offset_correction: 0.19342419} -- {dist_correction: 1.3743323, dist_correction_x: 1.4474606, dist_correction_y: 1.4533472, - focal_distance: 6.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 8, - min_intensity: 30.0, rot_correction: 0.10065885915180103, vert_correction: -0.11973897655818674, - vert_offset_correction: 0.19792192} -- {dist_correction: 1.4969112000000002, dist_correction_x: 1.4754176, dist_correction_y: 1.4888799000000001, - focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 9, - min_intensity: 10.0, rot_correction: 0.15996423607269877, vert_correction: -0.10924820210484752, - vert_offset_correction: 0.19868624000000001} -- {dist_correction: 1.434263, dist_correction_x: 1.4957901000000002, dist_correction_y: 1.5191892999999999, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 10, min_intensity: 35.0, rot_correction: 0.08313316164783874, vert_correction: -0.17135657256846043, - vert_offset_correction: 0.19412970999999998} -- {dist_correction: 1.5500841, dist_correction_x: 1.542697, dist_correction_y: 1.5716737, - focal_distance: 8.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 11, - min_intensity: 30.0, rot_correction: 0.13862572370075624, vert_correction: -0.1630088948849621, - vert_offset_correction: 0.19474705} -- {dist_correction: 1.3725992, dist_correction_x: 1.4353555, dist_correction_y: 1.3932405, - focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 12, - min_intensity: 50.0, rot_correction: -0.1255805045528199, vert_correction: -0.04526314018308893, - vert_offset_correction: 0.20331627000000002} -- {dist_correction: 1.3111591000000002, dist_correction_x: 1.3470857, dist_correction_y: 1.3652054000000002, - focal_distance: 6.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999, - laser_id: 13, min_intensity: 30.0, rot_correction: -0.06716508498014805, vert_correction: -0.03587557613263058, - vert_offset_correction: 0.20399239000000002} -- {dist_correction: 1.5360803, dist_correction_x: 1.5528035, dist_correction_y: 1.5666801000000001, - focal_distance: 8.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 14, - min_intensity: 20.0, rot_correction: -0.14578889529014513, vert_correction: -0.09893566067472198, - vert_offset_correction: 0.19943586} -- {dist_correction: 1.4755448999999998, dist_correction_x: 1.5032428, dist_correction_y: 1.5326752, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 15, min_intensity: 30.0, rot_correction: -0.08892898296002069, vert_correction: -0.09062974348423608, - vert_offset_correction: 0.20003851} -- {dist_correction: 1.4410587000000001, dist_correction_x: 1.4870845, dist_correction_y: 1.4627965, - focal_distance: 18.0, focal_slope: 0.5, horiz_offset_correction: 0.025999999, laser_id: 16, - min_intensity: 40.0, rot_correction: -0.013006177528832626, vert_correction: -0.02770725895504266, - vert_offset_correction: 0.20458033} -- {dist_correction: 1.4434521, dist_correction_x: 1.4897508, dist_correction_y: 1.4791382, - focal_distance: 11.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, - laser_id: 17, min_intensity: 55.0, rot_correction: 0.04596628970548614, vert_correction: -0.02014825541794774, - vert_offset_correction: 0.20512417} -- {dist_correction: 1.3243448000000002, dist_correction_x: 1.3816666000000002, dist_correction_y: 1.3647719, - focal_distance: 12.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 18, - min_intensity: 10.0, rot_correction: -0.03237303019110658, vert_correction: -0.08210824496987311, - vert_offset_correction: 0.20065581999999998} -- {dist_correction: 1.4565853999999998, dist_correction_x: 1.4340645, dist_correction_y: 1.4550516, - focal_distance: 20.0, focal_slope: 0.69999999, horiz_offset_correction: -0.025999999, - laser_id: 19, min_intensity: 30.0, rot_correction: 0.02431275238487562, vert_correction: -0.0727614640280461, - vert_offset_correction: 0.20133196000000003} -- {dist_correction: 1.3313776, dist_correction_x: 1.3819601000000001, dist_correction_y: 1.3847791, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 20, min_intensity: 45.0, rot_correction: 0.10029393174916004, vert_correction: -0.009929893699589059, - vert_offset_correction: 0.20585909000000002} -- {dist_correction: 1.3787535, dist_correction_x: 1.3978789, dist_correction_y: 1.4257806, - focal_distance: 10.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 21, - min_intensity: 35.0, rot_correction: 0.15867894419560363, vert_correction: -0.0037977317325845416, - vert_offset_correction: 0.20630005} -- {dist_correction: 1.3419412, dist_correction_x: 1.4059189, dist_correction_y: 1.4113303, - focal_distance: 11.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 22, - min_intensity: 40.0, rot_correction: 0.08044522544540282, vert_correction: -0.06482699129962814, - vert_offset_correction: 0.20190518999999998} -- {dist_correction: 1.4338304, dist_correction_x: 1.4212059, dist_correction_y: 1.4900565000000001, - focal_distance: 11.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 23, - min_intensity: 55.0, rot_correction: 0.13867708175932542, vert_correction: -0.05566171063737453, - vert_offset_correction: 0.20256662} -- {dist_correction: 1.4930911, dist_correction_x: 1.5572188, dist_correction_y: 1.5182672, - focal_distance: 5.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 24, - min_intensity: 25.0, rot_correction: -0.12505298227706313, vert_correction: 0.06113007152996804, - vert_offset_correction: 0.21097416} -- {dist_correction: 1.4367653000000002, dist_correction_x: 1.4614236, dist_correction_y: 1.4587589, - focal_distance: 3.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 25, - min_intensity: 50.0, rot_correction: -0.06814826559971075, vert_correction: 0.06988221181432357, - vert_offset_correction: 0.21160620000000002} -- {dist_correction: 1.5279892000000002, dist_correction_x: 1.5686107999999999, dist_correction_y: 1.55737, - focal_distance: 7.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 26, - min_intensity: 30.0, rot_correction: -0.14531660046790917, vert_correction: 0.00887576771486082, - vert_offset_correction: 0.20721134} -- {dist_correction: 1.5077638, dist_correction_x: 1.5453738000000001, dist_correction_y: 1.5483368, - focal_distance: 4.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 27, min_intensity: 30.0, rot_correction: -0.08904354811745085, vert_correction: 0.017050959569839413, - vert_offset_correction: 0.20779928000000003} -- {dist_correction: 1.3627797000000001, dist_correction_x: 1.4232985, dist_correction_y: 1.4116524000000001, - focal_distance: 4.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 28, - min_intensity: 50.0, rot_correction: -0.012061568860271928, vert_correction: 0.07842048992411524, - vert_offset_correction: 0.21222351} -- {dist_correction: 1.3749608, dist_correction_x: 1.4045798, dist_correction_y: 1.4006630999999998, - focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 29, - min_intensity: 40.0, rot_correction: 0.043892943273872005, vert_correction: 0.08674443287511571, - vert_offset_correction: 0.21282616000000001} -- {dist_correction: 1.2940709000000001, dist_correction_x: 1.392794, dist_correction_y: 1.3225565000000001, - focal_distance: 8.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 30, min_intensity: 90.0, rot_correction: -0.033068739374902546, vert_correction: 0.02522388232225749, - vert_offset_correction: 0.20838722} -- {dist_correction: 1.3907666, dist_correction_x: 1.4365166, dist_correction_y: 1.4501437000000001, - focal_distance: 9.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 31, - min_intensity: 5.0, rot_correction: 0.025535290948715324, vert_correction: 0.034414332377654115, - vert_offset_correction: 0.20904865} -- {dist_correction: 1.3461819, dist_correction_x: 1.3678523000000002, dist_correction_y: 1.3552880999999999, - focal_distance: 11.0, focal_slope: 1.5, horiz_offset_correction: 0.025999999, laser_id: 32, - min_intensity: 45.0, rot_correction: -0.13309965698710405, vert_correction: -0.39666389380060213, - vert_offset_correction: 0.10812234999999999} -- {dist_correction: 1.2487466, dist_correction_x: 1.2929747, dist_correction_y: 1.3438803, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 33, min_intensity: 35.0, rot_correction: -0.07241159183553281, vert_correction: -0.39021216204755743, - vert_offset_correction: 0.10859233} -- {dist_correction: 1.5016498000000003, dist_correction_x: 1.5384890999999998, dist_correction_y: 1.5506186, - focal_distance: 4.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 34, - min_intensity: 20.0, rot_correction: 0.08292710807634829, vert_correction: -0.2010672181773803, - vert_offset_correction: 0.12148494} -- {dist_correction: 1.2495708, dist_correction_x: 1.2891127, dist_correction_y: 1.2943669, - focal_distance: 11.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 35, - min_intensity: 25.0, rot_correction: 0.14006506182829093, vert_correction: -0.19103771853737994, - vert_offset_correction: 0.12213274} -- {dist_correction: 1.2674536, dist_correction_x: 1.3298663, dist_correction_y: 1.3577469, - focal_distance: 6.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 36, min_intensity: 35.0, rot_correction: -0.012004346320883118, vert_correction: -0.3819670695815035, - vert_offset_correction: 0.10918932} -- {dist_correction: 1.2481956, dist_correction_x: 1.28627, dist_correction_y: 1.29235, - focal_distance: 14.5, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 37, - min_intensity: 30.0, rot_correction: 0.04832190474636683, vert_correction: -0.3718940414299584, - vert_offset_correction: 0.10991334} -- {dist_correction: 1.4516722, dist_correction_x: 1.4842308, dist_correction_y: 1.4868384000000001, - focal_distance: 4.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38, - min_intensity: 55.0, rot_correction: -0.03583078923869515, vert_correction: -0.4336284663746853, - vert_offset_correction: 0.1053787} -- {dist_correction: 1.3843003999999999, dist_correction_x: 1.4010727, dist_correction_y: 1.4332015999999999, - focal_distance: 6.5, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 39, - min_intensity: 40.0, rot_correction: 0.026883486237381612, vert_correction: -0.4261966798867682, - vert_offset_correction: 0.10593759000000001} -- {dist_correction: 1.244738, dist_correction_x: 1.3131859000000001, dist_correction_y: 1.354245, - focal_distance: 6.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 40, - min_intensity: 25.0, rot_correction: 0.1076316048478218, vert_correction: -0.3640637439139335, - vert_offset_correction: 0.11047223} -- {dist_correction: 1.3284543, dist_correction_x: 1.3295518000000002, dist_correction_y: 1.3809489, - focal_distance: 12.5, focal_slope: 1.7, horiz_offset_correction: -0.025999999, laser_id: 41, - min_intensity: 50.0, rot_correction: 0.1679293847080498, vert_correction: -0.3511493721000192, - vert_offset_correction: 0.11138678} -- {dist_correction: 1.4055542, dist_correction_x: 1.4426663, dist_correction_y: 1.430847, - focal_distance: 1.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 42, - min_intensity: 10.0, rot_correction: 0.0861156692854385, vert_correction: -0.4163231777753111, - vert_offset_correction: 0.10667431000000001} -- {dist_correction: 1.3529747, dist_correction_x: 1.3834917999999998, dist_correction_y: 1.4029074, - focal_distance: 6.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 43, - min_intensity: 35.0, rot_correction: 0.15024020221305323, vert_correction: -0.4046365927302973, - vert_offset_correction: 0.10753805} -- {dist_correction: 1.2407380000000001, dist_correction_x: 1.3171521000000002, dist_correction_y: 1.2836400000000001, - focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: 0.025999999, laser_id: 44, - max_intensity: 220.0, rot_correction: -0.12998527227122358, vert_correction: -0.28892197890806653, - vert_offset_correction: 0.11568009} -- {dist_correction: 1.5288051999999999, dist_correction_x: 1.5904514, dist_correction_y: 1.6288455, - focal_distance: 10.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 45, rot_correction: -0.07009281894983248, vert_correction: -0.28120381879648226, - vert_offset_correction: 0.11620087} -- {dist_correction: 1.5423979, dist_correction_x: 1.5919412, dist_correction_y: 1.610177, - focal_distance: 13.0, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 46, - rot_correction: -0.1533711640661691, vert_correction: -0.34156398894148127, vert_offset_correction: 0.11205999} -- {dist_correction: 1.3086252999999999, dist_correction_x: 1.3737134, dist_correction_y: 1.4177727, - focal_distance: 5.5, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 47, rot_correction: -0.0927890927600715, vert_correction: -0.3348332488542128, - vert_offset_correction: 0.11252997} -- {dist_correction: 1.3405330000000002, dist_correction_x: 1.4512436, dist_correction_y: 1.4471467999999998, - focal_distance: 13.5, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 48, - rot_correction: -0.012004348415278218, vert_correction: -0.2738300470529015, vert_offset_correction: 0.11669625} -- {dist_correction: 1.2994545, dist_correction_x: 1.3971343999999999, dist_correction_y: 1.36849, - focal_distance: 14.0, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 49, - rot_correction: 0.047471358677980184, vert_correction: -0.2649030020882158, vert_offset_correction: 0.11729325} -- {dist_correction: 1.4499762999999999, dist_correction_x: 1.5111346, dist_correction_y: 1.542395, - focal_distance: 13.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 50, - rot_correction: -0.03378136079915033, vert_correction: -0.32678797913421975, vert_offset_correction: 0.11308886} -- {dist_correction: 1.3516956, dist_correction_x: 1.4231836999999998, dist_correction_y: 1.4301146, - focal_distance: 13.0, focal_slope: 1.1, horiz_offset_correction: -0.025999999, laser_id: 51, - rot_correction: 0.025334358173250228, vert_correction: -0.3179609589889659, vert_offset_correction: 0.11369856} -- {dist_correction: 1.2374236, dist_correction_x: 1.308008, dist_correction_y: 1.3549429000000002, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: 0.025999999, - laser_id: 52, rot_correction: 0.10481975724981128, vert_correction: -0.25478428121685354, - vert_offset_correction: 0.11796646000000001} -- {dist_correction: 1.3730562000000002, dist_correction_x: 1.403678, dist_correction_y: 1.4347415000000001, - focal_distance: 13.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 53, - rot_correction: 0.16311715242247551, vert_correction: -0.24576616497179882, vert_offset_correction: 0.11856346000000001} -- {dist_correction: 1.4445888, dist_correction_x: 1.5025624, dist_correction_y: 1.5189749000000001, - focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 54, - rot_correction: 0.08384971878954978, vert_correction: -0.31000962288931516, vert_offset_correction: 0.11424474999999999} -- {dist_correction: 1.3861449, dist_correction_x: 1.4228815000000001, dist_correction_y: 1.4620186000000002, - focal_distance: 15.0, focal_slope: 1.6, horiz_offset_correction: -0.025999999, laser_id: 55, - rot_correction: 0.14374613400834294, vert_correction: -0.2986601307360315, vert_offset_correction: 0.11501958000000001} -- {dist_correction: 1.4635341, dist_correction_x: 1.5232283000000002, dist_correction_y: 1.5063837000000002, - focal_distance: 13.0, focal_slope: 1.3, horiz_offset_correction: 0.025999999, laser_id: 56, - rot_correction: -0.12741928396895377, vert_correction: -0.18393445537456576, vert_offset_correction: 0.12259002000000001} -- {dist_correction: 1.3715826000000002, dist_correction_x: 1.4186972, dist_correction_y: 1.4328435, - focal_distance: 3.5, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 57, - rot_correction: -0.06853129555735342, vert_correction: -0.1744342722087932, vert_offset_correction: 0.12319972} -- {dist_correction: 1.4644831999999999, dist_correction_x: 1.5095984000000002, dist_correction_y: 1.5149265, - focal_distance: 11.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 58, - rot_correction: -0.1497316045423758, vert_correction: -0.23400086557751998, vert_offset_correction: 0.11933828} -- {dist_correction: 1.3074548, dist_correction_x: 1.3521214000000001, dist_correction_y: 1.3830151000000002, - focal_distance: 5.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 59, rot_correction: -0.08973572126418226, vert_correction: -0.22644383426247983, - vert_offset_correction: 0.11983367} -- {dist_correction: 1.4378391, dist_correction_x: 1.4799687000000001, dist_correction_y: 1.4889211, - focal_distance: 5.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 60, - rot_correction: -0.011751946229237658, vert_correction: -0.1678843098347878, vert_offset_correction: 0.12361888} -- {dist_correction: 1.3585466, dist_correction_x: 1.4135242, dist_correction_y: 1.4170488, - focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 61, rot_correction: 0.04489272721060892, vert_correction: -0.158331168143522, - vert_offset_correction: 0.12422858} -- {dist_correction: 1.4478067, dist_correction_x: 1.5442529, dist_correction_y: 1.5512207, - focal_distance: 10.0, focal_slope: 1.0, horiz_offset_correction: 0.025999999, laser_id: 62, - rot_correction: -0.0340408982402389, vert_correction: -0.21671681763514258, vert_offset_correction: 0.12046877} -- {dist_correction: 1.4329738, dist_correction_x: 1.4817114, dist_correction_y: 1.4954124, - focal_distance: 9.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, - laser_id: 63, rot_correction: 0.024857907722065305, vert_correction: -0.2106649408137298, - vert_offset_correction: 0.12086253} -num_lasers: 64 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_utexas.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_utexas.yaml deleted file mode 100644 index 9126ce5242e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/64e_utexas.yaml +++ /dev/null @@ -1,258 +0,0 @@ -# University of Texas HDL-64E calibration parameters -lasers: -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532, - vert_offset_correction: 0} -- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727, - vert_offset_correction: 0} -- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627, - vert_offset_correction: 0} -- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0, - rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359, - vert_offset_correction: 0} -- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0, - rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0, - rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293, - vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705, - vert_offset_correction: 0} -- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0, - rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742, - vert_offset_correction: 0} -- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0, - rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286, - vert_offset_correction: 0} -- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138, - vert_offset_correction: 0} -- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195, - vert_offset_correction: 0} -- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0, - rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0, - rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691, - vert_offset_correction: 0} -- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493, - vert_offset_correction: 0} -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0, - rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942, - vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0, - rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472, - vert_offset_correction: 0} -- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118, - vert_offset_correction: 0} -- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0, - rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853, - vert_offset_correction: 0} -- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0, - rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941, - vert_offset_correction: 0} -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0, - rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0, - rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0, - rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323, - vert_offset_correction: 0} -- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733, - vert_offset_correction: 0} -- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0, - rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471, - vert_offset_correction: 0} -- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0, - rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0, - rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0, - rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764, - vert_offset_correction: 0} -- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0, - rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531, - vert_offset_correction: 0} -- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0, - focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143, - two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902, - vert_offset_correction: 0} -num_lasers: 64 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml deleted file mode 100644 index 395bd4333e0..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16_hires_db.yaml +++ /dev/null @@ -1,50 +0,0 @@ -lasers: -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, - vert_correction: -0.17453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, - vert_correction: 0.011635528346628864, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, - vert_correction: -0.15126186850617523, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, - vert_correction: 0.03490658503988659, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, - vert_correction: -0.1279908118129175, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, - vert_correction: 0.05817764173314432, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, - vert_correction: -0.10471975511965977, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, - vert_correction: 0.08144869842640205, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, - vert_correction: -0.08144869842640205, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, - vert_correction: 0.10471975511965977, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, - vert_correction: -0.05817764173314432, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, - vert_correction: 0.1279908118129175, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, - vert_correction: -0.03490658503988659, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, - vert_correction: 0.15126186850617523, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, - vert_correction: -0.011635528346628864, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, - vert_correction: 0.17453292519943295, vert_offset_correction: 0.0} -num_lasers: 16 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16db.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16db.yaml deleted file mode 100644 index bb6212576f2..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VLP16db.yaml +++ /dev/null @@ -1,51 +0,0 @@ -lasers: -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0, - vert_correction: -0.2617993877991494, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0, - vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0, - vert_correction: -0.22689280275926285, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0, - vert_correction: 0.05235987755982989, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0, - vert_correction: -0.19198621771937624, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0, - vert_correction: 0.08726646259971647, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0, - vert_correction: -0.15707963267948966, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0, - vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0, - vert_correction: -0.12217304763960307, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0, - vert_correction: 0.15707963267948966, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0, - vert_correction: -0.08726646259971647, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0, - vert_correction: 0.19198621771937624, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0, - vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0, - vert_correction: 0.22689280275926285, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0, - vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0, - vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} -num_lasers: 16 - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml deleted file mode 100644 index fbd9b083afc..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/VeloView-VLP-32C.yaml +++ /dev/null @@ -1,98 +0,0 @@ -lasers: -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: -0.024434609527920613, - vert_correction: -0.4363323129985824, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.07330382858376185, - vert_correction: -0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: -0.024434609527920613, - vert_correction: -0.029094638630745476, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.024434609527920613, - vert_correction: -0.2729520417193932, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: -0.024434609527920613, - vert_correction: -0.19739673840055869, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.024434609527920613, - vert_correction: 0.0, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: -0.07330382858376185, - vert_correction: -0.011641346110802179, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.024434609527920613, - vert_correction: -0.15433946575385857, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: -0.024434609527920613, - vert_correction: -0.12660618393966866, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.07330382858376185, - vert_correction: 0.005811946409141118, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: -0.024434609527920613, - vert_correction: -0.005811946409141118, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.024434609527920613, - vert_correction: -0.10730284241261137, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: -0.07330382858376185, - vert_correction: -0.0930784090088576, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.024434609527920613, - vert_correction: 0.02326523892908441, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: -0.07330382858376185, - vert_correction: 0.011641346110802179, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.024434609527920613, - vert_correction: -0.06981317007977318, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, rot_correction: -0.024434609527920613, - vert_correction: -0.08145451619057535, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, rot_correction: 0.07330382858376185, - vert_correction: 0.029094638630745476, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, rot_correction: -0.024434609527920613, - vert_correction: 0.017453292519943295, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, rot_correction: 0.07330382858376185, - vert_correction: -0.06400122367063206, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, rot_correction: -0.07330382858376185, - vert_correction: -0.058171823968971005, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, rot_correction: 0.024434609527920613, - vert_correction: 0.058171823968971005, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, rot_correction: -0.024434609527920613, - vert_correction: 0.04071853144902771, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, rot_correction: 0.024434609527920613, - vert_correction: -0.04654793115068877, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, rot_correction: -0.024434609527920613, - vert_correction: -0.05235987755982989, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, rot_correction: 0.024434609527920613, - vert_correction: 0.12217304763960307, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, rot_correction: -0.024434609527920613, - vert_correction: 0.08145451619057535, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, rot_correction: 0.07330382858376185, - vert_correction: -0.04071853144902771, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, rot_correction: -0.07330382858376185, - vert_correction: -0.03490658503988659, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, rot_correction: 0.024434609527920613, - vert_correction: 0.2617993877991494, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, rot_correction: -0.024434609527920613, - vert_correction: 0.18034487160857407, vert_offset_correction: 0.0} -- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0, - focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, rot_correction: 0.024434609527920613, - vert_correction: -0.02326523892908441, vert_offset_correction: 0.0} -num_lasers: 32 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/rviz_points.vcg b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/rviz_points.vcg deleted file mode 100644 index 52e6fb1d122..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/params/rviz_points.vcg +++ /dev/null @@ -1,78 +0,0 @@ -Background\ ColorB=0 -Background\ ColorG=0 -Background\ ColorR=0 -Camera\ Config=0.384797 3.10041 41.6639 0 0 0 -Camera\ Type=rviz::OrbitViewController -Fixed\ Frame=/velodyne -Grid.Alpha=0.5 -Grid.Cell\ Size=1 -Grid.ColorB=0.5 -Grid.ColorG=0.5 -Grid.ColorR=0.5 -Grid.Enabled=1 -Grid.Line\ Style=0 -Grid.Line\ Width=0.03 -Grid.Normal\ Cell\ Count=0 -Grid.OffsetX=0 -Grid.OffsetY=0 -Grid.OffsetZ=0 -Grid.Plane=0 -Grid.Plane\ Cell\ Count=50 -Grid.Reference\ Frame= -Property\ Grid\ Splitter=751,78 -Property\ Grid\ State=expanded=.Global Options,Grid.Enabled,Velodyne Cloud.Enabled;splitterratio=0.5 -QMainWindow=000000ff00000000fd00000003000000000000011d0000038ffc0200000001fb000000100044006900730070006c006100790073010000001d0000038f000000ee00ffffff00000001000001300000038ffc0200000003fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000001d0000011f0000006700fffffffb0000000a00560069006500770073010000014200000145000000bb00fffffffb0000001200530065006c0065006300740069006f006e010000028d0000011f0000006700ffffff00000003000005d10000003efc0100000001fb0000000800540069006d00650100000000000005d1000002bf00ffffff000003780000038f00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 -TF.All\ Enabled=1 -TF.Enabled=1 -TF.Frame\ Timeout=15 -TF.Marker\ Scale=1 -TF.Show\ Arrows=1 -TF.Show\ Axes=1 -TF.Show\ Names=1 -TF.Update\ Interval=0 -Target\ Frame= -Tool\ 2D\ Nav\ GoalTopic=move_base_simple/goal -Tool\ 2D\ Pose\ EstimateTopic=initialpose -Velodyne\ Cloud..AxisColorAutocompute\ Value\ Bounds=1 -Velodyne\ Cloud..AxisColorAxis=2 -Velodyne\ Cloud..AxisColorMax\ Value=10 -Velodyne\ Cloud..AxisColorMin\ Value=-10 -Velodyne\ Cloud..AxisColorUse\ Fixed\ Frame=1 -Velodyne\ Cloud..FlatColorColorB=1 -Velodyne\ Cloud..FlatColorColorG=1 -Velodyne\ Cloud..FlatColorColorR=1 -Velodyne\ Cloud..IntensityAutocompute\ Intensity\ Bounds=1 -Velodyne\ Cloud..IntensityChannel\ Name=intensity -Velodyne\ Cloud..IntensityMax\ ColorB=1 -Velodyne\ Cloud..IntensityMax\ ColorG=0.776471 -Velodyne\ Cloud..IntensityMax\ ColorR=0.796078 -Velodyne\ Cloud..IntensityMax\ Intensity=255 -Velodyne\ Cloud..IntensityMin\ ColorB=1 -Velodyne\ Cloud..IntensityMin\ ColorG=0.0823529 -Velodyne\ Cloud..IntensityMin\ ColorR=0.141176 -Velodyne\ Cloud..IntensityMin\ Intensity=95 -Velodyne\ Cloud..IntensityUse\ full\ RGB\ spectrum=0 -Velodyne\ Cloud.Alpha=1 -Velodyne\ Cloud.Billboard\ Size=0.1 -Velodyne\ Cloud.Color\ Transformer=Intensity -Velodyne\ Cloud.Decay\ Time=0 -Velodyne\ Cloud.Enabled=1 -Velodyne\ Cloud.Position\ Transformer=XYZ -Velodyne\ Cloud.Queue\ Size=10 -Velodyne\ Cloud.Selectable=1 -Velodyne\ Cloud.Style=0 -Velodyne\ Cloud.Topic=/velodyne_points -[Display0] -ClassName=rviz::GridDisplay -Name=Grid -[Display1] -ClassName=rviz::TFDisplay -Name=TF -[Display2] -ClassName=rviz::PointCloud2Display -Name=Velodyne Cloud -[Window] -Height=1045 -Width=1505 -X=-8 -Y=-29 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/scripts/gen_calibration.py b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/scripts/gen_calibration.py deleted file mode 100755 index fb0ffa06e38..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/scripts/gen_calibration.py +++ /dev/null @@ -1,204 +0,0 @@ -#!/usr/bin/python -# Software License Agreement (BSD License) -# -# Copyright (C) 2012, Austin Robot Technology -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Austin Robot Technology, Inc. nor the names -# of its contributors may be used to endorse or promote products -# derived from this software without specific prior written -# permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -# Revision $Id$ - -""" -Generate YAML calibration file from Velodyne db.xml. - -The input data provided by the manufacturer are in degrees and -centimeters. The YAML file uses radians and meters, following ROS -standards [REP-0103]. - -""" - -from __future__ import print_function - -import math -import optparse -import os -import sys -from xml.etree import ElementTree -import yaml - -# parse the command line -usage = """usage: %prog infile.xml [outfile.yaml] - - Default output file is input file with .yaml suffix.""" -parser = optparse.OptionParser(usage=usage) -options, args = parser.parse_args() - -if len(args) < 1: - parser.error('XML file name missing') - sys.exit(9) - -xmlFile = args[0] -if len(args) >= 2: - yamlFile = args[1] -else: - yamlFile, ext = os.path.splitext(xmlFile) - yamlFile += '.yaml' - -print('converting "' + xmlFile + '" to "' + yamlFile + '"') - -calibrationGood = True -def xmlError(msg): - 'handle XML calibration error' - global calibrationGood - calibrationGood = False - print('gen_calibration.py: ' + msg) - -db = None -try: - db = ElementTree.parse(xmlFile) -except IOError: - xmlError('unable to read ' + xmlFile) -except ElementTree.ParseError: - xmlError('XML parse failed for ' + xmlFile) - -if not calibrationGood: - sys.exit(2) - -# create a dictionary to hold all relevant calibration values -calibration = {'num_lasers': 0, 'lasers': []} -cm2meters = 0.01 # convert centimeters to meters - -def addLaserCalibration(laser_num, key, val): - 'Define key and corresponding value for laser_num' - global calibration - if laser_num < len(calibration['lasers']): - calibration['lasers'][laser_num][key] = val - else: - calibration['lasers'].append({key: val}) - -# add enabled flags -num_enabled = 0 -enabled_lasers = [] -enabled = db.find('DB/enabled_') -if enabled == None: - print('no enabled tags found: assuming all 64 enabled') - num_enabled = 64 - enabled_lasers = [True for i in xrange(num_enabled)] -else: - index = 0 - for el in enabled: - if el.tag == 'item': - this_enabled = int(el.text) != 0 - enabled_lasers.append(this_enabled) - index += 1 - if this_enabled: - num_enabled += 1 - -calibration['num_lasers'] = num_enabled -print(str(num_enabled) + ' lasers') - -# add minimum laser intensities -minIntensities = db.find('DB/minIntensity_') -if minIntensities != None: - index = 0 - for el in minIntensities: - if el.tag == 'item': - if enabled_lasers[index]: - value = int(el.text) - if value != 0: - addLaserCalibration(index, 'min_intensity', value) - index += 1 - -# add maximum laser intensities -maxIntensities = db.find('DB/maxIntensity_') -if maxIntensities != None: - index = 0 - for el in maxIntensities: - if el.tag == 'item': - if enabled_lasers[index]: - value = int(el.text) - if value != 255: - addLaserCalibration(index, 'max_intensity', value) - index += 1 - -# add calibration information for each laser -for el in db.find('DB/points_'): - if el.tag == 'item': - for px in el: - for field in px: - if field.tag == 'id_': - index = int(field.text) - if not enabled_lasers[index]: - break # skip this laser, it is not enabled - addLaserCalibration(index, 'laser_id', index) - - if field.tag == 'rotCorrection_': - addLaserCalibration(index, 'rot_correction', - math.radians(float(field.text))) - elif field.tag == 'vertCorrection_': - addLaserCalibration(index, 'vert_correction', - math.radians(float(field.text))) - elif field.tag == 'distCorrection_': - addLaserCalibration(index, 'dist_correction', - float(field.text) * cm2meters) - elif field.tag == 'distCorrectionX_': - addLaserCalibration(index, 'dist_correction_x', - float(field.text) * cm2meters) - elif field.tag == 'distCorrectionY_': - addLaserCalibration(index, 'dist_correction_y', - float(field.text) * cm2meters) - elif field.tag == 'vertOffsetCorrection_': - addLaserCalibration(index, 'vert_offset_correction', - float(field.text) * cm2meters) - elif field.tag == 'horizOffsetCorrection_': - addLaserCalibration(index, 'horiz_offset_correction', - float(field.text) * cm2meters) - elif field.tag == 'focalDistance_': - addLaserCalibration(index, 'focal_distance', - float(field.text) * cm2meters) - elif field.tag == 'focalSlope_': - addLaserCalibration(index, 'focal_slope', float(field.text)) - -# validate input data -if calibration['num_lasers'] <= 0: - xmlError('no lasers defined') -elif calibration['num_lasers'] != num_enabled: - xmlError('inconsistent number of lasers defined') - -# TODO: make sure all required fields are present. -# (Which ones are required?) - -if calibrationGood: - - # write calibration data to YAML file - f = open(yamlFile, 'w') - try: - yaml.dump(calibration, f) - finally: - f.close() diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt deleted file mode 100644 index 8e6e2519634..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/CMakeLists.txt +++ /dev/null @@ -1,45 +0,0 @@ -add_executable(cloud_node cloud_node.cc convert.cc) -add_dependencies(cloud_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) -target_link_libraries(cloud_node velodyne_rawdata - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS cloud_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -add_library(cloud_nodelet cloud_nodelet.cc convert.cc) -add_dependencies(cloud_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS}) -target_link_libraries(cloud_nodelet velodyne_rawdata - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS cloud_nodelet - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) - -add_executable(ringcolors_node ringcolors_node.cc colors.cc) -target_link_libraries(ringcolors_node - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS ringcolors_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -add_library(ringcolors_nodelet ringcolors_nodelet.cc colors.cc) -target_link_libraries(ringcolors_nodelet - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS ringcolors_nodelet - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) - -add_executable(transform_node transform_node.cc transform.cc) -add_dependencies(transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS}) -target_link_libraries(transform_node velodyne_rawdata - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS transform_node - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) - -add_library(transform_nodelet transform_nodelet.cc transform.cc) -add_dependencies(transform_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS}) -target_link_libraries(transform_nodelet velodyne_rawdata - ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES}) -install(TARGETS transform_nodelet - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_node.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_node.cc deleted file mode 100644 index 623409817da..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_node.cc +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - - This ROS node converts raw Velodyne LIDAR packets to PointCloud2. - -*/ - -#include -#include "convert.h" - -/** Main node entry point. */ -int main(int argc, char **argv) -{ - ros::init(argc, argv, "cloud_node"); - ros::NodeHandle node; - ros::NodeHandle priv_nh("~"); - - // create conversion class, which subscribes to raw data - velodyne_pointcloud::Convert conv(node, priv_nh); - - // handle callbacks until shut down - ros::spin(); - - return 0; -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_nodelet.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_nodelet.cc deleted file mode 100644 index 0ddd5f70514..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/cloud_nodelet.cc +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This ROS nodelet converts raw Velodyne 3D LIDAR packets to a - PointCloud2. - -*/ - -#include -#include -#include - -#include "convert.h" - -namespace velodyne_pointcloud -{ - class CloudNodelet: public nodelet::Nodelet - { - public: - - CloudNodelet() {} - ~CloudNodelet() {} - - private: - - virtual void onInit(); - boost::shared_ptr conv_; - }; - - /** @brief Nodelet initialization. */ - void CloudNodelet::onInit() - { - conv_.reset(new Convert(getNodeHandle(), getPrivateNodeHandle())); - } - -} // namespace velodyne_pointcloud - - -// Register this plugin with pluginlib. Names must match nodelets.xml. -// -// parameters: class type, base class type -PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::CloudNodelet, nodelet::Nodelet) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.cc deleted file mode 100644 index a0de9a27c47..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.cc +++ /dev/null @@ -1,93 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - Implementation for converting a Velodyne 3D LIDAR PointXYZIR cloud - to PointXYZRGB, assigning colors for visualization of the laser - rings. - - @author Jack O'Quin -*/ - -#include "colors.h" -#include - -/// @todo make sure these includes are really necessary -#include -#include - -namespace -{ - // RGB color values - const int color_red = 0xff0000; - const int color_orange = 0xff8800; - const int color_yellow = 0xffff00; - const int color_green = 0x00ff00; - const int color_blue = 0x0000ff; - const int color_violet = 0xff00ff; - - const int N_COLORS = 6; - int rainbow[N_COLORS] = {color_red, color_orange, color_yellow, - color_green, color_blue, color_violet}; -} - -namespace velodyne_pointcloud -{ - - /** types of output point and cloud */ - typedef pcl::PointXYZRGB RGBPoint; - typedef pcl::PointCloud RGBPointCloud; - - /** @brief Constructor. */ - RingColors::RingColors(ros::NodeHandle node, ros::NodeHandle private_nh) - { - // advertise output point cloud (before subscribing to input data) - output_ = - node.advertise("velodyne_rings", 10); - - // subscribe to VelodyneScan packets - input_ = - node.subscribe("velodyne_points", 10, - &RingColors::convertPoints, this, - ros::TransportHints().tcpNoDelay(true)); - } - - - /** @brief Callback for Velodyne PointXYZRI messages. */ - void - RingColors::convertPoints(const VPointCloud::ConstPtr &inMsg) - { - if (output_.getNumSubscribers() == 0) // no one listening? - return; // do nothing - - // allocate an PointXYZRGB message with same time and frame ID as - // input data - RGBPointCloud::Ptr outMsg(new RGBPointCloud()); - outMsg->header.stamp = inMsg->header.stamp; - outMsg->header.frame_id = inMsg->header.frame_id; - outMsg->height = 1; - - for (size_t i = 0; i < inMsg->points.size(); ++i) - { - RGBPoint p; - p.x = inMsg->points[i].x; - p.y = inMsg->points[i].y; - p.z = inMsg->points[i].z; - - // color lasers with the rainbow array - int color = inMsg->points[i].ring % N_COLORS; - p.rgb = *reinterpret_cast(rainbow+color); - - outMsg->points.push_back(p); - ++outMsg->width; - } - - output_.publish(outMsg); - } - -} // namespace velodyne_pcl diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.h deleted file mode 100644 index a88e308efdd..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/colors.h +++ /dev/null @@ -1,49 +0,0 @@ -/* -*- mode: C++ -*- */ -/* - * Copyright (C) 2012 Austin Robot Technology - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - Interface for converting a Velodyne 3D LIDAR PointXYZIR cloud to - PointXYZRGB, assigning colors for visualization of the laser - rings. - - @author Jack O'Quin -*/ - -#ifndef _VELODYNE_POINTCLOUD_COLORS_H_ -#define _VELODYNE_POINTCLOUD_COLORS_H_ - -#include -#include -#include -#include - -namespace velodyne_pointcloud -{ - // shorter names for point cloud types in this namespace - typedef velodyne_pointcloud::PointXYZIR VPoint; - typedef pcl::PointCloud VPointCloud; - - class RingColors - { - public: - - RingColors(ros::NodeHandle node, ros::NodeHandle private_nh); - ~RingColors() {} - - private: - - void convertPoints(const VPointCloud::ConstPtr &inMsg); - - ros::Subscriber input_; - ros::Publisher output_; - }; - -} // namespace velodyne_pointcloud - -#endif // _VELODYNE_POINTCLOUD_COLORS_H_ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.cc deleted file mode 100644 index 5a95e4ce149..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.cc +++ /dev/null @@ -1,81 +0,0 @@ -/* - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2011 Jesse Vera - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This class converts raw Velodyne 3D LIDAR packets to PointCloud2. - -*/ - -#include "convert.h" - -#include - -namespace velodyne_pointcloud -{ - /** @brief Constructor. */ - Convert::Convert(ros::NodeHandle node, ros::NodeHandle private_nh): - data_(new velodyne_rawdata::RawData()) - { - data_->setup(private_nh); - - - // advertise output point cloud (before subscribing to input data) - output_ = - node.advertise("velodyne_points", 10); - - srv_ = boost::make_shared > (private_nh); - dynamic_reconfigure::Server:: - CallbackType f; - f = boost::bind (&Convert::callback, this, _1, _2); - srv_->setCallback (f); - - // subscribe to VelodyneScan packets - velodyne_scan_ = - node.subscribe("velodyne_packets", 10, - &Convert::processScan, (Convert *) this, - ros::TransportHints().tcpNoDelay(true)); - } - - void Convert::callback(velodyne_pointcloud::CloudNodeConfig &config, - uint32_t level) - { - ROS_INFO("Reconfigure Request"); - data_->setParameters(config.min_range, config.max_range, config.view_direction, - config.view_width); - } - - /** @brief Callback for raw scan messages. */ - void Convert::processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg) - { - if (output_.getNumSubscribers() == 0) // no one listening? - return; // avoid much work - - // allocate a point cloud with same time and frame ID as raw data - velodyne_rawdata::VPointCloud::Ptr - outMsg(new velodyne_rawdata::VPointCloud()); - // outMsg's header is a pcl::PCLHeader, convert it before stamp assignment - outMsg->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp; - outMsg->header.frame_id = scanMsg->header.frame_id; - outMsg->height = 1; - - // process each packet provided by the driver - for (size_t i = 0; i < scanMsg->packets.size(); ++i) - { - data_->unpack(scanMsg->packets[i], *outMsg, scanMsg->packets.size()); - } - - // publish the accumulated cloud message - ROS_DEBUG_STREAM("Publishing " << outMsg->height * outMsg->width - << " Velodyne points, time: " << outMsg->header.stamp); - output_.publish(outMsg); - } - -} // namespace velodyne_pointcloud diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.h deleted file mode 100644 index 953a6cac6a0..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/convert.h +++ /dev/null @@ -1,60 +0,0 @@ -/* -*- mode: C++ -*- */ -/* - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2011 Jesse Vera - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This class converts raw Velodyne 3D LIDAR packets to PointCloud2. - -*/ - -#ifndef _VELODYNE_POINTCLOUD_CONVERT_H_ -#define _VELODYNE_POINTCLOUD_CONVERT_H_ 1 - -#include - -#include -#include - -#include -#include - -namespace velodyne_pointcloud -{ - class Convert - { - public: - - Convert(ros::NodeHandle node, ros::NodeHandle private_nh); - ~Convert() {} - - private: - - void callback(velodyne_pointcloud::CloudNodeConfig &config, - uint32_t level); - void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg); - - ///Pointer to dynamic reconfigure service srv_ - boost::shared_ptr > srv_; - - boost::shared_ptr data_; - ros::Subscriber velodyne_scan_; - ros::Publisher output_; - - /// configuration parameters - typedef struct { - int npackets; ///< number of packets to combine - } Config; - Config config_; - }; - -} // namespace velodyne_pointcloud - -#endif // _VELODYNE_POINTCLOUD_CONVERT_H_ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_node.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_node.cc deleted file mode 100644 index 1bc652348f2..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_node.cc +++ /dev/null @@ -1,33 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This ROS node converts a Velodyne 3D LIDAR PointXYZIR cloud to - PointXYZRGB, assigning colors for visualization of the laser - rings. - -*/ - -#include -#include "colors.h" - -/** Main node entry point. */ -int main(int argc, char **argv) -{ - ros::init(argc, argv, "colors_node"); - ros::NodeHandle node; - ros::NodeHandle priv_nh("~"); - - // create conversion class, which subscribes to input messages - velodyne_pointcloud::RingColors colors(node, priv_nh); - - // handle callbacks until shut down - ros::spin(); - - return 0; -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_nodelet.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_nodelet.cc deleted file mode 100644 index 65993be0edb..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/ringcolors_nodelet.cc +++ /dev/null @@ -1,49 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This ROS nodelet converts a Velodyne 3D LIDAR PointXYZIR cloud to - PointXYZRGB, assigning colors for visualization of the laser - rings. - -*/ - -#include -#include -#include - -#include "colors.h" - -namespace velodyne_pointcloud -{ - class RingColorsNodelet: public nodelet::Nodelet - { - public: - - RingColorsNodelet() {} - ~RingColorsNodelet() {} - - private: - - virtual void onInit(); - boost::shared_ptr colors_; - }; - - /** @brief Nodelet initialization. */ - void RingColorsNodelet::onInit() - { - colors_.reset(new RingColors(getNodeHandle(), getPrivateNodeHandle())); - } - -} // namespace velodyne_pointcloud - - -// Register this plugin with pluginlib. Names must match nodelets.xml. -// -// parameters: class type, base class type -PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::RingColorsNodelet, nodelet::Nodelet) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.cc deleted file mode 100644 index 3c0ab28ae81..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.cc +++ /dev/null @@ -1,138 +0,0 @@ -/* - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2011 Jesse Vera - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This class transforms raw Velodyne 3D LIDAR packets to PointCloud2 - in the /odom frame of reference. - - @author Jack O'Quin - @author Jesse Vera - -*/ - -#include "transform.h" - -#include - -namespace velodyne_pointcloud -{ - /** @brief Constructor. */ - Transform::Transform(ros::NodeHandle node, ros::NodeHandle private_nh): - tf_prefix_(tf::getPrefixParam(private_nh)), - data_(new velodyne_rawdata::RawData()) - { - // Read calibration. - data_->setup(private_nh); - - // advertise output point cloud (before subscribing to input data) - output_ = - node.advertise("velodyne_points", 10); - - srv_ = boost::make_shared > (private_nh); - dynamic_reconfigure::Server:: - CallbackType f; - f = boost::bind (&Transform::reconfigure_callback, this, _1, _2); - srv_->setCallback (f); - - // subscribe to VelodyneScan packets using transform filter - velodyne_scan_.subscribe(node, "velodyne_packets", 10); - tf_filter_ = - new tf::MessageFilter(velodyne_scan_, - listener_, - config_.frame_id, 10); - tf_filter_->registerCallback(boost::bind(&Transform::processScan, this, _1)); - } - - void Transform::reconfigure_callback( - velodyne_pointcloud::TransformNodeConfig &config, uint32_t level) - { - ROS_INFO_STREAM("Reconfigure request."); - data_->setParameters(config.min_range, config.max_range, - config.view_direction, config.view_width); - config_.frame_id = tf::resolve(tf_prefix_, config.frame_id); - ROS_INFO_STREAM("Target frame ID: " << config_.frame_id); - } - - /** @brief Callback for raw scan messages. - * - * @pre TF message filter has already waited until the transform to - * the configured @c frame_id can succeed. - */ - void - Transform::processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg) - { - if (output_.getNumSubscribers() == 0) // no one listening? - return; // avoid much work - - // allocate an output point cloud with same time as raw data - VPointCloud::Ptr outMsg(new VPointCloud()); - outMsg->header.stamp = pcl_conversions::toPCL(scanMsg->header).stamp; - outMsg->header.frame_id = config_.frame_id; - outMsg->height = 1; - - // process each packet provided by the driver - for (size_t next = 0; next < scanMsg->packets.size(); ++next) - { - // clear input point cloud to handle this packet - inPc_.points.clear(); - inPc_.width = 0; - inPc_.height = 1; - std_msgs::Header header; - header.stamp = scanMsg->packets[next].stamp; - header.frame_id = scanMsg->header.frame_id; - pcl_conversions::toPCL(header, inPc_.header); - - // unpack the raw data - data_->unpack(scanMsg->packets[next], inPc_, scanMsg->packets.size()); - - // clear transform point cloud for this packet - tfPc_.points.clear(); // is this needed? - tfPc_.width = 0; - tfPc_.height = 1; - header.stamp = scanMsg->packets[next].stamp; - pcl_conversions::toPCL(header, tfPc_.header); - tfPc_.header.frame_id = config_.frame_id; - - // transform the packet point cloud into the target frame - try - { - ROS_DEBUG_STREAM("transforming from " << inPc_.header.frame_id - << " to " << config_.frame_id); - pcl_ros::transformPointCloud(config_.frame_id, inPc_, tfPc_, - listener_); -#if 0 // use the latest transform available, should usually work fine - pcl_ros::transformPointCloud(inPc_.header.frame_id, - ros::Time(0), inPc_, - config_.frame_id, - tfPc_, listener_); -#endif - } - catch (tf::TransformException &ex) - { - // only log tf error once every 100 times - ROS_WARN_THROTTLE(100, "%s", ex.what()); - continue; // skip this packet - } - - // append transformed packet data to end of output message - outMsg->points.insert(outMsg->points.end(), - tfPc_.points.begin(), - tfPc_.points.end()); - outMsg->width += tfPc_.points.size(); - } - - // publish the accumulated cloud message - ROS_DEBUG_STREAM("Publishing " << outMsg->height * outMsg->width - << " Velodyne points, time: " << outMsg->header.stamp); - output_.publish(outMsg); - } - -} // namespace velodyne_pointcloud diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.h b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.h deleted file mode 100644 index 3ee0c3f7d2d..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform.h +++ /dev/null @@ -1,87 +0,0 @@ -/* -*- mode: C++ -*- */ -/* - * Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin - * Copyright (C) 2011 Jesse Vera - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This class transforms raw Velodyne 3D LIDAR packets to PointCloud2 - in the /odom frame of reference. - -*/ - -#ifndef _VELODYNE_POINTCLOUD_TRANSFORM_H_ -#define _VELODYNE_POINTCLOUD_TRANSFORM_H_ 1 - -#include -#include "tf/message_filter.h" -#include "message_filters/subscriber.h" -#include - -#include -#include - -#include -#include - -// include template implementations to transform a custom point cloud -#include - -/** types of point and cloud to work with */ -typedef velodyne_rawdata::VPoint VPoint; -typedef velodyne_rawdata::VPointCloud VPointCloud; - -// instantiate template for transforming a VPointCloud -template bool - pcl_ros::transformPointCloud(const std::string &, - const VPointCloud &, - VPointCloud &, - const tf::TransformListener &); - -namespace velodyne_pointcloud -{ - class Transform - { - public: - - Transform(ros::NodeHandle node, ros::NodeHandle private_nh); - ~Transform() {} - - private: - - void processScan(const velodyne_msgs::VelodyneScan::ConstPtr &scanMsg); - - ///Pointer to dynamic reconfigure service srv_ - boost::shared_ptr > srv_; - void reconfigure_callback(velodyne_pointcloud::TransformNodeConfig &config, - uint32_t level); - - const std::string tf_prefix_; - boost::shared_ptr data_; - message_filters::Subscriber velodyne_scan_; - tf::MessageFilter *tf_filter_; - ros::Publisher output_; - tf::TransformListener listener_; - - /// configuration parameters - typedef struct { - std::string frame_id; ///< target frame ID - } Config; - Config config_; - - // Point cloud buffers for collecting points within a packet. The - // inPc_ and tfPc_ are class members only to avoid reallocation on - // every message. - VPointCloud inPc_; ///< input packet point cloud - VPointCloud tfPc_; ///< transformed packet point cloud - }; - -} // namespace velodyne_pointcloud - -#endif // _VELODYNE_POINTCLOUD_TRANSFORM_H_ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc deleted file mode 100644 index cf7975baaaa..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_node.cc +++ /dev/null @@ -1,31 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** \file - - This ROS node transforms raw Velodyne LIDAR packets to PointCloud2 - in the /odom frame of reference. - -*/ - -#include -#include "transform.h" - -/** Main node entry point. */ -int main(int argc, char **argv) -{ - ros::init(argc, argv, "transform_node"); - - // create conversion class, which subscribes to raw data - velodyne_pointcloud::Transform transform(ros::NodeHandle(), - ros::NodeHandle("~")); - - // handle callbacks until shut down - ros::spin(); - - return 0; -} diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc deleted file mode 100644 index ef268fbe940..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/conversions/transform_nodelet.cc +++ /dev/null @@ -1,48 +0,0 @@ -/* - * Copyright (C) 2012 Austin Robot Technology, Jack O'Quin - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** @file - - This ROS nodelet transforms raw Velodyne 3D LIDAR packets to a - PointCloud2 in the /odom frame. - -*/ - -#include -#include -#include - -#include "transform.h" - -namespace velodyne_pointcloud -{ - class TransformNodelet: public nodelet::Nodelet - { - public: - - TransformNodelet() {} - ~TransformNodelet() {} - - private: - - virtual void onInit(); - boost::shared_ptr tf_; - }; - - /** @brief Nodelet initialization. */ - void TransformNodelet::onInit() - { - tf_.reset(new Transform(getNodeHandle(), getPrivateNodeHandle())); - } - -} // namespace velodyne_pointcloud - - -// Register this plugin with pluginlib. Names must match nodelets.xml. -// -// parameters: class type, base class type -PLUGINLIB_EXPORT_CLASS(velodyne_pointcloud::TransformNodelet, nodelet::Nodelet) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt deleted file mode 100644 index 72d42751741..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/CMakeLists.txt +++ /dev/null @@ -1,14 +0,0 @@ -find_package(vector_map_msgs REQUIRED) - -add_library(velodyne_rawdata rawdata.cc calibration.cc) - -add_dependencies(velodyne_rawdata - ${vector_map_msgs_EXPORTED_TARGETS} -) -target_link_libraries(velodyne_rawdata - ${catkin_LIBRARIES} - ${YAML_CPP_LIBRARIES}) -install(TARGETS velodyne_rawdata - RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} - ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/calibration.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/calibration.cc deleted file mode 100644 index c470c5918d6..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/calibration.cc +++ /dev/null @@ -1,270 +0,0 @@ -/** - * \file calibration.cc - * \brief - * - * \author Piyush Khandelwal (piyushk@cs.utexas.edu) - * Copyright (C) 2012, Austin Robot Technology, - * The University of Texas at Austin - * - * License: Modified BSD License - * - * $ Id: 02/14/2012 11:36:36 AM piyushk $ - */ - -#include -#include -#include -#include -#include -#include - -#ifdef HAVE_NEW_YAMLCPP -namespace YAML { - - // The >> operator disappeared in yaml-cpp 0.5, so this function is - // added to provide support for code written under the yaml-cpp 0.3 API. - template - void operator >> (const YAML::Node& node, T& i) { - i = node.as(); - } -} /* YAML */ -#endif // HAVE_NEW_YAMLCPP - -#include -#include - -namespace velodyne_pointcloud -{ - - const std::string NUM_LASERS = "num_lasers"; - const std::string LASERS = "lasers"; - const std::string LASER_ID = "laser_id"; - const std::string ROT_CORRECTION = "rot_correction"; - const std::string VERT_CORRECTION = "vert_correction"; - const std::string DIST_CORRECTION = "dist_correction"; - const std::string TWO_PT_CORRECTION_AVAILABLE = - "two_pt_correction_available"; - const std::string DIST_CORRECTION_X = "dist_correction_x"; - const std::string DIST_CORRECTION_Y = "dist_correction_y"; - const std::string VERT_OFFSET_CORRECTION = "vert_offset_correction"; - const std::string HORIZ_OFFSET_CORRECTION = "horiz_offset_correction"; - const std::string MAX_INTENSITY = "max_intensity"; - const std::string MIN_INTENSITY = "min_intensity"; - const std::string FOCAL_DISTANCE = "focal_distance"; - const std::string FOCAL_SLOPE = "focal_slope"; - - /** Read calibration for a single laser. */ - void operator >> (const YAML::Node& node, - std::pair& correction) - { - node[LASER_ID] >> correction.first; - node[ROT_CORRECTION] >> correction.second.rot_correction; - node[VERT_CORRECTION] >> correction.second.vert_correction; - node[DIST_CORRECTION] >> correction.second.dist_correction; -#ifdef HAVE_NEW_YAMLCPP - if (node[TWO_PT_CORRECTION_AVAILABLE]) - node[TWO_PT_CORRECTION_AVAILABLE] >> - correction.second.two_pt_correction_available; -#else - if (const YAML::Node *pName = node.FindValue(TWO_PT_CORRECTION_AVAILABLE)) - *pName >> correction.second.two_pt_correction_available; -#endif - else - correction.second.two_pt_correction_available = false; - node[DIST_CORRECTION_X] >> correction.second.dist_correction_x; - node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y; - node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction; -#ifdef HAVE_NEW_YAMLCPP - if (node[HORIZ_OFFSET_CORRECTION]) - node[HORIZ_OFFSET_CORRECTION] >> - correction.second.horiz_offset_correction; -#else - if (const YAML::Node *pName = node.FindValue(HORIZ_OFFSET_CORRECTION)) - *pName >> correction.second.horiz_offset_correction; -#endif - else - correction.second.horiz_offset_correction = 0; - - const YAML::Node * max_intensity_node = NULL; -#ifdef HAVE_NEW_YAMLCPP - if (node[MAX_INTENSITY]) { - const YAML::Node max_intensity_node_ref = node[MAX_INTENSITY]; - max_intensity_node = &max_intensity_node_ref; - } -#else - if (const YAML::Node *pName = node.FindValue(MAX_INTENSITY)) - max_intensity_node = pName; -#endif - if (max_intensity_node) { - float max_intensity_float; - *max_intensity_node >> max_intensity_float; - correction.second.max_intensity = floor(max_intensity_float); - } - else { - correction.second.max_intensity = 255; - } - - const YAML::Node * min_intensity_node = NULL; -#ifdef HAVE_NEW_YAMLCPP - if (node[MIN_INTENSITY]) { - const YAML::Node min_intensity_node_ref = node[MIN_INTENSITY]; - min_intensity_node = &min_intensity_node_ref; - } -#else - if (const YAML::Node *pName = node.FindValue(MIN_INTENSITY)) - min_intensity_node = pName; -#endif - if (min_intensity_node) { - float min_intensity_float; - *min_intensity_node >> min_intensity_float; - correction.second.min_intensity = floor(min_intensity_float); - } - else { - correction.second.min_intensity = 0; - } - node[FOCAL_DISTANCE] >> correction.second.focal_distance; - node[FOCAL_SLOPE] >> correction.second.focal_slope; - - // Calculate cached values - correction.second.cos_rot_correction = - cosf(correction.second.rot_correction); - correction.second.sin_rot_correction = - sinf(correction.second.rot_correction); - correction.second.cos_vert_correction = - cosf(correction.second.vert_correction); - correction.second.sin_vert_correction = - sinf(correction.second.vert_correction); - - correction.second.laser_ring = 0; // clear initially (set later) - } - - /** Read entire calibration file. */ - void operator >> (const YAML::Node& node, Calibration& calibration) - { - int num_lasers; - node[NUM_LASERS] >> num_lasers; - const YAML::Node& lasers = node[LASERS]; - calibration.laser_corrections.clear(); - calibration.num_lasers = num_lasers; - for (int i = 0; i < num_lasers; i++) { - std::pair correction; - lasers[i] >> correction; - calibration.laser_corrections.insert(correction); - } - - // For each laser ring, find the next-smallest vertical angle. - // - // This implementation is simple, but not efficient. That is OK, - // since it only runs while starting up. - double next_angle = -std::numeric_limits::infinity(); - for (int ring = 0; ring < num_lasers; ++ring) { - - // find minimum remaining vertical offset correction - double min_seen = std::numeric_limits::infinity(); - int next_index = num_lasers; - for (int j = 0; j < num_lasers; ++j) { - - double angle = calibration.laser_corrections[j].vert_correction; - if (next_angle < angle && angle < min_seen) { - min_seen = angle; - next_index = j; - } - } - - if (next_index < num_lasers) { // anything found in this ring? - - // store this ring number with its corresponding laser number - calibration.laser_corrections[next_index].laser_ring = ring; - next_angle = min_seen; - if (calibration.ros_info) { - ROS_INFO("laser_ring[%2u] = %2u, angle = %+.6f", - next_index, ring, next_angle); - } - } - } - } - - YAML::Emitter& operator << (YAML::Emitter& out, - const std::pair correction) - { - out << YAML::BeginMap; - out << YAML::Key << LASER_ID << YAML::Value << correction.first; - out << YAML::Key << ROT_CORRECTION << - YAML::Value << correction.second.rot_correction; - out << YAML::Key << VERT_CORRECTION << - YAML::Value << correction.second.vert_correction; - out << YAML::Key << DIST_CORRECTION << - YAML::Value << correction.second.dist_correction; - out << YAML::Key << TWO_PT_CORRECTION_AVAILABLE << - YAML::Value << correction.second.two_pt_correction_available; - out << YAML::Key << DIST_CORRECTION_X << - YAML::Value << correction.second.dist_correction_x; - out << YAML::Key << DIST_CORRECTION_Y << - YAML::Value << correction.second.dist_correction_y; - out << YAML::Key << VERT_OFFSET_CORRECTION << - YAML::Value << correction.second.vert_offset_correction; - out << YAML::Key << HORIZ_OFFSET_CORRECTION << - YAML::Value << correction.second.horiz_offset_correction; - out << YAML::Key << MAX_INTENSITY << - YAML::Value << correction.second.max_intensity; - out << YAML::Key << MIN_INTENSITY << - YAML::Value << correction.second.min_intensity; - out << YAML::Key << FOCAL_DISTANCE << - YAML::Value << correction.second.focal_distance; - out << YAML::Key << FOCAL_SLOPE << - YAML::Value << correction.second.focal_slope; - out << YAML::EndMap; - return out; - } - - YAML::Emitter& operator << - (YAML::Emitter& out, const Calibration& calibration) - { - out << YAML::BeginMap; - out << YAML::Key << NUM_LASERS << - YAML::Value << calibration.laser_corrections.size(); - out << YAML::Key << LASERS << YAML::Value << YAML::BeginSeq; - for (std::map::const_iterator - it = calibration.laser_corrections.begin(); - it != calibration.laser_corrections.end(); it++) - { - out << *it; - } - out << YAML::EndSeq; - out << YAML::EndMap; - return out; - } - - void Calibration::read(const std::string& calibration_file) { - std::ifstream fin(calibration_file.c_str()); - if (!fin.is_open()) { - initialized = false; - return; - } - initialized = true; - try { - YAML::Node doc; -#ifdef HAVE_NEW_YAMLCPP - fin.close(); - doc = YAML::LoadFile(calibration_file); -#else - YAML::Parser parser(fin); - parser.GetNextDocument(doc); -#endif - doc >> *this; - } catch (YAML::Exception &e) { - std::cerr << "YAML Exception: " << e.what() << std::endl; - initialized = false; - } - fin.close(); - } - - void Calibration::write(const std::string& calibration_file) { - std::ofstream fout(calibration_file.c_str()); - YAML::Emitter out; - out << *this; - fout << out.c_str(); - fout.close(); - } - -} /* velodyne_pointcloud */ diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/rawdata.cc b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/rawdata.cc deleted file mode 100755 index e4f9514ae34..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/src/lib/rawdata.cc +++ /dev/null @@ -1,495 +0,0 @@ -/* - * Copyright (C) 2007 Austin Robot Technology, Patrick Beeson - * Copyright (C) 2009, 2010, 2012 Austin Robot Technology, Jack O'Quin - * - * License: Modified BSD Software License Agreement - * - * $Id$ - */ - -/** - * @file - * - * Velodyne 3D LIDAR data accessor class implementation. - * - * Class for unpacking raw Velodyne LIDAR packets into useful - * formats. - * - * Derived classes accept raw Velodyne data for either single packets - * or entire rotations, and provide it in various formats for either - * on-line or off-line processing. - * - * @author Patrick Beeson - * @author Jack O'Quin - * - * HDL-64E S2 calibration support provided by Nick Hillier - */ - -#include -#include - -#include -#include -#include - -#include - -namespace velodyne_rawdata -{ - //////////////////////////////////////////////////////////////////////// - // - // RawData base class implementation - // - //////////////////////////////////////////////////////////////////////// - - RawData::RawData() {} - - /** Update parameters: conversions and update */ - void RawData::setParameters(double min_range, - double max_range, - double view_direction, - double view_width) - { - config_.min_range = min_range; - config_.max_range = max_range; - - //converting angle parameters into the velodyne reference (rad) - config_.tmp_min_angle = view_direction + view_width/2; - config_.tmp_max_angle = view_direction - view_width/2; - - //computing positive modulo to keep theses angles into [0;2*M_PI] - config_.tmp_min_angle = fmod(fmod(config_.tmp_min_angle,2*M_PI) + 2*M_PI,2*M_PI); - config_.tmp_max_angle = fmod(fmod(config_.tmp_max_angle,2*M_PI) + 2*M_PI,2*M_PI); - - //converting into the hardware velodyne ref (negative yaml and degrees) - //adding 0.5 perfomrs a centered double to int conversion - config_.min_angle = 100 * (2*M_PI - config_.tmp_min_angle) * 180 / M_PI + 0.5; - config_.max_angle = 100 * (2*M_PI - config_.tmp_max_angle) * 180 / M_PI + 0.5; - if (config_.min_angle == config_.max_angle) - { - //avoid returning empty cloud if min_angle = max_angle - config_.min_angle = 0; - config_.max_angle = 36000; - } - } - - /** Set up for on-line operation. */ - int RawData::setup(ros::NodeHandle private_nh) - { - // get path to angles.config file for this device - if (!private_nh.getParam("calibration", config_.calibrationFile)) - { - ROS_ERROR_STREAM("No calibration angles specified! Using test values!"); - - // have to use something: grab unit test version as a default - std::string pkgPath = ros::package::getPath("velodyne_pointcloud"); - config_.calibrationFile = pkgPath + "/params/64e_utexas.yaml"; - } - - ROS_INFO_STREAM("correction angles: " << config_.calibrationFile); - - calibration_.read(config_.calibrationFile); - if (!calibration_.initialized) { - ROS_ERROR_STREAM("Unable to open calibration file: " << - config_.calibrationFile); - return -1; - } - - ROS_INFO_STREAM("Number of lasers: " << calibration_.num_lasers << "."); - - // Set up cached values for sin and cos of all the possible headings - for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) { - float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index); - cos_rot_table_[rot_index] = cosf(rotation); - sin_rot_table_[rot_index] = sinf(rotation); - } - return 0; - } - - - /** Set up for offline operation */ - int RawData::setupOffline(std::string calibration_file, double max_range_, double min_range_) - { - - config_.max_range = max_range_; - config_.min_range = min_range_; - ROS_INFO_STREAM("data ranges to publish: [" - << config_.min_range << ", " - << config_.max_range << "]"); - - config_.calibrationFile = calibration_file; - - ROS_INFO_STREAM("correction angles: " << config_.calibrationFile); - - calibration_.read(config_.calibrationFile); - if (!calibration_.initialized) { - ROS_ERROR_STREAM("Unable to open calibration file: " << - config_.calibrationFile); - return -1; - } - - // Set up cached values for sin and cos of all the possible headings - for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) { - float rotation = angles::from_degrees(ROTATION_RESOLUTION * rot_index); - cos_rot_table_[rot_index] = cosf(rotation); - sin_rot_table_[rot_index] = sinf(rotation); - } - return 0; - } - - - /** @brief convert raw packet to point cloud - * - * @param pkt raw packet to unpack - * @param pc shared pointer to point cloud (points are appended) - */ - void RawData::unpack(const velodyne_msgs::VelodynePacket &pkt, - VPointCloud &pc, int packets_num) - { - ROS_DEBUG_STREAM("Received packet, time: " << pkt.stamp); - - /** special parsing for the VLP16 **/ - if (calibration_.num_lasers == 16) - { - unpack_vlp16(pkt, pc); - return; - } - - const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0]; - - for (int i = 0; i < BLOCKS_PER_PACKET; i++) { - - // upper bank lasers are numbered [0..31] - // NOTE: this is a change from the old velodyne_common implementation - int bank_origin = 0; - if (raw->blocks[i].header == LOWER_BANK) { - // lower bank lasers are [32..63] - bank_origin = 32; - } - - for (int j = 0, k = 0; j < SCANS_PER_BLOCK; j++, k += RAW_SCAN_SIZE) { - - float x, y, z; - float intensity; - uint8_t laser_number; ///< hardware laser number - - laser_number = j + bank_origin; - velodyne_pointcloud::LaserCorrection &corrections = - calibration_.laser_corrections[laser_number]; - - /** Position Calculation */ - - union two_bytes tmp; - tmp.bytes[0] = raw->blocks[i].data[k]; - tmp.bytes[1] = raw->blocks[i].data[k+1]; - /*condition added to avoid calculating points which are not - in the interesting defined area (min_angle < area < max_angle)*/ - if ((raw->blocks[i].rotation >= config_.min_angle - && raw->blocks[i].rotation <= config_.max_angle - && config_.min_angle < config_.max_angle) - ||(config_.min_angle > config_.max_angle - && (raw->blocks[i].rotation <= config_.max_angle - || raw->blocks[i].rotation >= config_.min_angle))){ - - float distance; - if (packets_num==(int) ceil(1507.0 / 10)) - distance = tmp.uint * DISTANCE_RESOLUTION * 2; - else - distance = tmp.uint * DISTANCE_RESOLUTION; - - distance += corrections.dist_correction; - - float cos_vert_angle = corrections.cos_vert_correction; - float sin_vert_angle = corrections.sin_vert_correction; - float cos_rot_correction = corrections.cos_rot_correction; - float sin_rot_correction = corrections.sin_rot_correction; - - // cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b) - // sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b) - float cos_rot_angle = - cos_rot_table_[raw->blocks[i].rotation] * cos_rot_correction + - sin_rot_table_[raw->blocks[i].rotation] * sin_rot_correction; - float sin_rot_angle = - sin_rot_table_[raw->blocks[i].rotation] * cos_rot_correction - - cos_rot_table_[raw->blocks[i].rotation] * sin_rot_correction; - - float horiz_offset = corrections.horiz_offset_correction; - float vert_offset = corrections.vert_offset_correction; - - // Compute the distance in the xy plane (w/o accounting for rotation) - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - float xy_distance = distance * cos_vert_angle - vert_offset * sin_vert_angle; - - // Calculate temporal X, use absolute value. - float xx = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; - // Calculate temporal Y, use absolute value - float yy = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; - if (xx < 0) xx=-xx; - if (yy < 0) yy=-yy; - - // Get 2points calibration values,Linear interpolation to get distance - // correction for X and Y, that means distance correction use - // different value at different distance - float distance_corr_x = 0; - float distance_corr_y = 0; - if (corrections.two_pt_correction_available) { - distance_corr_x = - (corrections.dist_correction - corrections.dist_correction_x) - * (xx - 2.4) / (25.04 - 2.4) - + corrections.dist_correction_x; - distance_corr_x -= corrections.dist_correction; - distance_corr_y = - (corrections.dist_correction - corrections.dist_correction_y) - * (yy - 1.93) / (25.04 - 1.93) - + corrections.dist_correction_y; - distance_corr_y -= corrections.dist_correction; - } - - float distance_x = distance + distance_corr_x; - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - xy_distance = distance_x * cos_vert_angle - vert_offset * sin_vert_angle ; - ///the expression wiht '-' is proved to be better than the one with '+' - x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; - - float distance_y = distance + distance_corr_y; - xy_distance = distance_y * cos_vert_angle - vert_offset * sin_vert_angle ; - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - y = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; - - // Using distance_y is not symmetric, but the velodyne manual - // does this. - /**the new term of 'vert_offset * cos_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - z = distance_y * sin_vert_angle + vert_offset*cos_vert_angle; - - /** Use standard ROS coordinate system (right-hand rule) */ - float x_coord = y; - float y_coord = -x; - float z_coord = z; - - /** Intensity Calculation */ - - float min_intensity = corrections.min_intensity; - float max_intensity = corrections.max_intensity; - - intensity = raw->blocks[i].data[k+2]; - - float focal_offset = 256 - * (1 - corrections.focal_distance / 13100) - * (1 - corrections.focal_distance / 13100); - float focal_slope = corrections.focal_slope; - intensity += focal_slope * (std::abs(focal_offset - 256 * - (1 - static_cast(tmp.uint)/65535)*(1 - static_cast(tmp.uint)/65535))); - intensity = (intensity < min_intensity) ? min_intensity : intensity; - intensity = (intensity > max_intensity) ? max_intensity : intensity; - - if (pointInRange(distance)) { - - // convert polar coordinates to Euclidean XYZ - VPoint point; - point.ring = corrections.laser_ring; - point.x = x_coord; - point.y = y_coord; - point.z = z_coord; - point.intensity = intensity; - - // append this point to the cloud - pc.points.push_back(point); - ++pc.width; - } - } - } - } - } - - /** @brief convert raw VLP16 packet to point cloud - * - * @param pkt raw packet to unpack - * @param pc shared pointer to point cloud (points are appended) - */ - void RawData::unpack_vlp16(const velodyne_msgs::VelodynePacket &pkt, - VPointCloud &pc) - { - float azimuth; - float azimuth_diff; - float last_azimuth_diff=0; - float azimuth_corrected_f; - int azimuth_corrected; - float x, y, z; - float intensity; - - const raw_packet_t *raw = (const raw_packet_t *) &pkt.data[0]; - - for (int block = 0; block < BLOCKS_PER_PACKET; block++) { - - // ignore packets with mangled or otherwise different contents - if (UPPER_BANK != raw->blocks[block].header) { - // Do not flood the log with messages, only issue at most one - // of these warnings per minute. - ROS_WARN_STREAM_THROTTLE(60, "skipping invalid VLP-16 packet: block " - << block << " header value is " - << raw->blocks[block].header); - return; // bad packet: skip the rest - } - - // Calculate difference between current and next block's azimuth angle. - azimuth = (float)(raw->blocks[block].rotation); - if (block < (BLOCKS_PER_PACKET-1)){ - azimuth_diff = (float)((36000 + raw->blocks[block+1].rotation - raw->blocks[block].rotation)%36000); - last_azimuth_diff = azimuth_diff; - }else{ - azimuth_diff = last_azimuth_diff; - } - - for (int firing=0, k=0; firing < VLP16_FIRINGS_PER_BLOCK; firing++){ - for (int dsr=0; dsr < VLP16_SCANS_PER_FIRING; dsr++, k+=RAW_SCAN_SIZE){ - velodyne_pointcloud::LaserCorrection &corrections = - calibration_.laser_corrections[dsr]; - - /** Position Calculation */ - union two_bytes tmp; - tmp.bytes[0] = raw->blocks[block].data[k]; - tmp.bytes[1] = raw->blocks[block].data[k+1]; - - /** correct for the laser rotation as a function of timing during the firings **/ - azimuth_corrected_f = azimuth + (azimuth_diff * ((dsr*VLP16_DSR_TOFFSET) + (firing*VLP16_FIRING_TOFFSET)) / VLP16_BLOCK_TDURATION); - azimuth_corrected = ((int)round(azimuth_corrected_f)) % 36000; - - /*condition added to avoid calculating points which are not - in the interesting defined area (min_angle < area < max_angle)*/ - if ((azimuth_corrected >= config_.min_angle - && azimuth_corrected <= config_.max_angle - && config_.min_angle < config_.max_angle) - ||(config_.min_angle > config_.max_angle - && (azimuth_corrected <= config_.max_angle - || azimuth_corrected >= config_.min_angle))){ - - // convert polar coordinates to Euclidean XYZ - float distance = tmp.uint * DISTANCE_RESOLUTION; - distance += corrections.dist_correction; - - float cos_vert_angle = corrections.cos_vert_correction; - float sin_vert_angle = corrections.sin_vert_correction; - float cos_rot_correction = corrections.cos_rot_correction; - float sin_rot_correction = corrections.sin_rot_correction; - - // cos(a-b) = cos(a)*cos(b) + sin(a)*sin(b) - // sin(a-b) = sin(a)*cos(b) - cos(a)*sin(b) - float cos_rot_angle = - cos_rot_table_[azimuth_corrected] * cos_rot_correction + - sin_rot_table_[azimuth_corrected] * sin_rot_correction; - float sin_rot_angle = - sin_rot_table_[azimuth_corrected] * cos_rot_correction - - cos_rot_table_[azimuth_corrected] * sin_rot_correction; - - float horiz_offset = corrections.horiz_offset_correction; - float vert_offset = corrections.vert_offset_correction; - - // Compute the distance in the xy plane (w/o accounting for rotation) - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - float xy_distance = distance * cos_vert_angle - vert_offset * sin_vert_angle; - - // Calculate temporal X, use absolute value. - float xx = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; - // Calculate temporal Y, use absolute value - float yy = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; - if (xx < 0) xx=-xx; - if (yy < 0) yy=-yy; - - // Get 2points calibration values,Linear interpolation to get distance - // correction for X and Y, that means distance correction use - // different value at different distance - float distance_corr_x = 0; - float distance_corr_y = 0; - if (corrections.two_pt_correction_available) { - distance_corr_x = - (corrections.dist_correction - corrections.dist_correction_x) - * (xx - 2.4) / (25.04 - 2.4) - + corrections.dist_correction_x; - distance_corr_x -= corrections.dist_correction; - distance_corr_y = - (corrections.dist_correction - corrections.dist_correction_y) - * (yy - 1.93) / (25.04 - 1.93) - + corrections.dist_correction_y; - distance_corr_y -= corrections.dist_correction; - } - - float distance_x = distance + distance_corr_x; - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - xy_distance = distance_x * cos_vert_angle - vert_offset * sin_vert_angle ; - x = xy_distance * sin_rot_angle - horiz_offset * cos_rot_angle; - - float distance_y = distance + distance_corr_y; - /**the new term of 'vert_offset * sin_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - xy_distance = distance_y * cos_vert_angle - vert_offset * sin_vert_angle ; - y = xy_distance * cos_rot_angle + horiz_offset * sin_rot_angle; - - // Using distance_y is not symmetric, but the velodyne manual - // does this. - /**the new term of 'vert_offset * cos_vert_angle' - * was added to the expression due to the mathemathical - * model we used. - */ - z = distance_y * sin_vert_angle + vert_offset*cos_vert_angle; - - - /** Use standard ROS coordinate system (right-hand rule) */ - float x_coord = y; - float y_coord = -x; - float z_coord = z; - - /** Intensity Calculation */ - float min_intensity = corrections.min_intensity; - float max_intensity = corrections.max_intensity; - - intensity = raw->blocks[block].data[k+2]; - - float focal_offset = 256 - * (1 - corrections.focal_distance / 13100) - * (1 - corrections.focal_distance / 13100); - float focal_slope = corrections.focal_slope; - intensity += focal_slope * (std::abs(focal_offset - 256 * - (1 - tmp.uint/65535)*(1 - tmp.uint/65535))); - intensity = 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a8f7ac14e7e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/CMakeLists.txt +++ /dev/null @@ -1,52 +0,0 @@ -### Unit tests -# -# Only configured when CATKIN_ENABLE_TESTING is true. - -# these dependencies are only needed for unit testing -find_package(roslaunch REQUIRED) -find_package(rostest REQUIRED) -find_package(tf2_ros REQUIRED) - -# C++ gtests -catkin_add_gtest(test_calibration test_calibration.cpp) -add_dependencies(test_calibration ${catkin_EXPORTED_TARGETS}) -target_link_libraries(test_calibration velodyne_rawdata ${catkin_LIBRARIES}) - -# Download packet capture (PCAP) files containing test data. -# Store them in devel-space, so rostest can easily find them. -catkin_download_test_data( - ${PROJECT_NAME}_tests_class.pcap - http://download.ros.org/data/velodyne/class.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 65808d25772101358a3719b451b3d015) -catkin_download_test_data( - ${PROJECT_NAME}_tests_32e.pcap - http://download.ros.org/data/velodyne/32e.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 e41d02aac34f0967c03a5597e1d554a9) -catkin_download_test_data( - ${PROJECT_NAME}_tests_64e_s2.1-300-sztaki.pcap - http://download.ros.org/data/velodyne/64e_s2.1-300-sztaki.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 176c900ffb698f9b948a13e281ffc1a2) -catkin_download_test_data( - ${PROJECT_NAME}_tests_vlp16.pcap - http://download.ros.org/data/velodyne/vlp16.pcap - DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests - MD5 f45c2bb1d7ee358274e423ea3b66fd73) - -# run rostests -add_rostest(cloud_node_hz.test) -add_rostest(cloud_nodelet_hz.test) -add_rostest(cloud_node_32e_hz.test) -add_rostest(cloud_nodelet_32e_hz.test) -add_rostest(cloud_node_64e_s2.1_hz.test) -add_rostest(cloud_nodelet_64e_s2.1_hz.test) -add_rostest(cloud_node_vlp16_hz.test) -add_rostest(cloud_nodelet_vlp16_hz.test) -add_rostest(transform_node_hz.test) -add_rostest(transform_nodelet_hz.test) -add_rostest(two_nodelet_managers.test) - -# parse check all the launch/*.launch files -roslaunch_add_file_check(../launch) diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml deleted file mode 100644 index 91d0f113e8f..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles-calibrated.yaml +++ /dev/null @@ -1,834 +0,0 @@ -num_lasers: 64 -lasers: - - laser_id: 0 - rot_correction: -0.122173048555851 - vert_correction: -0.401850968599319 - dist_correction: 0.119999997317791 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 1 - rot_correction: -0.0610865242779255 - vert_correction: -0.39391815662384 - dist_correction: 0.0199999995529652 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 2 - rot_correction: 0.0959931090474129 - vert_correction: -0.200955957174301 - dist_correction: 0.100000001490116 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 3 - rot_correction: 0.148352980613708 - vert_correction: -0.188023120164871 - dist_correction: 0.230000004172325 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 4 - rot_correction: -0.00872664619237185 - vert_correction: -0.384992778301239 - dist_correction: 0.170000001788139 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 5 - rot_correction: 0.0610865242779255 - vert_correction: -0.379074156284332 - dist_correction: 0.150000005960464 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 6 - rot_correction: -0.0174532923847437 - vert_correction: -0.445288896560669 - dist_correction: 0.0500000007450581 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 7 - rot_correction: 0.0349065847694874 - vert_correction: -0.43470174074173 - dist_correction: 0.270000010728836 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 8 - rot_correction: 0.122173048555851 - vert_correction: -0.3671615421772 - dist_correction: 0.180000007152557 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 9 - rot_correction: 0.174532920122147 - vert_correction: -0.357254236936569 - dist_correction: 0.189999997615814 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 10 - rot_correction: 0.104719758033752 - vert_correction: -0.423742026090622 - dist_correction: 0.100000001490116 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 11 - rot_correction: 0.165806278586388 - vert_correction: -0.414792060852051 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 12 - rot_correction: -0.113446399569511 - vert_correction: -0.288992017507553 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 13 - rot_correction: -0.0567231997847557 - vert_correction: -0.28310164809227 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 14 - rot_correction: -0.13962633907795 - vert_correction: -0.347351551055908 - dist_correction: 0.150000005960464 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 15 - rot_correction: -0.0872664600610733 - vert_correction: -0.332452714443207 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 16 - rot_correction: 0 - vert_correction: -0.274210214614868 - dist_correction: 0.0599999986588955 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 17 - rot_correction: 0.0558505356311798 - vert_correction: -0.266317009925842 - dist_correction: 0.129999995231628 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 18 - rot_correction: -0.0174532923847437 - vert_correction: -0.331895291805267 - dist_correction: 0.00999999977648258 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 19 - rot_correction: 0.0349065847694874 - vert_correction: -0.323663860559464 - dist_correction: 0.150000005960464 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 20 - rot_correction: 0.122173048555851 - vert_correction: -0.256421387195587 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 21 - rot_correction: 0.165806278586388 - vert_correction: -0.244522526860237 - dist_correction: 0.239999994635582 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 22 - rot_correction: 0.104719758033752 - vert_correction: -0.31077241897583 - dist_correction: 0.180000007152557 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 23 - rot_correction: 0.157079637050629 - vert_correction: -0.302882075309753 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 24 - rot_correction: -0.104719758033752 - vert_correction: -0.180082052946091 - dist_correction: 0.140000000596046 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 25 - rot_correction: -0.0610865242779255 - vert_correction: -0.172132045030594 - dist_correction: 0.319999992847443 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 26 - rot_correction: -0.13962633907795 - vert_correction: -0.235619828104973 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 27 - rot_correction: -0.0785398185253143 - vert_correction: -0.228712558746338 - dist_correction: 0.25 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 28 - rot_correction: 0 - vert_correction: -0.16517236828804 - dist_correction: 0.170000001788139 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 29 - rot_correction: 0.0436332300305367 - vert_correction: -0.154202222824097 - dist_correction: 0.230000004172325 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 30 - rot_correction: -0.0174532923847437 - vert_correction: -0.219799935817719 - dist_correction: 0.150000005960464 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 31 - rot_correction: 0.0314159244298935 - vert_correction: -0.21088133752346 - dist_correction: 0.230000004172325 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 32 - rot_correction: -0.0698131695389748 - vert_correction: -0.121932752430439 - dist_correction: 0.100000001490116 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 33 - rot_correction: -0.0392699092626572 - vert_correction: -0.113993428647518 - dist_correction: 0.280000001192093 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 34 - rot_correction: 0.0698131695389748 - vert_correction: 0.0055470340885222 - dist_correction: 0.319999992847443 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 35 - rot_correction: 0.104719758033752 - vert_correction: 0.0114863449707627 - dist_correction: 0.230000004172325 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 36 - rot_correction: 0.013962633907795 - vert_correction: -0.109056323766708 - dist_correction: 0.0700000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 37 - rot_correction: 0.0392699092626572 - vert_correction: -0.104121200740337 - dist_correction: 0.0900000035762787 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 38 - rot_correction: 0 - vert_correction: -0.14471623301506 - dist_correction: 0.119999997317791 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 39 - rot_correction: 0.0226892791688442 - vert_correction: -0.1387659907341 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 40 - rot_correction: 0.0820304751396179 - vert_correction: -0.0981878563761711 - dist_correction: 0.129999995231628 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 41 - rot_correction: 0.113446399569511 - vert_correction: -0.0952560678124428 - dist_correction: 0.159999996423721 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 42 - rot_correction: 0.0698131695389748 - vert_correction: -0.132818818092346 - dist_correction: 0.159999996423721 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 43 - rot_correction: 0.104719758033752 - vert_correction: -0.127874463796616 - dist_correction: 0.159999996423721 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 44 - rot_correction: -0.068067841231823 - vert_correction: -0.05375986546278 - dist_correction: 0.129999995231628 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 45 - rot_correction: -0.0349065847694874 - vert_correction: -0.0478330813348293 - dist_correction: 0.200000002980232 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 46 - rot_correction: -0.0837758108973503 - vert_correction: -0.0893256440758705 - dist_correction: 0.170000001788139 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 47 - rot_correction: -0.0479965545237064 - vert_correction: -0.0833963677287102 - dist_correction: 0.239999994635582 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 48 - rot_correction: 0.00872664619237185 - vert_correction: -0.0419059917330742 - dist_correction: 0.180000007152557 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 49 - rot_correction: 0.0392699092626572 - vert_correction: -0.035978376865387 - dist_correction: 0.0599999986588955 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 50 - rot_correction: 0 - vert_correction: -0.0774680152535439 - dist_correction: 0.140000000596046 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 51 - rot_correction: 0.0305432621389627 - vert_correction: -0.0715404152870178 - dist_correction: 0.150000005960464 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 52 - rot_correction: 0.0855211317539215 - vert_correction: -0.0300500374287367 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 53 - rot_correction: 0.109083078801632 - vert_correction: -0.024120757356286 - dist_correction: 0.140000000596046 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 54 - rot_correction: 0.0698131695389748 - vert_correction: -0.0656133219599724 - dist_correction: 0.0799999982118607 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 55 - rot_correction: 0.104719758033752 - vert_correction: -0.0596865378320217 - dist_correction: 0.159999996423721 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 56 - rot_correction: -0.0610865242779255 - vert_correction: 0.0174280721694231 - dist_correction: 0.119999997317791 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 57 - rot_correction: -0.0349065847694874 - vert_correction: 0.0233724191784859 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 58 - rot_correction: -0.0785398185253143 - vert_correction: -0.0181903336197138 - dist_correction: 0.159999996423721 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 59 - rot_correction: -0.0471238903701305 - vert_correction: -0.0122585473582149 - dist_correction: 0.259999990463257 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 60 - rot_correction: 0.0104719763621688 - vert_correction: 0.0293195936828852 - dist_correction: 0.140000000596046 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 61 - rot_correction: 0.0349065847694874 - vert_correction: 0.0352698266506195 - dist_correction: 0.219999998807907 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 62 - rot_correction: -0.00436332309618592 - vert_correction: -0.00632520206272602 - dist_correction: 0.209999993443489 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 - - laser_id: 63 - rot_correction: 0.0296705979853868 - vert_correction: -0.000390077300835401 - dist_correction: 0.140000000596046 - two_pt_correction_available: false - dist_correction_x: 0 - dist_correction_y: 0 - vert_offset_correction: 0 - vert_offset_correction: 0 - max_intensity: 255 - min_intensity: 0 - focal_distance: 0 - focal_slope: 0 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles.yaml deleted file mode 100644 index bd5aa5a823d..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/angles.yaml +++ /dev/null @@ -1,257 +0,0 @@ -lasers: -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 0, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.124932751059532, - vert_offset_correction: 0} -- {dist_correction: 0.280000001192093, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 1, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.118993431329727, - vert_offset_correction: 0} -- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 2, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: 0.0055470340885222, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 3, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: 0.0114863449707627, - vert_offset_correction: 0} -- {dist_correction: 0.0700000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 4, max_intensity: 255, min_intensity: 0, - rot_correction: 0.013962633907795, two_pt_correction_available: false, vert_correction: -0.113056324422359, - vert_offset_correction: 0} -- {dist_correction: 0.0900000035762787, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 5, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.107121199369431, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 6, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.148716226220131, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 7, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0226892791688442, two_pt_correction_available: false, vert_correction: -0.142765983939171, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 8, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0820304751396179, two_pt_correction_available: false, vert_correction: -0.101187855005264, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 9, max_intensity: 255, min_intensity: 0, - rot_correction: 0.113446399569511, two_pt_correction_available: false, vert_correction: -0.0952560678124428, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 10, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.136818811297417, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 11, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.130874469876289, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 12, max_intensity: 255, min_intensity: 0, - rot_correction: -0.068067841231823, two_pt_correction_available: false, vert_correction: -0.05375986546278, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 13, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.0478330813348293, - vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 14, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0837758108973503, two_pt_correction_available: false, vert_correction: -0.0893256440758705, - vert_offset_correction: 0} -- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 15, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0479965545237064, two_pt_correction_available: false, vert_correction: -0.0833963677287102, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 16, max_intensity: 255, min_intensity: 0, - rot_correction: 0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.0419059917330742, - vert_offset_correction: 0} -- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 17, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0392699092626572, two_pt_correction_available: false, vert_correction: -0.035978376865387, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 18, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.0774680152535439, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 19, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0305432621389627, two_pt_correction_available: false, vert_correction: -0.0715404152870178, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 20, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0855211317539215, two_pt_correction_available: false, vert_correction: -0.0300500374287367, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 21, max_intensity: 255, min_intensity: 0, - rot_correction: 0.109083078801632, two_pt_correction_available: false, vert_correction: -0.024120757356286, - vert_offset_correction: 0} -- {dist_correction: 0.0799999982118607, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 22, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0698131695389748, two_pt_correction_available: false, vert_correction: -0.0656133219599724, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 23, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.0596865378320217, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 24, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: 0.0174280721694231, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 25, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0233724191784859, - vert_offset_correction: 0} -- {dist_correction: 0.159999996423721, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 26, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0785398185253143, two_pt_correction_available: false, vert_correction: -0.0181903336197138, - vert_offset_correction: 0} -- {dist_correction: 0.259999990463257, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 27, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0471238903701305, two_pt_correction_available: false, vert_correction: -0.0122585473582149, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 28, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0104719763621688, two_pt_correction_available: false, vert_correction: 0.0293195936828852, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 29, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: 0.0352698266506195, - vert_offset_correction: 0} -- {dist_correction: 0.209999993443489, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 30, max_intensity: 255, min_intensity: 0, - rot_correction: -0.00436332309618592, two_pt_correction_available: false, vert_correction: -0.00632520206272602, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 31, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0296705979853868, two_pt_correction_available: false, vert_correction: -0.000390077300835401, - vert_offset_correction: 0} -- {dist_correction: 0.119999997317791, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 32, max_intensity: 255, min_intensity: 0, - rot_correction: -0.122173048555851, two_pt_correction_available: false, vert_correction: -0.396850973367691, - vert_offset_correction: 0} -- {dist_correction: 0.0199999995529652, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 33, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.387918144464493, - vert_offset_correction: 0} -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 34, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0959931090474129, two_pt_correction_available: false, vert_correction: -0.200955957174301, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 35, max_intensity: 255, min_intensity: 0, - rot_correction: 0.148352980613708, two_pt_correction_available: false, vert_correction: -0.192023113369942, - vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 36, max_intensity: 255, min_intensity: 0, - rot_correction: -0.00872664619237185, two_pt_correction_available: false, vert_correction: -0.378992766141891, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 37, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.370074152946472, - vert_offset_correction: 0} -- {dist_correction: 0.0500000007450581, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 38, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.43128889799118, - vert_offset_correction: 0} -- {dist_correction: 0.270000010728836, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 39, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.423701733350754, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 40, max_intensity: 255, min_intensity: 0, - rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.361161530017853, - vert_offset_correction: 0} -- {dist_correction: 0.189999997615814, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 41, max_intensity: 255, min_intensity: 0, - rot_correction: 0.174532920122147, two_pt_correction_available: false, vert_correction: -0.352254241704941, - vert_offset_correction: 0} -- {dist_correction: 0.100000001490116, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 42, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.414742022752762, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 43, max_intensity: 255, min_intensity: 0, - rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.405792057514191, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 44, max_intensity: 255, min_intensity: 0, - rot_correction: -0.113446399569511, two_pt_correction_available: false, vert_correction: -0.28999200463295, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 45, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0567231997847557, two_pt_correction_available: false, vert_correction: -0.281101644039154, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 46, max_intensity: 255, min_intensity: 0, - rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.343351542949677, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 47, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0872664600610733, two_pt_correction_available: false, vert_correction: -0.334452718496323, - vert_offset_correction: 0} -- {dist_correction: 0.0599999986588955, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 48, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.272210210561752, - vert_offset_correction: 0} -- {dist_correction: 0.129999995231628, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 49, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0558505356311798, two_pt_correction_available: false, vert_correction: -0.26331701874733, - vert_offset_correction: 0} -- {dist_correction: 0.00999999977648258, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 50, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.323895305395126, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 51, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0349065847694874, two_pt_correction_available: false, vert_correction: -0.316663861274719, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 52, max_intensity: 255, min_intensity: 0, - rot_correction: 0.122173048555851, two_pt_correction_available: false, vert_correction: -0.254421383142471, - vert_offset_correction: 0} -- {dist_correction: 0.239999994635582, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 53, max_intensity: 255, min_intensity: 0, - rot_correction: 0.165806278586388, two_pt_correction_available: false, vert_correction: -0.245522528886795, - vert_offset_correction: 0} -- {dist_correction: 0.180000007152557, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 54, max_intensity: 255, min_intensity: 0, - rot_correction: 0.104719758033752, two_pt_correction_available: false, vert_correction: -0.307772427797318, - vert_offset_correction: 0} -- {dist_correction: 0.219999998807907, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 55, max_intensity: 255, min_intensity: 0, - rot_correction: 0.157079637050629, two_pt_correction_available: false, vert_correction: -0.298882067203522, - vert_offset_correction: 0} -- {dist_correction: 0.140000000596046, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 56, max_intensity: 255, min_intensity: 0, - rot_correction: -0.104719758033752, two_pt_correction_available: false, vert_correction: -0.183082059025764, - vert_offset_correction: 0} -- {dist_correction: 0.319999992847443, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 57, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0610865242779255, two_pt_correction_available: false, vert_correction: -0.17413204908371, - vert_offset_correction: 0} -- {dist_correction: 0.200000002980232, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 58, max_intensity: 255, min_intensity: 0, - rot_correction: -0.13962633907795, two_pt_correction_available: false, vert_correction: -0.236619830131531, - vert_offset_correction: 0} -- {dist_correction: 0.25, dist_correction_x: 0, dist_correction_y: 0, focal_distance: 0, - focal_slope: 0, laser_id: 59, max_intensity: 255, min_intensity: 0, rot_correction: -0.0785398185253143, - two_pt_correction_available: false, vert_correction: -0.22771255671978, vert_offset_correction: 0} -- {dist_correction: 0.170000001788139, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 60, max_intensity: 255, min_intensity: 0, - rot_correction: 0, two_pt_correction_available: false, vert_correction: -0.16517236828804, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 61, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0436332300305367, two_pt_correction_available: false, vert_correction: -0.156202226877213, - vert_offset_correction: 0} -- {dist_correction: 0.150000005960464, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 62, max_intensity: 255, min_intensity: 0, - rot_correction: -0.0174532923847437, two_pt_correction_available: false, vert_correction: -0.218799933791161, - vert_offset_correction: 0} -- {dist_correction: 0.230000004172325, dist_correction_x: 0, dist_correction_y: 0, - focal_distance: 0, focal_slope: 0, laser_id: 63, max_intensity: 255, min_intensity: 0, - rot_correction: 0.0314159244298935, two_pt_correction_available: false, vert_correction: -0.209881335496902, - vert_offset_correction: 0} -num_lasers: 64 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_32e_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_32e_hz.test deleted file mode 100644 index 2844b89ce99..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_32e_hz.test +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_64e_s2.1_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_64e_s2.1_hz.test deleted file mode 100644 index 245f8a92c04..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_64e_s2.1_hz.test +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_hz.test deleted file mode 100644 index 834f01fda59..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_hz.test +++ /dev/null @@ -1,27 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_vlp16_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_vlp16_hz.test deleted file mode 100644 index e922d476101..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_node_vlp16_hz.test +++ /dev/null @@ -1,28 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_32e_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_32e_hz.test deleted file mode 100644 index 3f28ee12735..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_32e_hz.test +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_64e_s2.1_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_64e_s2.1_hz.test deleted file mode 100644 index 9470ea60d55..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_64e_s2.1_hz.test +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_hz.test deleted file mode 100644 index e06648c3b82..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_hz.test +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_vlp16_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_vlp16_hz.test deleted file mode 100644 index 55ff3b77eeb..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/cloud_nodelet_vlp16_hz.test +++ /dev/null @@ -1,22 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml deleted file mode 100644 index 6c5f572b17d..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/issue_84_float_intensities.yaml +++ /dev/null @@ -1,239 +0,0 @@ -# test data from an HDL-64E S2 containing float min_intensity values -# causes issue #84 failure -lasers: -- {dist_correction: 1.1897507, dist_correction_x: 1.2184412, dist_correction_y: 1.1993269, - focal_distance: 22.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 0, - min_intensity: 40.0, rot_correction: -0.08193448173487379, vert_correction: -0.12118950050089745, - vert_offset_correction: 0.21533014000000003} -- {dist_correction: 1.4128801999999998, dist_correction_x: 1.4313695000000002, dist_correction_y: 1.4312958, - focal_distance: 24.0, focal_slope: 0.80000001, horiz_offset_correction: -0.025999999, - laser_id: 1, min_intensity: 40.0, rot_correction: -0.04631400641637322, vert_correction: -0.1154246814722187, - vert_offset_correction: 0.21490976} -- {dist_correction: 1.352054, dist_correction_x: 1.3625516, dist_correction_y: 1.3604144, - focal_distance: 22.0, focal_slope: 1.15, horiz_offset_correction: 0.025999999, laser_id: 2, - min_intensity: 40.0, rot_correction: 0.05367805144003262, vert_correction: 0.007649359057937743, - vert_offset_correction: 0.20602308000000003} -- {dist_correction: 1.3877103, dist_correction_x: 1.4052618000000001, dist_correction_y: 1.4102048999999999, - focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 3, - min_intensity: 20.0, rot_correction: 0.09201863985105889, vert_correction: 0.01508908679395137, - vert_offset_correction: 0.20548805000000003} -- {dist_correction: 1.2740263, dist_correction_x: 1.2988675, dist_correction_y: 1.2487833000000002, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 4, - min_intensity: 10.0, rot_correction: -0.007693320585669901, vert_correction: -0.1102984033676868, - vert_offset_correction: 0.21453644000000002} -- {dist_correction: 1.2418116000000001, dist_correction_x: 1.252481, dist_correction_y: 1.2255676, - focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999, - laser_id: 5, min_intensity: 28.0, rot_correction: 0.032006458688310216, vert_correction: -0.10399361088436754, - vert_offset_correction: 0.21407784} -- {dist_correction: 1.3176793, dist_correction_x: 1.3353647000000002, dist_correction_y: 1.3361707999999999, - focal_distance: 24.0, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 6, - min_intensity: 40.0, rot_correction: -0.021861479338351635, vert_correction: -0.14544533071754853, - vert_offset_correction: 0.21710571} -- {dist_correction: 1.3708466000000001, dist_correction_x: 1.3905527000000002, dist_correction_y: 1.3970328, - focal_distance: 24.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 7, min_intensity: 40.0, rot_correction: 0.01761759781572604, vert_correction: -0.139035509555832, - vert_offset_correction: 0.21663536} -- {dist_correction: 1.2544352, dist_correction_x: 1.2857481000000002, dist_correction_y: 1.2282503, - focal_distance: 24.0, focal_slope: 1.22, horiz_offset_correction: 0.025999999, laser_id: 8, - min_intensity: 40.0, rot_correction: 0.06658719948349573, vert_correction: -0.09889517252673422, - vert_offset_correction: 0.21370745} -- {dist_correction: 1.3738158999999999, dist_correction_x: 1.3938158000000003, dist_correction_y: 1.3844524000000002, - focal_distance: 24.0, focal_slope: 1.15, horiz_offset_correction: -0.025999999, - laser_id: 9, min_intensity: 40.0, rot_correction: 0.10588806804896926, vert_correction: -0.09225143361201914, - vert_offset_correction: 0.21322533} -- {dist_correction: 1.3156921, dist_correction_x: 1.3354019, dist_correction_y: 1.2833449, - focal_distance: 24.0, focal_slope: 1.3200001, horiz_offset_correction: 0.025999999, - laser_id: 10, min_intensity: 40.0, rot_correction: 0.052778260906800954, vert_correction: -0.134421316289823, - vert_offset_correction: 0.2162973} -- {dist_correction: 1.3696194, dist_correction_x: 1.3846521, dist_correction_y: 1.3639107000000001, - focal_distance: 20.0, focal_slope: 1.25, horiz_offset_correction: -0.025999999, - laser_id: 11, min_intensity: 40.0, rot_correction: 0.09284370411236641, vert_correction: -0.12714737563412706, - vert_offset_correction: 0.21576523000000003} -- {dist_correction: 1.2275657, dist_correction_x: 1.2543072, dist_correction_y: 1.2294422, - focal_distance: 24.0, focal_slope: 1.0700001, horiz_offset_correction: 0.025999999, - laser_id: 12, min_intensity: 40.0, rot_correction: -0.08319450648038783, vert_correction: -0.0502394945048745, - vert_offset_correction: 0.21018864} -- {dist_correction: 1.3757889, dist_correction_x: 1.3849341999999998, dist_correction_y: 1.3686421000000002, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 13, - min_intensity: 40.0, rot_correction: -0.04344974309026683, vert_correction: -0.04379427282993976, - vert_offset_correction: 0.20972416} -- {dist_correction: 1.3319664, dist_correction_x: 1.3705452, dist_correction_y: 1.3209669, - focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: 0.025999999, laser_id: 14, - min_intensity: 40.0, rot_correction: -0.09661677957860802, vert_correction: -0.08535601123784947, - vert_offset_correction: 0.21272558} -- {dist_correction: 1.3714989, dist_correction_x: 1.3624129999999999, dist_correction_y: 1.3403807, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 15, - min_intensity: 40.0, rot_correction: -0.056929933194385184, vert_correction: -0.07898063589425029, - vert_offset_correction: 0.21226404} -- {dist_correction: 1.2595838000000001, dist_correction_x: 1.2785926, dist_correction_y: 1.2370594, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 16, - min_intensity: 40.0, rot_correction: -0.008102055927068873, vert_correction: -0.03910078576535417, - vert_offset_correction: 0.20938608} -- {dist_correction: 1.3786241000000001, dist_correction_x: 1.3948055, dist_correction_y: 1.3862044, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 17, - min_intensity: 40.0, rot_correction: 0.03149012048240021, vert_correction: -0.03191447983673011, - vert_offset_correction: 0.20886870999999999} -- {dist_correction: 1.3628464, dist_correction_x: 1.3785178, dist_correction_y: 1.3152992000000001, - focal_distance: 20.5, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 18, - min_intensity: 10.0, rot_correction: -0.021944024685324706, vert_correction: -0.07495714058693254, - vert_offset_correction: 0.21197302} -- {dist_correction: 1.394641, dist_correction_x: 1.3899173999999999, dist_correction_y: 1.370442, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 19, - min_intensity: 10.0, rot_correction: 0.01766883719190609, vert_correction: -0.06771695808962866, - vert_offset_correction: 0.21144976000000001} -- {dist_correction: 1.2123122, dist_correction_x: 1.2413981, dist_correction_y: 1.2070784, - focal_distance: 23.5, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 20, - min_intensity: 5.0, rot_correction: 0.06651143299533739, vert_correction: -0.027462144914892576, - vert_offset_correction: 0.20854828000000003} -- {dist_correction: 1.2599731, dist_correction_x: 1.2764229, dist_correction_y: 1.2986679, - focal_distance: 21.0, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 21, - min_intensity: 5.0, rot_correction: 0.10511566735251142, vert_correction: -0.020434314882349612, - vert_offset_correction: 0.20804264} -- {dist_correction: 1.3053941, dist_correction_x: 1.3411044, dist_correction_y: 1.2835222, - focal_distance: 24.0, focal_slope: 1.42, horiz_offset_correction: 0.025999999, laser_id: 22, - min_intensity: 30.0, rot_correction: 0.052657269447064954, vert_correction: -0.06262826041455072, - vert_offset_correction: 0.21108229} -- {dist_correction: 1.2550185, dist_correction_x: 1.2702521, dist_correction_y: 1.2836005000000001, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 23, - min_intensity: 40.0, rot_correction: 0.09175727679557273, vert_correction: -0.05606926072567847, - vert_offset_correction: 0.21060900000000002} -- {dist_correction: 1.2748341, dist_correction_x: 1.3196121, dist_correction_y: 1.2784751, - focal_distance: 20.5, focal_slope: 1.25, horiz_offset_correction: 0.025999999, laser_id: 24, - min_intensity: 10.0, rot_correction: -0.08344753035270795, vert_correction: 0.020524792750772996, - vert_offset_correction: 0.20509708000000001} -- {dist_correction: 1.3777713, dist_correction_x: 1.3645123000000001, dist_correction_y: 1.3802203, - focal_distance: 24.0, focal_slope: 1.3, horiz_offset_correction: -0.025999999, laser_id: 25, - max_intensity: 230.0, rot_correction: -0.04351660490858147, vert_correction: 0.02702150163864157, - vert_offset_correction: 0.20462966999999999} -- {dist_correction: 1.3718602000000002, dist_correction_x: 1.4046102999999999, dist_correction_y: 1.3834868, - focal_distance: 19.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 26, - max_intensity: 245.0, rot_correction: -0.09689230074498635, vert_correction: -0.014916840599137901, - vert_offset_correction: 0.2076458} -- {dist_correction: 1.3833778, dist_correction_x: 1.375231, dist_correction_y: 1.3606032, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: -0.025999999, laser_id: 27, - max_intensity: 240.0, rot_correction: -0.057451870416535586, vert_correction: -0.00817206789015045, - vert_offset_correction: 0.20716073999999998} -- {dist_correction: 1.2951183000000002, dist_correction_x: 1.3258408, dist_correction_y: 1.2997318999999998, - focal_distance: 24.0, focal_slope: 1.4, horiz_offset_correction: 0.025999999, laser_id: 28, - max_intensity: 240.0, rot_correction: -0.008271954654038412, vert_correction: 0.032168250709970085, - vert_offset_correction: 0.20425926} -- {dist_correction: 1.4026823, dist_correction_x: 1.4151775000000002, dist_correction_y: 1.4065117, - focal_distance: 24.0, focal_slope: 1.05, horiz_offset_correction: -0.025999999, - laser_id: 29, rot_correction: 0.03059445241686176, vert_correction: 0.03821143404637868, - vert_offset_correction: 0.2038242} -- {dist_correction: 1.3756502000000002, dist_correction_x: 1.3986545000000001, dist_correction_y: 1.3567966000000002, - focal_distance: 24.0, focal_slope: 1.37, horiz_offset_correction: 0.025999999, laser_id: 30, - rot_correction: -0.022168507188386963, vert_correction: -0.003020972948984465, vert_offset_correction: 0.20679033000000002} -- {dist_correction: 1.4303774999999999, dist_correction_x: 1.4219699000000001, dist_correction_y: 1.4110721000000002, - focal_distance: 24.0, focal_slope: 1.38, horiz_offset_correction: -0.025999999, - laser_id: 31, rot_correction: 0.017020332183059567, vert_correction: 0.0032341127317709376, - vert_offset_correction: 0.20634056} -- {dist_correction: 1.2299187999999999, dist_correction_x: 1.221242, dist_correction_y: 1.159202, - focal_distance: 12.8, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 32, - rot_correction: -0.13428924897065386, vert_correction: -0.3917846862503118, vert_offset_correction: 0.15982219} -- {dist_correction: 1.3144859, dist_correction_x: 1.3336081, dist_correction_y: 1.3461792, - focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: -0.025999999, - laser_id: 33, rot_correction: -0.07421947892390637, vert_correction: -0.3836205247016729, - vert_offset_correction: 0.15923027} -- {dist_correction: 1.2725937999999999, dist_correction_x: 1.2842772, dist_correction_y: 1.3025389, - focal_distance: 0.25, focal_slope: 0.94999999, horiz_offset_correction: 0.025999999, - laser_id: 34, rot_correction: 0.08138446391038806, vert_correction: -0.1992609420279063, - vert_offset_correction: 0.14669841} -- {dist_correction: 1.3357777, dist_correction_x: 1.3343283, dist_correction_y: 1.3631558000000001, - focal_distance: 9.0, focal_slope: 1.5, horiz_offset_correction: -0.025999999, laser_id: 35, - rot_correction: 0.1383208914749199, vert_correction: -0.18701489169116567, vert_offset_correction: 0.14590834} -- {dist_correction: 1.1742934, dist_correction_x: 1.2244499, dist_correction_y: 1.1818057, - focal_distance: 10.8, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 36, - rot_correction: -0.013445351586919306, vert_correction: -0.37738235143590226, vert_offset_correction: 0.15878062} -- {dist_correction: 1.090762, dist_correction_x: 1.1042352, dist_correction_y: 1.0975322, - focal_distance: 12.5, focal_slope: 1.55, horiz_offset_correction: -0.025999999, - laser_id: 37, rot_correction: 0.04734804593033903, vert_correction: -0.3673083633532685, - vert_offset_correction: 0.15805914} -- {dist_correction: 1.2801097, dist_correction_x: 1.2734876, dist_correction_y: 1.2697346, - focal_distance: 6.0, focal_slope: 1.1, horiz_offset_correction: 0.025999999, laser_id: 38, - rot_correction: -0.03680020095578886, vert_correction: -0.4294796616630621, vert_offset_correction: 0.16260902000000002} -- {dist_correction: 1.2865338, dist_correction_x: 1.2686511, dist_correction_y: 1.29416, - focal_distance: 0.25, focal_slope: 1.0, horiz_offset_correction: -0.025999999, laser_id: 39, - rot_correction: 0.025992554995433074, vert_correction: -0.42099842614921335, vert_offset_correction: 0.16197392000000002} -- {dist_correction: 1.2932777, dist_correction_x: 1.3400191000000001, dist_correction_y: 1.3263618, - focal_distance: 0.25, focal_slope: 1.02, horiz_offset_correction: 0.025999999, laser_id: 40, - rot_correction: 0.10601307725664336, vert_correction: -0.3565455112681652, vert_offset_correction: 0.15729448} -- {dist_correction: 1.2614787, dist_correction_x: 1.2626826, dist_correction_y: 1.267609, - focal_distance: 8.5, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 41, - rot_correction: 0.16733068965072595, vert_correction: -0.3479014190818128, vert_offset_correction: 0.15668478} -- {dist_correction: 1.2428966, dist_correction_x: 1.2460679000000001, dist_correction_y: 1.2397518, - focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: 0.025999999, laser_id: 42, - rot_correction: 0.08594727468321833, vert_correction: -0.4110102035460227, vert_offset_correction: 0.16123213} -- {dist_correction: 1.3061783, dist_correction_x: 1.2655383, dist_correction_y: 1.2857359, - focal_distance: 10.0, focal_slope: 1.6799999, horiz_offset_correction: -0.025999999, - laser_id: 43, rot_correction: 0.1464050331680134, vert_correction: -0.4015579191962419, - vert_offset_correction: 0.16053604} -- {dist_correction: 1.2317036000000001, dist_correction_x: 1.2393882, dist_correction_y: 1.2123593, - focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 44, - rot_correction: -0.13261467013054762, vert_correction: -0.2838808920696538, vert_offset_correction: 0.1522797} -- {dist_correction: 1.2567677000000002, dist_correction_x: 1.2904861, dist_correction_y: 1.2915567, - focal_distance: 0.25, focal_slope: 0.47999999, horiz_offset_correction: -0.025999999, - laser_id: 45, rot_correction: -0.07009130400404175, vert_correction: -0.276291415083819, - vert_offset_correction: 0.15176907} -- {dist_correction: 1.2793438000000001, dist_correction_x: 1.2915629999999998, dist_correction_y: 1.2718159, - focal_distance: 12.0, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 46, - rot_correction: -0.15533259824081613, vert_correction: -0.33574467724289675, vert_offset_correction: 0.15583374} -- {dist_correction: 1.2330788, dist_correction_x: 1.2624972, dist_correction_y: 1.2636649, - focal_distance: 2.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 47, rot_correction: -0.09347288483573485, vert_correction: -0.3300846093852642, - vert_offset_correction: 0.15543998} -- {dist_correction: 1.1445625, dist_correction_x: 1.2045525000000001, dist_correction_y: 1.1558383, - focal_distance: 23.2, focal_slope: 0.75, horiz_offset_correction: 0.025999999, laser_id: 48, - rot_correction: -0.014086204897792162, vert_correction: -0.2692770589931014, vert_offset_correction: 0.15129910000000002} -- {dist_correction: 1.2741866, dist_correction_x: 1.2946111, dist_correction_y: 1.2808211, - focal_distance: 18.0, focal_slope: 0.92000002, horiz_offset_correction: -0.025999999, - laser_id: 49, rot_correction: 0.04602459591980752, vert_correction: -0.25952585210233153, - vert_offset_correction: 0.15064875} -- {dist_correction: 1.2584636, dist_correction_x: 1.2985907, dist_correction_y: 1.2481342, - focal_distance: 15.8, focal_slope: 1.28, horiz_offset_correction: 0.025999999, laser_id: 50, - rot_correction: -0.035928232716163244, vert_correction: -0.3234839312338543, vert_offset_correction: 0.1549827} -- {dist_correction: 1.1207238, dist_correction_x: 1.1458776000000002, dist_correction_y: 1.1290197000000002, - focal_distance: 18.0, focal_slope: 0.89999998, horiz_offset_correction: -0.025999999, - laser_id: 51, rot_correction: 0.025398581053735863, vert_correction: -0.3141198558244693, - vert_offset_correction: 0.15433743} -- {dist_correction: 1.3357715, dist_correction_x: 1.3748308, dist_correction_y: 1.3750087, - focal_distance: 2.2, focal_slope: 0.64999998, horiz_offset_correction: 0.025999999, - laser_id: 52, rot_correction: 0.10206324357040601, vert_correction: -0.2503763474711867, - vert_offset_correction: 0.15004159} -- {dist_correction: 1.2831325000000002, dist_correction_x: 1.2906917000000002, dist_correction_y: 1.3047183000000002, - focal_distance: 8.2, focal_slope: 1.65, horiz_offset_correction: -0.025999999, laser_id: 53, - rot_correction: 0.16118048446991431, vert_correction: -0.2388694789792507, vert_offset_correction: 0.14928201} -- {dist_correction: 1.4319325, dist_correction_x: 1.470513, dist_correction_y: 1.4623492, - focal_distance: 6.0, focal_slope: 0.51999998, horiz_offset_correction: 0.025999999, - laser_id: 54, rot_correction: 0.08241589764778065, vert_correction: -0.30499605989320633, - vert_offset_correction: 0.15371249} -- {dist_correction: 1.2852434, dist_correction_x: 1.2985229, dist_correction_y: 1.271758, - focal_distance: 12.5, focal_slope: 2.0, horiz_offset_correction: -0.025999999, laser_id: 55, - rot_correction: 0.142266131454566, vert_correction: -0.2947717466020984, vert_offset_correction: 0.15301642} -- {dist_correction: 1.4007397000000001, dist_correction_x: 1.4001398, dist_correction_y: 1.3912132, - focal_distance: 8.5, focal_slope: 1.7, horiz_offset_correction: 0.025999999, laser_id: 56, - rot_correction: -0.12786652808043583, vert_correction: -0.17641617036891985, vert_offset_correction: 0.14522751} -- {dist_correction: 1.2880724000000001, dist_correction_x: 1.3014014, dist_correction_y: 1.3205367000000001, - focal_distance: 0.25, focal_slope: 1.2, horiz_offset_correction: -0.025999999, laser_id: 57, - rot_correction: -0.07017803115990259, vert_correction: -0.17070459784506095, vert_offset_correction: 0.14486169000000002} -- {dist_correction: 1.4760434, dist_correction_x: 1.4308182, dist_correction_y: 1.4627808, - focal_distance: 11.5, focal_slope: 2.0, horiz_offset_correction: 0.025999999, laser_id: 58, - rot_correction: -0.15113763829712393, vert_correction: -0.2281125435603116, vert_offset_correction: 0.14857577} -- {dist_correction: 1.303936, dist_correction_x: 1.3230009, dist_correction_y: 1.3335196, - focal_distance: 0.25, focal_slope: 0.64999998, horiz_offset_correction: -0.025999999, - laser_id: 59, rot_correction: -0.0918767934520908, vert_correction: -0.2232191988430801, - vert_offset_correction: 0.14825568} -- {dist_correction: 1.3472046, dist_correction_x: 1.3541069, dist_correction_y: 1.3651146, - focal_distance: 3.5, focal_slope: 1.38, horiz_offset_correction: 0.025999999, laser_id: 60, - rot_correction: -0.013572408240338915, vert_correction: -0.16291245497181386, vert_offset_correction: 0.14436376} -- {dist_correction: 1.3001047000000001, dist_correction_x: 1.3096320000000001, dist_correction_y: 1.3519560000000002, - focal_distance: 3.5, focal_slope: 1.35, horiz_offset_correction: -0.025999999, laser_id: 61, - rot_correction: 0.04349449333228796, vert_correction: -0.1540625535600664, vert_offset_correction: 0.14379979} -- {dist_correction: 1.2880972, dist_correction_x: 1.2842999000000002, dist_correction_y: 1.2916876, - focal_distance: 12.0, focal_slope: 1.35, horiz_offset_correction: 0.025999999, laser_id: 62, - rot_correction: -0.03466167345792974, vert_correction: -0.21484439350701803, vert_offset_correction: 0.14770949} -- {dist_correction: 1.3186316, dist_correction_x: 1.3250179, dist_correction_y: 1.3431560999999999, - focal_distance: 10.5, focal_slope: 0.60000002, horiz_offset_correction: -0.025999999, - laser_id: 63, rot_correction: 0.02351688573662471, vert_correction: -0.20683046990039078, - vert_offset_correction: 0.14718871} -num_lasers: 64 diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch deleted file mode 100644 index 9e35585be3e..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/static_vehicle_tf.launch +++ /dev/null @@ -1,17 +0,0 @@ - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_calibration.cpp b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_calibration.cpp deleted file mode 100644 index 5139eca04b5..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_calibration.cpp +++ /dev/null @@ -1,164 +0,0 @@ -// -// C++ unit tests for calibration interface. -// - -#include - -#include -#include -using namespace velodyne_pointcloud; - -// global test data -std::string g_package_name("velodyne_pointcloud"); -std::string g_package_path; - -void init_global_data(void) -{ - g_package_path = ros::package::getPath(g_package_name); -} - -/////////////////////////////////////////////////////////////// -// Test cases -/////////////////////////////////////////////////////////////// - -TEST(Calibration, missing_file) -{ - Calibration calibration(false); - calibration.read("./no_such_file.yaml"); - EXPECT_FALSE(calibration.initialized); -} - -TEST(Calibration, vlp16) -{ - Calibration calibration(g_package_path + "/params/VLP16db.yaml", false); - EXPECT_TRUE(calibration.initialized); - ASSERT_EQ(calibration.num_lasers, 16); - - // check some values for the first laser: - LaserCorrection laser = calibration.laser_corrections[0]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.2617993877991494); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); - - // check similar values for the last laser: - laser = calibration.laser_corrections[15]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, 0.2617993877991494); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); -} - -TEST(Calibration, hdl32e) -{ - Calibration calibration(g_package_path + "/params/32db.yaml", false); - EXPECT_TRUE(calibration.initialized); - ASSERT_EQ(calibration.num_lasers, 32); - - // check some values for the first laser: - LaserCorrection laser = calibration.laser_corrections[0]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.5352924815866609); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); - - // check similar values for the last laser: - laser = calibration.laser_corrections[31]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, 0.18622663118779495); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); -} - -TEST(Calibration, hdl64e) -{ - Calibration calibration(g_package_path + "/params/64e_utexas.yaml", false); - EXPECT_TRUE(calibration.initialized); - ASSERT_EQ(calibration.num_lasers, 64); - - // check some values for the first laser: - LaserCorrection laser = calibration.laser_corrections[0]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.124932751059532); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); - - // check similar values for the last laser: - laser = calibration.laser_corrections[63]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.209881335496902); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.0); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); -} - -TEST(Calibration, hdl64e_s21) -{ - Calibration calibration(g_package_path + "/params/64e_s2.1-sztaki.yaml", - false); - EXPECT_TRUE(calibration.initialized); - ASSERT_EQ(calibration.num_lasers, 64); - - // check some values for the first laser: - LaserCorrection laser = calibration.laser_corrections[0]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.15304134919741974); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); - EXPECT_EQ(laser.max_intensity, 235); - EXPECT_EQ(laser.min_intensity, 30); - - // check similar values for the last laser: - laser = calibration.laser_corrections[63]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.2106649408137298); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); -} - -TEST(Calibration, hdl64e_s2_float_intensities) -{ - Calibration calibration(g_package_path + - "/tests/issue_84_float_intensities.yaml", - false); - EXPECT_TRUE(calibration.initialized); - ASSERT_EQ(calibration.num_lasers, 64); - - // check some values for the first laser: - LaserCorrection laser = calibration.laser_corrections[0]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.12118950050089745); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 40); - - // check similar values for laser 26: - laser = calibration.laser_corrections[26]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.014916840599137901); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, 0.025999999); - EXPECT_EQ(laser.max_intensity, 245); - EXPECT_EQ(laser.min_intensity, 0); - - // check similar values for the last laser: - laser = calibration.laser_corrections[63]; - EXPECT_FALSE(laser.two_pt_correction_available); - EXPECT_FLOAT_EQ(laser.vert_correction, -0.20683046990039078); - EXPECT_FLOAT_EQ(laser.horiz_offset_correction, -0.025999999); - EXPECT_EQ(laser.max_intensity, 255); - EXPECT_EQ(laser.min_intensity, 0); -} - -// Run all the tests that were declared with TEST() -int main(int argc, char **argv) -{ - testing::InitGoogleTest(&argc, argv); - init_global_data(); - return RUN_ALL_TESTS(); -} - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml deleted file mode 100644 index e1a72e43698..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/test_db_without_intensities.xml +++ /dev/null @@ -1,906 +0,0 @@ - - - - - - 64 - 1 - - - 0 - -5.3328056 - -7.2988362 - 111 - 118 - 118 - 19.736338 - 2.5999999 - 0 - 0 - - - - - 1 - -3.2344019 - -6.9644198 - 146 - 149 - 151 - 19.778963 - -2.5999999 - 0 - 0 - - - - - 2 - 2.4376695 - 0.250889 - 131.76823 - 136 - 136 - 20.688799 - 2.5999999 - 0 - 0 - - - - - 3 - 4.7373252 - 0.55538797 - 138.12656 - 142 - 144 - 20.727015 - -2.5999999 - 0 - 0 - - - - - 4 - -1.0502493 - -6.6410818 - 119 - 127 - 128 - 19.82012 - 2.5999999 - 0 - 0 - - - - - 5 - 1.2386309 - -6.2594609 - 135 - 140 - 144 - 19.868624 - -2.5999999 - 0 - 0 - - - - - 6 - -1.8405367 - -8.6656351 - 132 - 135 - 137 - 19.561426 - 2.5999999 - 0 - 0 - - - - - 7 - 0.4511103 - -8.3104696 - 145 - 145 - 149 - 19.606993 - -2.5999999 - 0 - 0 - - - - - 8 - 3.2611551 - -5.9352221 - 116 - 122 - 121 - 19.909781 - 2.5999999 - 0 - 0 - - - - - 9 - 5.4685535 - -5.587399 - 133.99889 - 140 - 142 - 19.953875 - -2.5999999 - 0 - 0 - - - - - 10 - 2.4743285 - -7.9891219 - 117 - 125 - 123 - 19.648148 - 2.5999999 - 0 - 0 - - - - - 11 - 4.7189918 - -7.644258 - 145 - 146 - 151 - 19.692244 - -2.5999999 - 0 - 0 - - - - - 12 - -5.3511744 - -3.2475569 - 118.71672 - 124 - 123 - 20.249313 - 2.5999999 - 0 - 0 - - - - - 13 - -3.1158857 - -2.850472 - 142.90839 - 148 - 149 - 20.29929 - -2.5999999 - 0 - 0 - - - - - 14 - -6.1270261 - -5.204318 - 120 - 127 - 124 - 20.00238 - 2.5999999 - 0 - 0 - - - - - 15 - -3.852011 - -4.9137921 - 137 - 144 - 144 - 20.039125 - -2.5999999 - 0 - 0 - - - - - 16 - -1.1109436 - -2.4998751 - 101.71324 - 111 - 109 - 20.343384 - 2.5999999 - 0 - 0 - - - - - 17 - 1.1519098 - -2.184176 - 145.31258 - 153 - 157 - 20.38307 - -2.5999999 - 0 - 0 - - - - - 18 - -1.8682934 - -4.5764661 - 130 - 135 - 134 - 20.081753 - 2.5999999 - 0 - 0 - - - - - 19 - 0.43604341 - -4.2038751 - 147 - 149 - 152 - 20.128786 - -2.5999999 - 0 - 0 - - - - - 20 - 3.1763444 - -1.798143 - 115.82812 - 124 - 123 - 20.431576 - 2.5999999 - 0 - 0 - - - - - 21 - 5.4284201 - -1.49388 - 146 - 152 - 154 - 20.469791 - -2.5999999 - 0 - 0 - - - - - 22 - 2.4024715 - -1.877563 - 129.29713 - 137 - 136 - 20.169943 - 2.5999999 - 0 - 0 - - - - - 23 - 4.6698937 - -3.492661 - 157.97737 - 162 - 165 - 20.218447 - -2.5999999 - 0 - 0 - - - - - 24 - -5.3977456 - 0.88327599 - 124.12312 - 132 - 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- -2.5999999 - 0 - 0 - - - - - 36 - -1.2630961 - -21.935509 - 106 - 112 - 113 - 10.912581 - 2.5999999 - 0 - 0 - - - - - 37 - 2.1595552 - -21.409546 - 91 - 100 - 101 - 10.978632 - -2.5999999 - 0 - 0 - - - - - 38 - -2.6141083 - -25.066507 - 127 - 126 - 126 - 10.508655 - 2.5999999 - 0 - 0 - - - - - 39 - 0.95595688 - -24.458101 - 95 - 99 - 102 - 10.588678 - -2.5999999 - 0 - 0 - - - - - 40 - 5.5369682 - -20.777454 - 106 - 114 - 114 - 11.057385 - 2.5999999 - 0 - 0 - - - - - 41 - 8.9712191 - -20.243195 - 97 - 104 - 105 - 11.123436 - -2.5999999 - 0 - 0 - - - - - 42 - 4.4757471 - -23.863358 - 115 - 118 - 120 - 10.666161 - 2.5999999 - 0 - 0 - - - - - 43 - 7.8848143 - -23.352007 - 92 - 95 - 100 - 10.732212 - -2.5999999 - 0 - 0 - - - - - 44 - -8.0466499 - -16.629311 - 135 - 135 - 137 - 11.559117 - 2.5999999 - 0 - 0 - - - - - 45 - -4.595552 - -16.230633 - 108 - 112 - 115 - 11.606115 - -2.5999999 - 0 - 0 - - - - - 46 - -9.3918352 - -19.788239 - 135 - 135 - 138 - 11.179325 - 2.5999999 - 0 - 0 - - - - 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- -13.484814 - 146 - 142 - 145 - 11.924937 - 2.5999999 - 0 - 0 - - - - - 59 - -5.7835727 - -13.107666 - 99 - 106 - 106 - 11.968124 - -2.5999999 - 0 - 0 - - - - - 60 - -1.2335371 - -9.5621262 - 123 - 127 - 128 - 12.368239 - 2.5999999 - 0 - 0 - - - - - 61 - 1.9424959 - -9.0374413 - 106 - 108 - 111 - 12.426669 - -2.5999999 - 0 - 0 - - - - - 62 - -2.5727935 - -12.651329 - 134 - 135 - 134 - 12.020203 - 2.5999999 - 0 - 0 - - - - - 63 - 0.81118912 - -12.115005 - 104 - 107 - 112 - 12.081173 - -2.5999999 - 0 - 0 - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_node_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_node_hz.test deleted file mode 100644 index 08f045ce110..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_node_hz.test +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test deleted file mode 100644 index 61501417af8..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/transform_nodelet_hz.test +++ /dev/null @@ -1,33 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test b/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test deleted file mode 100644 index 03b7c4183ef..00000000000 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/tests/two_nodelet_managers.test +++ /dev/null @@ -1,48 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt index c9e5126b1cc..58887e15555 100644 --- a/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/image_processor/CMakeLists.txt @@ -69,10 +69,6 @@ install(TARGETS image_rotator image_rectifier RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) -install(FILES - launch/image_rotator.launch - launch/image_rotator_ladybug.launch - launch/image_rectifier.launch - launch/image_rectifier_ladybug.launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} - ) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt index 54284f87b0b..d8d9cf30387 100644 --- a/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_downsampler/CMakeLists.txt @@ -57,3 +57,13 @@ target_link_libraries(voxel_grid_filter ${catkin_LIBRARIES}) target_link_libraries(ring_filter ${catkin_LIBRARIES}) target_link_libraries(distance_filter ${catkin_LIBRARIES}) target_link_libraries(random_filter ${catkin_LIBRARIES}) + +install(TARGETS voxel_grid_filter ring_filter distance_filter random_filter + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt index c7315e3428f..1de4d8283e1 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt +++ b/ros/src/sensing/filters/packages/points_preprocessor/CMakeLists.txt @@ -14,6 +14,7 @@ find_package(catkin REQUIRED COMPONENTS cv_bridge velodyne_pointcloud tf + autoware_health_checker ) catkin_package(CATKIN_DEPENDS @@ -26,6 +27,7 @@ catkin_package(CATKIN_DEPENDS velodyne_pointcloud autoware_config_msgs tf + autoware_health_checker ) find_package(Qt5Core REQUIRED) @@ -188,7 +190,14 @@ add_dependencies(compare_map_filter ${catkin_EXPORTED_TARGETS}) #endif () -install(TARGETS cloud_transformer points_concat_filter ray_ground_filter ring_ground_filter space_filter compare_map_filter +install(TARGETS + cloud_transformer + points_concat_filter + ray_ground_filter_lib + ray_ground_filter + ring_ground_filter + space_filter + compare_map_filter ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} @@ -198,3 +207,6 @@ install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} PATTERN ".svn" EXCLUDE ) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/include/ray_ground_filter.h b/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/include/ray_ground_filter.h index f4f2a572085..ca195bac9d6 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/include/ray_ground_filter.h +++ b/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/include/ray_ground_filter.h @@ -21,6 +21,7 @@ #include #include #include +#include #include #include #include @@ -32,6 +33,9 @@ #include #include "autoware_config_msgs/ConfigRayGroundFilter.h" +//headers in Autoware Health Checker +#include + #include #if (CV_MAJOR_VERSION == 3) #include "gencolors.cpp" @@ -42,7 +46,7 @@ class RayGroundFilter { private: - + std::shared_ptr node_status_pub_ptr_; ros::NodeHandle node_handle_; ros::Subscriber points_node_sub_; ros::Subscriber config_node_sub_; diff --git a/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/ray_ground_filter.cpp b/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/ray_ground_filter.cpp index 250cdefe8aa..3bca79e5793 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/ray_ground_filter.cpp +++ b/ros/src/sensing/filters/packages/points_preprocessor/nodes/ray_ground_filter/ray_ground_filter.cpp @@ -283,6 +283,8 @@ void RayGroundFilter::RemovePointsUpTo(const pcl::PointCloud::Pt void RayGroundFilter::CloudCallback(const sensor_msgs::PointCloud2ConstPtr &in_sensor_cloud) { + node_status_pub_ptr_->NODE_ACTIVATE(); + node_status_pub_ptr_->CHECK_RATE("/topic/rate/points_raw/slow",8,5,1,"topic points_raw subscribe rate low."); pcl::PointCloud::Ptr current_sensor_cloud_ptr(new pcl::PointCloud); pcl::fromROSMsg(*in_sensor_cloud, *current_sensor_cloud_ptr); @@ -327,6 +329,10 @@ void RayGroundFilter::CloudCallback(const sensor_msgs::PointCloud2ConstPtr &in_s RayGroundFilter::RayGroundFilter():node_handle_("~") { + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + node_status_pub_ptr_ = std::make_shared(nh,pnh); + node_status_pub_ptr_->ENABLE(); } void RayGroundFilter::Run() diff --git a/ros/src/sensing/filters/packages/points_preprocessor/package.xml b/ros/src/sensing/filters/packages/points_preprocessor/package.xml index 27dd2e9e118..c0db40b4428 100644 --- a/ros/src/sensing/filters/packages/points_preprocessor/package.xml +++ b/ros/src/sensing/filters/packages/points_preprocessor/package.xml @@ -27,6 +27,7 @@ rostest gtest yaml-cpp + autoware_health_checker autoware_config_msgs cv_bridge @@ -40,6 +41,7 @@ velodyne_pointcloud libqt5-core yaml-cpp + autoware_health_checker roslaunch rosunit diff --git a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt index a5472bc1f19..f29d6fbd400 100644 --- a/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/autoware_camera_lidar_calibrator/CMakeLists.txt @@ -66,3 +66,7 @@ catkin_install_python(PROGRAMS scripts/tarfile_calibration.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt index 7874c7b6e7f..d49eb3e56aa 100644 --- a/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt +++ b/ros/src/sensing/fusion/packages/multi_lidar_calibrator/CMakeLists.txt @@ -18,9 +18,7 @@ catkin_package(CATKIN_DEPENDS geometry_msgs ) -find_package(Qt5Core REQUIRED) find_package(OpenCV REQUIRED) -find_package(PCL 1.7 REQUIRED) ########### ## Build ## @@ -33,8 +31,6 @@ include_directories( SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") -link_directories(${PCL_LIBRARY_DIRS}) - # MultiLidar Calibrator add_library(multi_lidar_calibrator_lib SHARED src/multi_lidar_calibrator.cpp @@ -42,13 +38,10 @@ add_library(multi_lidar_calibrator_lib SHARED target_include_directories(multi_lidar_calibrator_lib PRIVATE ${OpenCV_INCLUDE_DIRS} - ${PCL_INCLUDE_DIRS} ) target_link_libraries(multi_lidar_calibrator_lib ${catkin_LIBRARIES} - ${PCL_LIBRARIES} - ${Qt5Core_LIBRARIES} ) add_executable(multi_lidar_calibrator @@ -60,3 +53,13 @@ target_include_directories(multi_lidar_calibrator PRIVATE target_link_libraries(multi_lidar_calibrator multi_lidar_calibrator_lib) + +install(TARGETS + multi_lidar_calibrator multi_lidar_calibrator_lib + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/README.md b/ros/src/simulation/gazebo_simulator/README.md new file mode 100644 index 00000000000..9f171f0d0c5 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/README.md @@ -0,0 +1,74 @@ +# Overview +Autonomous driving car simulator based on gazebo. +![screenshot from 2019-01-11 00-42-10-min](https://user-images.githubusercontent.com/8327598/50984661-bed3f780-1545-11e9-9af6-071ddd1cec76.png) + +## Sensors +- velodyne (VLP-16, HDL-32E) +- camera +- imu + +## Input, Output +![arch](https://user-images.githubusercontent.com/8327598/52900689-1861cd00-323c-11e9-84cc-ecf7bf15ee6a.png) +- Input : + - Autoware + - vehicle_cmd : select field twist_cmd (default) or ctrl_cmd + - Debug + - cmd_vel : for teleop +- Output : + - Autoware + - /vehicle_status : CAN data + - /image_raw : Image data + - /camera_info : Camera infomation + - /points_raw : Lidar data + - /imu : Imu data + - Debug (Ground Truth) + - /gazebo_vehicle/pose : base_link pose + - /gazebo_vehicle/twist : base_link twist + - /gazebo_vehicle/velocity : vechicle velocity[m/s] + - /gazebo_vehicle/steering_angle : vehicle steering angle[rad] + - ground truth pose tf : default disable + +# **Requirements** +- ROS (higher kinetic) +- gazebo (higher version 7) +- CUDA (Optional but requires GPU by default) + +# Setup +1. upgrade gazebo version and download gazebo models(**only once**) + - reason : https://bitbucket.org/DataspeedInc/velodyne_simulator/src/56d11e899ce0a198e7206298b3aaaf8004f3a2c6/gazebo_upgrade.md?fileviewer=file-view-default +``` +$ rosrun vehicle_gazebo_simulation_launcher setup.sh +``` + +# Some example +## **Citysim** : http://gazebosim.org/blog/car_sim +``` +$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo7 gpu:=true +``` + +If you use gazebo9, simulate traffic lights and moving objects. +Build according to the [readme](https://github.com/CPFL/osrf_citysim) and execute the following command +``` +$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=citysim_gazebo9 gpu:=true +``` + +![screenshot from 2019-01-11 00-40-35-min](https://user-images.githubusercontent.com/8327598/50985197-19ba1e80-1547-11e9-98d1-284b3172c064.png) +## **mcity(car_demo)** : https://github.com/osrf/car_demo +``` +$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=mcity gpu:=true +``` +![screenshot from 2019-01-11 00-38-49-min](https://user-images.githubusercontent.com/8327598/50985258-3e15fb00-1547-11e9-91d4-3b826b82136e.png) + +## **simple** : +``` +$ roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch world_name:=simple gpu:=true +``` +[![](https://img.youtube.com/vi/wIzZ25XJI2M/0.jpg)](https://www.youtube.com/watch?v=wIzZ25XJI2M) + +## Download pointcloud map +If you need pointcloud map and path files, you can [download](https://drive.google.com/open?id=1yu8s885HDkJp3IbMV06KWim2ZdUxIoIF). + +# How to change vehicle info +You can customize sensor position and vehicle info. +- sensor position: vehicle/vehicle_model/config/caibration.yaml +- vehicle info: vehicle/vehicle_model/config/vehicle_info.yaml diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt new file mode 100644 index 00000000000..db10e4ad901 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 2.8.3) +project(vehicle_gazebo_simulation_launcher) + +find_package(catkin REQUIRED + controller_manager + controller_manager + robot_state_publisher + joint_state_controller +) + +catkin_package( + CATKIN_DEPENDS + controller_manager + robot_state_publisher + joint_state_controller +) +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY scripts + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/gazebo_launcher.launch b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/gazebo_launcher.launch new file mode 100644 index 00000000000..fe2317cd65e --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/gazebo_launcher.launch @@ -0,0 +1,64 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/rviz_test.launch b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/rviz_test.launch new file mode 100644 index 00000000000..97225f83c4d --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/rviz_test.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/world_test.launch b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/world_test.launch new file mode 100644 index 00000000000..5a59622d0c4 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/launch/world_test.launch @@ -0,0 +1,46 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/package.xml b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/package.xml new file mode 100644 index 00000000000..8d7c38e78c8 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/package.xml @@ -0,0 +1,27 @@ + + + vehicle_gazebo_simulation_launcher + 0.0.0 + The vehicle_gazebo_simulation_launcher package + + yukihiro saito + + Apache 2 + + catkin + + controller_manager + robot_state_publisher + joint_state_controller + controller_manager + robot_state_publisher + joint_state_controller + controller_manager + robot_state_publisher + joint_state_controller + velodyne_description + mercurial + + + + diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh new file mode 100755 index 00000000000..65f50a82445 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/download_model.sh @@ -0,0 +1,25 @@ +#!/bin/sh + +mkdir -p ~/.gazebo/models +echo "Download generic gazebo models" +if [ -e /tmp/gazebo_models ]; then + echo "Already exist /tmp/gazebo_models" + echo "removing /tmp/gazebo_models" + rm -r /tmp/gazebo_models +fi +hg clone https://bitbucket.org/osrf/gazebo_models /tmp/gazebo_models + +if [ -e /tmp/gazebo_models ]; then + echo "Install generic gazebo models" + mv -n /tmp/gazebo_models/* ~/.gazebo/models/ + echo "Completed" +else + echo "Error" +fi + +echo "Install osrf_citysim models" +SCRIPT_DIR=$(cd $(dirname $0); pwd) +cp -rn $SCRIPT_DIR/../../../worlds/external/osrf_citysim/models/* ~/.gazebo/models/ + +echo "Install car_demo models" +cp -rn $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/models/* ~/.gazebo/models/ diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh new file mode 100755 index 00000000000..f2a75ec7969 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/integrate_world_files.sh @@ -0,0 +1,8 @@ +#!/bin/sh + +SCRIPT_DIR=$(cd $(dirname $0); pwd) +echo "Copy world file to gazebo_world_description" +cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo7.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/ +cp -n $SCRIPT_DIR/../../../worlds/external/osrf_citysim/worlds/citysim_gazebo9.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/ +cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/ +cp -n $SCRIPT_DIR/../../../worlds/external/car_demo/car_demo/worlds/mcity_r1.world $SCRIPT_DIR/../../../worlds/gazebo_world_description/worlds/ diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh new file mode 100755 index 00000000000..93db79d1371 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/setup.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +SCRIPT_DIR=$(cd $(dirname $0); pwd) +$SCRIPT_DIR/download_model.sh +$SCRIPT_DIR/upgrade_gazebo_stable_version.sh +$SCRIPT_DIR/integrate_world_files.sh \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/upgrade_gazebo_stable_version.sh b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/upgrade_gazebo_stable_version.sh new file mode 100755 index 00000000000..a7e52932da6 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/launcher/vehicle_gazebo_simulation_launcher/scripts/upgrade_gazebo_stable_version.sh @@ -0,0 +1,6 @@ +#!/bin/sh + +sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/gazebo-stable.list' +sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys D2486D2DD83DB69272AFE98867170598AF249743 +sudo apt update +sudo apt install gazebo7 gazebo7-common gazebo7-plugin-base libgazebo7 libgazebo7-dev libignition-math2 libignition-math2-dev libsdformat4 libsdformat4-dev sdformat-sdf diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/CMakeLists.txt new file mode 100644 index 00000000000..b3d93c659fa --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gazebo_camera_description) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/package.xml b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/package.xml new file mode 100644 index 00000000000..5927e50240d --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/package.xml @@ -0,0 +1,15 @@ + + + gazebo_camera_description + 0.0.0 + The gazebo_camera_description package + + yukihiro saito + + Apache 2 + + catkin + + + + diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/urdf/monocular_camera.xacro b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/urdf/monocular_camera.xacro new file mode 100644 index 00000000000..3d17b525bad --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/camera/gazebo_camera_description/urdf/monocular_camera.xacro @@ -0,0 +1,88 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + Gazebo/Black + + ${fps} + + ${fov} + + ${width} + ${height} + R8G8B8 + + + 0.02 + 300 + + + gaussian + + 0.0 + 0.007 + + + + true + 0.0 + ${namespace} + image_raw + camera_info + ${suffix}_optical_link + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/CMakeLists.txt new file mode 100644 index 00000000000..0df554dd9d3 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gazebo_imu_description) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/package.xml b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/package.xml new file mode 100644 index 00000000000..e664e55db79 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/package.xml @@ -0,0 +1,15 @@ + + + gazebo_imu_description + 0.0.0 + The gazebo_imu_description package + + yukihiro saito + + Apache 2 + + catkin + + + + diff --git a/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/urdf/imu.xacro b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/urdf/imu.xacro new file mode 100644 index 00000000000..b9343464d32 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/sensor_model/imu/gazebo_imu_description/urdf/imu.xacro @@ -0,0 +1,61 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + true + ${fps} + true + __default_topic__ + + ${suffix} + ${suffix}_link + 10.0 + 0.0 + 0 0 0 + 0 0 0 + imu_link + + 0 0 0 0 0 0 + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/CMakeLists.txt new file mode 100644 index 00000000000..1370e835a9e --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/CMakeLists.txt @@ -0,0 +1,46 @@ +cmake_minimum_required(VERSION 2.8.3) +project(vehicle_gazebo_simulation_interface) + +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + geometry_msgs + roscpp + sensor_msgs + std_msgs + gazebo_msgs + autoware_msgs + tf2_ros + tf2 + autoware_build_flags +) + +catkin_package( + CATKIN_DEPENDS + geometry_msgs + roscpp + sensor_msgs + std_msgs + gazebo_msgs + autoware_msgs + tf2_ros + tf2 +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +add_executable(vehicle_gazebo_input_subscriber src/vehicle_gazebo_input_subscriber.cpp) +add_dependencies(vehicle_gazebo_input_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(vehicle_gazebo_input_subscriber ${catkin_LIBRARIES}) + +add_executable(vehicle_gazebo_info_publisher src/vehicle_gazebo_info_publisher.cpp) +add_dependencies(vehicle_gazebo_info_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) +target_link_libraries(vehicle_gazebo_info_publisher ${catkin_LIBRARIES}) + +install(TARGETS vehicle_gazebo_input_subscriber vehicle_gazebo_info_publisher + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/package.xml b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/package.xml new file mode 100644 index 00000000000..2e4ec45c27d --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/package.xml @@ -0,0 +1,39 @@ + + + vehicle_gazebo_simulation_interface + 0.0.0 + The vehicle_gazebo_simulation_interface package + yukihiro saito + + Apache 2 + + catkin + autoware_build_flags + geometry_msgs + roscpp + sensor_msgs + std_msgs + gazebo_msgs + autoware_msgs + tf2_ros + tf2 + geometry_msgs + roscpp + sensor_msgs + std_msgs + gazebo_msgs + autoware_msgs + tf2_ros + tf2 + geometry_msgs + roscpp + sensor_msgs + std_msgs + gazebo_msgs + autoware_msgs + tf2_ros + tf2 + + + + diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_info_publisher.cpp b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_info_publisher.cpp new file mode 100644 index 00000000000..41ff33671a4 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_info_publisher.cpp @@ -0,0 +1,166 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class VehicleGazeboInfoPublisher +{ + private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + ros::ServiceClient client_; + ros::Publisher vehicle_pose_pub_; + ros::Publisher vehicle_twist_pub_; + ros::Publisher vehicle_vel_pub_; + ros::Publisher steering_angle_pub_; + ros::Publisher vehicle_status_pub_; + ros::Timer publish_timer_; // publish timer + ros::Subscriber odom_sub_; + tf2_ros::TransformBroadcaster tf_broadcaster_; + tf2_ros::Buffer tf_buffer_; + tf2_ros::TransformListener tf_listener_; + double wheel_radius_; + double wheel_base_; + std::string ns_; + bool enable_base_link_tf_; + void publishTimerCallback(const ros::TimerEvent &e); + void jointStateCallback(const sensor_msgs::JointState::ConstPtr &input_msg); + + public: + VehicleGazeboInfoPublisher(); + ~VehicleGazeboInfoPublisher(){}; +}; + +VehicleGazeboInfoPublisher::VehicleGazeboInfoPublisher() : nh_(""), pnh_("~"), tf_listener_(tf_buffer_) +{ + client_ = nh_.serviceClient("/gazebo/get_link_state"); + vehicle_pose_pub_ = nh_.advertise("/gazebo_vehicle/pose", 1); + vehicle_twist_pub_ = nh_.advertise("/gazebo_vehicle/twist", 1); + vehicle_vel_pub_ = nh_.advertise("/gazebo_vehicle/velocity", 1); + steering_angle_pub_ = nh_.advertise("/gazebo_vehicle/steering_angle", 1); + vehicle_status_pub_ = nh_.advertise("/vehicle_status", 1); + double publish_pose_rate; + pnh_.param("publish_pose_rate", publish_pose_rate, double(10.0)); + pnh_.param("/vehicle_info/wheel_radius", wheel_radius_, 0.341); + pnh_.param("/vehicle_info/wheel_base", wheel_base_, 2.95); + pnh_.param("ns", ns_, std::string("autoware_gazebo")); + pnh_.param("enable_base_link_tf", enable_base_link_tf_, false); + + publish_timer_ = nh_.createTimer(ros::Duration(1.0 / publish_pose_rate), &VehicleGazeboInfoPublisher::publishTimerCallback, this); + odom_sub_ = nh_.subscribe("joint_states", 1, &VehicleGazeboInfoPublisher::jointStateCallback, this); +} + +void VehicleGazeboInfoPublisher::publishTimerCallback(const ros::TimerEvent &e) +{ + gazebo_msgs::GetLinkState base_link_srv; + base_link_srv.request.link_name = ns_ + "::base_link"; + base_link_srv.request.reference_frame = ""; + ros::Time current_time = ros::Time::now(); + client_.call(base_link_srv); + + geometry_msgs::PoseStamped output_pose; + output_pose.header.frame_id = "world"; + output_pose.header.stamp = current_time; + output_pose.pose = base_link_srv.response.link_state.pose; + + vehicle_pose_pub_.publish(output_pose); + + if (enable_base_link_tf_) + { + tf2::Transform tf_world2map, tf_world2base_link, tf_map2base_link; + + try + { + geometry_msgs::TransformStamped ros_world2map; + ros_world2map = tf_buffer_.lookupTransform("world", "map", ros::Time(0)); + tf2::fromMsg(ros_world2map.transform, tf_world2map); + } + catch (tf2::TransformException &ex) + { + ROS_WARN("%s", ex.what()); + return; + } + + { + geometry_msgs::Pose ros_world2base_link; + ros_world2base_link.position.x = output_pose.pose.position.x; + ros_world2base_link.position.y = output_pose.pose.position.y; + ros_world2base_link.position.z = output_pose.pose.position.z; + ros_world2base_link.orientation.x = output_pose.pose.orientation.x; + ros_world2base_link.orientation.y = output_pose.pose.orientation.y; + ros_world2base_link.orientation.z = output_pose.pose.orientation.z; + ros_world2base_link.orientation.w = output_pose.pose.orientation.w; + tf2::fromMsg(ros_world2base_link, tf_world2base_link); + } + + tf_map2base_link = tf_world2map.inverse() * tf_world2base_link; + + geometry_msgs::TransformStamped ros_map2base_link; + ros_map2base_link.header.frame_id = "map"; + ros_map2base_link.child_frame_id = "base_link"; + ros_map2base_link.header.stamp = current_time; + ros_map2base_link.transform = tf2::toMsg(tf_map2base_link); + tf_broadcaster_.sendTransform(ros_map2base_link); + } +} + +void VehicleGazeboInfoPublisher::jointStateCallback(const sensor_msgs::JointState::ConstPtr &input_msg) +{ + std_msgs::Float64 output_vel, output_steering_angle; + geometry_msgs::TwistStamped output_twiststamped; + autoware_msgs::VehicleStatus output_vehicle_status; + double steering_right_front_angle = 0; + double steering_left_front_angle = 0; + double wheel_right_rear_vel = 0; + double wheel_left_rear_vel = 0; + for (size_t i = 0; i < input_msg->name.size(); ++i) + { + if (input_msg->name.at(i) == std::string("steering_right_front_joint")) + steering_right_front_angle = input_msg->position.at(i); + if (input_msg->name.at(i) == std::string("steering_left_front_joint")) + steering_left_front_angle = input_msg->position.at(i); + if (input_msg->name.at(i) == std::string("wheel_right_rear_joint")) + wheel_right_rear_vel = input_msg->velocity.at(i); + if (input_msg->name.at(i) == std::string("wheel_left_rear_joint")) + wheel_left_rear_vel = input_msg->velocity.at(i); + } + ros::Time current_time = ros::Time::now(); + output_vel.data = wheel_radius_ * (wheel_left_rear_vel + wheel_right_rear_vel) / 2.0; + output_steering_angle.data = (steering_right_front_angle + steering_left_front_angle) / 2.0; + output_vehicle_status.header.stamp = current_time; + output_vehicle_status.header.frame_id = "base_link"; + output_vehicle_status.speed = output_vel.data * 3.6; //km/h + output_vehicle_status.angle = output_steering_angle.data * 180.0 / M_PI; //degree + + output_twiststamped.header.stamp = current_time; + output_twiststamped.header.frame_id = "base_link"; + output_twiststamped.twist.linear.x = output_vel.data; + output_twiststamped.twist.angular.z = std::tan(output_steering_angle.data) * output_vel.data / wheel_base_; + vehicle_twist_pub_.publish(output_twiststamped); + vehicle_vel_pub_.publish(output_vel); + steering_angle_pub_.publish(output_steering_angle); + vehicle_status_pub_.publish(output_vehicle_status); +} + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "vehicle_gazebo_info_publisher"); + + VehicleGazeboInfoPublisher node; + ros::spin(); + + return 0; +} diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_input_subscriber.cpp b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_input_subscriber.cpp new file mode 100644 index 00000000000..c00a76127db --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_gazebo_simulation_interface/src/vehicle_gazebo_input_subscriber.cpp @@ -0,0 +1,184 @@ +#include +#include +#include +#include +#include +#include +#include + +class VehicleGazeboInputSubscriber +{ + private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + ros::Publisher wheel_right_rear_pub_; + ros::Publisher wheel_left_rear_pub_; + ros::Publisher steering_right_front_pub_; + ros::Publisher steering_left_front_pub_; + ros::Subscriber twist_sub_; + ros::Subscriber steering_angle_sub_; + ros::Subscriber velocity_sub_; + ros::Subscriber vehicle_cmd_sub_; + + void twistCallback(const geometry_msgs::Twist::ConstPtr &input_twist_msg); + void sterringAngleCallback(const std_msgs::Float64::ConstPtr &input_steering_angle_msg); + void velocityCallback(const std_msgs::Float64::ConstPtr &input_velocity_msg); + void vehicleCmdCallback(const autoware_msgs::VehicleCmd::ConstPtr &input_msg); + void publishControlCommandStamped2Gazebo(const autoware_msgs::ControlCommand &input_msg); + void publishTwistStamped2Gazebo(const geometry_msgs::TwistStamped &input_twist_msg); + double wheel_base_; + double wheel_tread_; + double wheel_radius_; + bool twiststamped_; + bool ctrl_cmd_; + + public: + VehicleGazeboInputSubscriber(); + ~VehicleGazeboInputSubscriber(){}; +}; + +VehicleGazeboInputSubscriber::VehicleGazeboInputSubscriber() : nh_(""), pnh_("~") +{ + + pnh_.param("/vehicle_info/wheel_base", wheel_base_, 2.95); + pnh_.param("/vehicle_info/wheel_radius", wheel_radius_, 0.341); + pnh_.param("/vehicle_info/wheel_tread", wheel_tread_, 1.55); + pnh_.param("twiststamped", twiststamped_, true); + pnh_.param("ctrl_cmd", ctrl_cmd_, false); + wheel_right_rear_pub_ = nh_.advertise("wheel_right_rear_velocity_controller/command", 1, true); + wheel_left_rear_pub_ = nh_.advertise("wheel_left_rear_velocity_controller/command", 1, true); + steering_right_front_pub_ = nh_.advertise("steering_right_front_position_controller/command", 1, true); + steering_left_front_pub_ = nh_.advertise("steering_left_front_position_controller/command", 1, true); + + bool twist_sub, steering_angle_sub, velocity_sub; + pnh_.param("twist_sub", twist_sub, true); + pnh_.param("steering_angle_sub", steering_angle_sub, false); + pnh_.param("velocity_sub", velocity_sub, false); + if (twist_sub) + twist_sub_ = nh_.subscribe("/cmd_vel", 1, &VehicleGazeboInputSubscriber::twistCallback, this); + if (steering_angle_sub) + steering_angle_sub_ = nh_.subscribe("/steering_angle", 1, &VehicleGazeboInputSubscriber::sterringAngleCallback, this); + if (velocity_sub) + velocity_sub_ = nh_.subscribe("/velocity", 1, &VehicleGazeboInputSubscriber::velocityCallback, this); + vehicle_cmd_sub_ = nh_.subscribe("/vehicle_cmd", 1, &VehicleGazeboInputSubscriber::vehicleCmdCallback, this); +} + +void VehicleGazeboInputSubscriber::twistCallback(const geometry_msgs::Twist::ConstPtr &input_twist_msg) +{ + std_msgs::Float64 output_wheel_rear, output_steering_right_front, output_steering_left_front; + output_wheel_rear.data = input_twist_msg->linear.x / wheel_radius_; + + double vref_rear = input_twist_msg->linear.x; + constexpr double min_vref_rear = 0.01; + if (std::fabs(vref_rear) < min_vref_rear) // Prevent zero division when calculating ackerman steering + { + vref_rear = 0.0 < vref_rear ? min_vref_rear : -min_vref_rear; + } + + double delta_ref = std::atan(input_twist_msg->angular.z * wheel_base_ / vref_rear); + delta_ref = 0.0 < vref_rear ? delta_ref : -delta_ref; + constexpr double max_delta_ref = M_PI / 4.0; + if (max_delta_ref < std::fabs(delta_ref)) // It is a constraint that the theory does not turn more than 90 degrees + { + delta_ref = 0.0 < delta_ref ? max_delta_ref : -max_delta_ref; + } + + output_steering_right_front.data = std::atan(std::tan(delta_ref) / (1.0 + (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + output_steering_left_front.data = std::atan(std::tan(delta_ref) / (1.0 - (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + + wheel_right_rear_pub_.publish(output_wheel_rear); + wheel_left_rear_pub_.publish(output_wheel_rear); + steering_right_front_pub_.publish(output_steering_right_front); + steering_left_front_pub_.publish(output_steering_left_front); +} + +void VehicleGazeboInputSubscriber::sterringAngleCallback(const std_msgs::Float64::ConstPtr &input_steering_angle_msg) +{ + std_msgs::Float64 output_steering_right_front, output_steering_left_front; + + double delta_ref = input_steering_angle_msg->data; + constexpr double max_delta_ref = M_PI / 4.0; + if (max_delta_ref < std::fabs(delta_ref)) // It is a constraint that the theory does not turn more than 90 degrees + { + delta_ref = 0.0 < delta_ref ? max_delta_ref : -max_delta_ref; + } + output_steering_right_front.data = std::atan(std::tan(delta_ref) / (1.0 + (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + output_steering_left_front.data = std::atan(std::tan(delta_ref) / (1.0 - (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + + steering_right_front_pub_.publish(output_steering_right_front); + steering_left_front_pub_.publish(output_steering_left_front); +} + +void VehicleGazeboInputSubscriber::velocityCallback(const std_msgs::Float64::ConstPtr &input_velocity_msg) +{ + std_msgs::Float64 output_wheel_rear; + output_wheel_rear.data = input_velocity_msg->data / wheel_radius_; + wheel_right_rear_pub_.publish(output_wheel_rear); + wheel_left_rear_pub_.publish(output_wheel_rear); +} + +void VehicleGazeboInputSubscriber::vehicleCmdCallback(const autoware_msgs::VehicleCmd::ConstPtr &input_msg) +{ + if (twiststamped_) + publishTwistStamped2Gazebo(input_msg->twist_cmd); + if (ctrl_cmd_) + publishControlCommandStamped2Gazebo(input_msg->ctrl_cmd); +} + +void VehicleGazeboInputSubscriber::publishControlCommandStamped2Gazebo(const autoware_msgs::ControlCommand &input_msg) +{ + std_msgs::Float64 output_wheel_rear, output_steering_right_front, output_steering_left_front; + + double delta_ref = input_msg.steering_angle; + constexpr double max_delta_ref = M_PI / 4.0; + if (max_delta_ref < std::fabs(delta_ref)) // It is a constraint that the theory does not turn more than 90 degrees + { + delta_ref = 0.0 < delta_ref ? max_delta_ref : -max_delta_ref; + } + output_steering_right_front.data = std::atan(std::tan(delta_ref) / (1.0 + (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + output_steering_left_front.data = std::atan(std::tan(delta_ref) / (1.0 - (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + output_wheel_rear.data = input_msg.linear_velocity / wheel_radius_; + wheel_right_rear_pub_.publish(output_wheel_rear); + wheel_left_rear_pub_.publish(output_wheel_rear); + steering_right_front_pub_.publish(output_steering_right_front); + steering_left_front_pub_.publish(output_steering_left_front); +} + +void VehicleGazeboInputSubscriber::publishTwistStamped2Gazebo(const geometry_msgs::TwistStamped &input_twist_msg) +{ + std_msgs::Float64 output_wheel_rear, output_steering_right_front, output_steering_left_front; + output_wheel_rear.data = input_twist_msg.twist.linear.x / wheel_radius_; + + double vref_rear = input_twist_msg.twist.linear.x; + constexpr double min_vref_rear = 0.01; + if (std::fabs(vref_rear) < min_vref_rear) // Prevent zero division when calculating ackerman steering + { + vref_rear = 0.0 < vref_rear ? min_vref_rear : -min_vref_rear; + } + + double delta_ref = std::atan(input_twist_msg.twist.angular.z * wheel_base_ / vref_rear); + delta_ref = 0.0 < vref_rear ? delta_ref : -delta_ref; + constexpr double max_delta_ref = M_PI / 4.0; + if (max_delta_ref < std::fabs(delta_ref)) // It is a constraint that the theory does not turn more than 90 degrees + { + delta_ref = 0.0 < delta_ref ? max_delta_ref : -max_delta_ref; + } + + output_steering_right_front.data = std::atan(std::tan(delta_ref) / (1.0 + (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + output_steering_left_front.data = std::atan(std::tan(delta_ref) / (1.0 - (wheel_tread_ / (2.0 * wheel_base_)) * std::tan(delta_ref))); + + wheel_right_rear_pub_.publish(output_wheel_rear); + wheel_left_rear_pub_.publish(output_wheel_rear); + steering_right_front_pub_.publish(output_steering_right_front); + steering_left_front_pub_.publish(output_steering_left_front); +} + +int main(int argc, char *argv[]) +{ + ros::init(argc, argv, "vehicle_gazebo_input_subscriber"); + + VehicleGazeboInputSubscriber node; + ros::spin(); + + return 0; +} diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/CMakeLists.txt new file mode 100644 index 00000000000..2d24e53f8f7 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/CMakeLists.txt @@ -0,0 +1,21 @@ +cmake_minimum_required(VERSION 2.8.3) +project(vehicle_model) + +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED + autoware_build_flags +) + +catkin_package( + CATKIN_DEPENDS +) + +install(DIRECTORY mesh + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY urdf + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +install(DIRECTORY config + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/calibration.yaml b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/calibration.yaml new file mode 100644 index 00000000000..7ab9465a309 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/calibration.yaml @@ -0,0 +1,21 @@ +base_link2camera: + x: 2.0 + y: 0.0 + z: 1.35 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +base_link2velodyne: + x: 1.2 + y: 0.0 + z: 2.0 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 +base_link2imu: + x: 1.2 + y: 0.0 + z: 1.8 + roll: 0.0 + pitch: 0.0 + yaw: 0.0 diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/controller.yaml b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/controller.yaml new file mode 100644 index 00000000000..c9fdd0a4349 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/controller.yaml @@ -0,0 +1,20 @@ +joint_state_controller: + type: joint_state_controller/JointStateController + publish_rate: 50 + +steering_left_front_position_controller: + type: effort_controllers/JointPositionController + joint: steering_left_front_joint + pid: {p: 100000.0, i: 100.0, d: 10.0} +steering_right_front_position_controller: + type: effort_controllers/JointPositionController + joint: steering_right_front_joint + pid: {p: 100000.0, i: 100.0, d: 10.0} +wheel_left_rear_velocity_controller: + type: velocity_controllers/JointVelocityController + joint: wheel_left_rear_joint + pid: {p: 10.0, i: 0.01, d: 10.0} +wheel_right_rear_velocity_controller: + type: velocity_controllers/JointVelocityController + joint: wheel_right_rear_joint + pid: {p: 10.0, i: 0.01, d: 10.0} \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/vehicle_info.yaml b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/vehicle_info.yaml new file mode 100644 index 00000000000..bda2bc1c216 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/config/vehicle_info.yaml @@ -0,0 +1,10 @@ +wheel_radius: 0.341 +wheel_width: 0.225 +wheel_base: 2.950 +wheel_tread: 1.55 +vehicle_mass: 5000.0 +vehicle_length: 4.82 +vehicle_width: 1.81 +vehicle_height: 1.5 +minimum_turning_radius: 2.950 +maximum_steering_angle: 97.3 #deg \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/README.md b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/README.md new file mode 100644 index 00000000000..3eb8295fa1f --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/README.md @@ -0,0 +1 @@ +Please put dae files \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex1diffuse.jpeg b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex1diffuse.jpeg new file mode 100755 index 00000000000..6ef012e085a Binary files /dev/null and b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex1diffuse.jpeg differ diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex2diffuse.jpeg b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex2diffuse.jpeg new file mode 100755 index 00000000000..5294f7c89d1 Binary files /dev/null and b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/_51225ex2diffuse.jpeg differ diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/body.dae b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/body.dae new file mode 100644 index 00000000000..d0ce9a756ac --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/mesh/body.dae @@ -0,0 +1,8448 @@ + + + + + Blender User + Blender 2.79.0 commit date:2018-03-22, commit time:14:10, hash:f4dc9f9d68b + + 2019-01-08T15:40:46 + 2019-01-08T15:40:46 + + Z_UP + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + 49.13434 + 1.777778 + 0.1 + 100 + + + + + + 0 + 0 + 0 + + + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 + 1 + 1 + 1 + 1 + 0 + 0 + 0 + 1 + 29.99998 + 75 + 0.15 + 1 + 0 + 1 + 2 + 1.000799 + 30.002 + 1 + 3 + 0.04999995 + 2880 + 3 + 1 + 0 + 0 + 2 + 1 + 1 + 1 + 0 + 1 + 0.1 + 0.1 + 1 + 0.000999987 + 1 + 0 + 0 + 1 + 1 + 1 + 1 + 1 + 1 + 1 + 2 + 1 + 1 + 1 + 1 + 0 + + + + + + + 1 1 1 + 1 + 0 + 0.00111109 + + + + + 0 + 0 + 8192 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-3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + 1 -3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + 1 -3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + 1 -3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + 1 -3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + 1 -3.8147e-8 0 0 -1.60263e-7 1 0 0 -4.05258e-10 0 1 0 0 0 0 1 + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/package.xml b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/package.xml new file mode 100644 index 00000000000..04304304b7d --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/package.xml @@ -0,0 +1,25 @@ + + + vehicle_model + 0.0.0 + The vehicle_model package + + + yukihiro saito + + Apache 2 + + catkin + autoware_build_flags + gazebo_ros_control + position_controllers + transmission_interface + velocity_controllers + effort_controllers + gazebo_camera_description + gazebo_imu_description + velodyne_description + velodyne_gazebo_plugins + + + diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/actuator.xacro b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/actuator.xacro new file mode 100644 index 00000000000..c38a4604519 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/actuator.xacro @@ -0,0 +1,45 @@ + + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/EffortJointInterface + + + hardware_interface/EffortJointInterface + 1 + + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 1 + + + + transmission_interface/SimpleTransmission + + hardware_interface/VelocityJointInterface + + + hardware_interface/VelocityJointInterface + 1 + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/body.xacro b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/body.xacro new file mode 100644 index 00000000000..bdfe702e6d9 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/body.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.gazebo b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.gazebo new file mode 100644 index 00000000000..1af159a6fa7 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.gazebo @@ -0,0 +1,21 @@ + + + + Gazebo/Red + + + + + + + + + Gazebo/Red + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.xacro b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.xacro new file mode 100644 index 00000000000..e495b6e00a5 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/steering.xacro @@ -0,0 +1,73 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.gazebo b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.gazebo new file mode 100644 index 00000000000..d37d5062186 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.gazebo @@ -0,0 +1,20 @@ + + + + + + + + /autoware_gazebo + gazebo_ros_control/DefaultRobotHWSim + + + + + wheel_left_rear_joint, wheel_right_rear_joint, steering_left_front_joint, steering_right_front_joint, wheel_left_front_joint, wheel_right_front_joint + 10.0 + /autoware_gazebo + false + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.xacro b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.xacro new file mode 100644 index 00000000000..bb301beb243 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/vehicle.xacro @@ -0,0 +1,78 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.gazebo b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.gazebo new file mode 100644 index 00000000000..7ee8a42c9f1 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.gazebo @@ -0,0 +1,40 @@ + + + + + Gazebo/Red + + + + + + + + + Gazebo/Red + + + + + + + + + Gazebo/Red + + + + + + + + + Gazebo/Red + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.xacro b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.xacro new file mode 100644 index 00000000000..9bdc7347cd2 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/vehicle/vehicle_model/urdf/wheel.xacro @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/worlds/external/car_demo b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo new file mode 160000 index 00000000000..94cb2492f62 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/worlds/external/car_demo @@ -0,0 +1 @@ +Subproject commit 94cb2492f627919eb2c82085fcb52061354a59e3 diff --git a/ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim b/ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim new file mode 160000 index 00000000000..53b8483d098 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/worlds/external/osrf_citysim @@ -0,0 +1 @@ +Subproject commit 53b8483d098999298498854f3795a9f01c5e8828 diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt new file mode 100644 index 00000000000..2606b4b688a --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gazebo_world_description) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY worlds + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/package.xml b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/package.xml new file mode 100644 index 00000000000..403c3589678 --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/package.xml @@ -0,0 +1,15 @@ + + + gazebo_world_description + 0.0.0 + The gazebo_world_description package + + yukihiro saito + + Apache 2 + + catkin + + + + diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore new file mode 100644 index 00000000000..3d919bfc9ff --- /dev/null +++ b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/.gitignore @@ -0,0 +1 @@ +*.world \ No newline at end of file diff --git a/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/autoware.world b/ros/src/simulation/gazebo_simulator/worlds/gazebo_world_description/worlds/autoware.world new file mode 100644 index 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-25.9707 102.557 0.0117 0 -0 0 + 0 0 0 0 -0 0 + -3e-06 0 0 0 -0.000222 0 + 0 0 0 0 -0 0 + + + -25.9707 102.557 0.04265 0 -0 0 + 0 0 0 0 -0 0 + -1e-05 0 0 0 -0.00022 0 + 0 0 0 0 -0 0 + + + + 29.7214 62.4134 0 0 -0 0 + 1 1 1 + + 29.7214 62.4134 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 47.3698 39.9222 0 0 0 -1.57 + 1 1 1 + + 47.3698 39.9222 0 0 0 -1.57 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + -28.4756 -20.8424 0 0 -0 0 + 1 1 1 + + -28.4756 -20.8424 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + 0 0 0 0 -0 0 + + + + 0 0 10 0 -0 0 + + + + + 6.47997 224.99 361.297 0 0.986045 -2.03136 + orbit + perspective + + + + diff --git a/ros/src/simulation/lgsvl_simulator_bridge/.gitignore b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/.gitignore similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/.gitignore rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/.gitignore diff --git a/ros/src/simulation/lgsvl_simulator_bridge/CHANGELOG.rst b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/CHANGELOG.rst similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/CHANGELOG.rst rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/CHANGELOG.rst diff --git a/ros/src/simulation/lgsvl_simulator_bridge/CMakeLists.txt b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/CMakeLists.txt similarity index 96% rename from ros/src/simulation/lgsvl_simulator_bridge/CMakeLists.txt rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/CMakeLists.txt index c6b5a40296a..49593885fac 100644 --- a/ros/src/simulation/lgsvl_simulator_bridge/CMakeLists.txt +++ b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/CMakeLists.txt @@ -38,7 +38,7 @@ foreach (programs) ) endforeach (programs) -foreach (dir launch rviz) +foreach (dir launch rviz config media) install(DIRECTORY ${dir}/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) endforeach (dir) diff --git a/ros/src/simulation/lgsvl_simulator_bridge/README.md b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/README.md similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/README.md rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/README.md diff --git a/ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/bin/.gitignore similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/bin/.gitignore rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/bin/.gitignore diff --git a/ros/src/simulation/lgsvl_simulator_bridge/config/sample.json b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/config/sample.json similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/config/sample.json rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/config/sample.json diff --git a/ros/src/simulation/lgsvl_simulator_bridge/launch/bridge.launch b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/launch/bridge.launch similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/launch/bridge.launch rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/launch/bridge.launch diff --git a/ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/launch/lgsvl_simulator.launch diff --git a/ros/src/simulation/lgsvl_simulator_bridge/media/autoware.png b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/media/autoware.png similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/media/autoware.png rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/media/autoware.png diff --git a/ros/src/simulation/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/media/lgsvl_simulator_bridge.png diff --git a/ros/src/simulation/lgsvl_simulator_bridge/package.xml b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/package.xml similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/package.xml rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/package.xml diff --git a/ros/src/simulation/lgsvl_simulator_bridge/plugin.xml b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/plugin.xml similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/plugin.xml rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/plugin.xml diff --git a/ros/src/simulation/lgsvl_simulator_bridge/quick_setup_sim.bash b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/quick_setup_sim.bash similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/quick_setup_sim.bash rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/quick_setup_sim.bash diff --git a/ros/src/simulation/lgsvl_simulator_bridge/resource/LgsvlSimulatorConfigratorPlugin.ui b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/resource/LgsvlSimulatorConfigratorPlugin.ui similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/resource/LgsvlSimulatorConfigratorPlugin.ui rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/resource/LgsvlSimulatorConfigratorPlugin.ui diff --git a/ros/src/simulation/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/rviz/lgsvl_simulator.rviz diff --git a/ros/src/simulation/lgsvl_simulator_bridge/scripts/launch_sim.bash b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/scripts/launch_sim.bash similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/scripts/launch_sim.bash rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/scripts/launch_sim.bash diff --git a/ros/src/simulation/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/scripts/rqt_lgsvl_simulator_configurator diff --git a/ros/src/simulation/lgsvl_simulator_bridge/setup.py b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/setup.py similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/setup.py rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/setup.py diff --git a/ros/src/simulation/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/__init__.py b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/__init__.py similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/__init__.py rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/__init__.py diff --git a/ros/src/simulation/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/configurator.py b/ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/configurator.py similarity index 100% rename from ros/src/simulation/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/configurator.py rename to ros/src/simulation/lgsvl_simulator/lgsvl_simulator_bridge/src/lgsvl_simulator_bridge/configurator.py diff --git a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt index 258a93e1d6c..33fbd044544 100644 --- a/ros/src/socket/packages/mqtt_socket/CMakeLists.txt +++ b/ros/src/socket/packages/mqtt_socket/CMakeLists.txt @@ -8,42 +8,46 @@ find_package(autoware_msgs REQUIRED) find_package(tablet_socket_msgs REQUIRED) find_package(catkin REQUIRED COMPONENTS - roscpp - roslib - std_msgs - autoware_can_msgs - autoware_msgs -) + roscpp + roslib + std_msgs + autoware_can_msgs + autoware_msgs + ) catkin_package(CATKIN_DEPENDS - roscpp - roslib - std_msgs - autoware_msgs - autoware_can_msgs - tablet_socket_msgs -) + roscpp + roslib + std_msgs + autoware_msgs + autoware_can_msgs + tablet_socket_msgs + ) if (EXISTS /usr/include/mosquitto.h) - set(CMAKE_CXX_FLAGS "-O2 -Wall -fpermissive ${CMAKE_CXX_FLAGS}") - - include_directories( - include - ${catkin_INCLUDE_DIRS} - ${tablet_socket_msgs_INCLUDE_DIRS} - ${autoware_msgs_INCLUDE_DIRS} - ) - - add_executable(mqtt_sender nodes/mqtt_sender/mqtt_sender.cpp) - target_link_libraries(mqtt_sender -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) - add_dependencies(mqtt_sender - ${catkin_EXPORTED_TARGETS} - ) + set(CMAKE_CXX_FLAGS "-O2 -Wall -fpermissive ${CMAKE_CXX_FLAGS}") - add_executable(mqtt_receiver nodes/mqtt_receiver/mqtt_receiver.cpp) - target_link_libraries(mqtt_receiver -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) - add_dependencies(mqtt_receiver ${catkin_EXPORTED_TARGETS} + include_directories( + include + ${catkin_INCLUDE_DIRS} + ${tablet_socket_msgs_INCLUDE_DIRS} + ${autoware_msgs_INCLUDE_DIRS} ) + + add_executable(mqtt_sender nodes/mqtt_sender/mqtt_sender.cpp) + target_link_libraries(mqtt_sender -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) + add_dependencies(mqtt_sender + ${catkin_EXPORTED_TARGETS} + ) + + add_executable(mqtt_receiver nodes/mqtt_receiver/mqtt_receiver.cpp) + target_link_libraries(mqtt_receiver -lmosquitto -lyaml-cpp ${catkin_LIBRARIES}) #TODO: FIX THIS + add_dependencies(mqtt_receiver ${catkin_EXPORTED_TARGETS}) + + install(TARGETS mqtt_receiver mqtt_sender + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) else () - message("'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.") + message("'libmosquitto-dev' is not installed. 'mqtt_sender' and 'mqtt_receiver' will not be built.") endif () diff --git a/ros/src/socket/packages/oculus_socket/CMakeLists.txt b/ros/src/socket/packages/oculus_socket/CMakeLists.txt index a20c8cb7604..4013dfc194d 100644 --- a/ros/src/socket/packages/oculus_socket/CMakeLists.txt +++ b/ros/src/socket/packages/oculus_socket/CMakeLists.txt @@ -19,3 +19,12 @@ include_directories( add_executable(oculus_sender nodes/oculus_sender/oculus_sender.cpp) target_link_libraries(oculus_sender ${catkin_LIBRARIES}) + +install(TARGETS oculus_sender + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/socket/packages/tablet_socket/CMakeLists.txt b/ros/src/socket/packages/tablet_socket/CMakeLists.txt index 9803f021a9f..fdd7ca8ff31 100644 --- a/ros/src/socket/packages/tablet_socket/CMakeLists.txt +++ b/ros/src/socket/packages/tablet_socket/CMakeLists.txt @@ -40,3 +40,8 @@ add_dependencies(tablet_receiver ${catkin_EXPORTED_TARGETS}) add_executable(tablet_sender nodes/tablet_sender/tablet_sender.cpp) target_link_libraries(tablet_sender ${catkin_LIBRARIES}) add_dependencies(tablet_sender ${catkin_EXPORTED_TARGETS}) + +install(TARGETS tablet_receiver tablet_sender + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/socket/packages/udon_socket/CMakeLists.txt b/ros/src/socket/packages/udon_socket/CMakeLists.txt index 86114db8dd4..2ec390c8b67 100644 --- a/ros/src/socket/packages/udon_socket/CMakeLists.txt +++ b/ros/src/socket/packages/udon_socket/CMakeLists.txt @@ -33,3 +33,8 @@ target_link_libraries(udon_sender udon ${catkin_LIBRARIES}) add_dependencies(udon_sender ${catkin_EXPORTED_TARGETS} ) + +install(TARGETS udon udon_receiver udon_sender + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt index 723f04e3971..73f1528c6b0 100644 --- a/ros/src/socket/packages/vehicle_socket/CMakeLists.txt +++ b/ros/src/socket/packages/vehicle_socket/CMakeLists.txt @@ -42,3 +42,8 @@ target_link_libraries(vehicle_sender ${catkin_LIBRARIES}) add_dependencies(vehicle_sender ${catkin_EXPORTED_TARGETS} ) + +install(TARGETS vehicle_sender vehicle_receiver + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/.gitignore b/ros/src/system/autoware_health_checker/.gitignore new file mode 100644 index 00000000000..602d1f8df27 --- /dev/null +++ b/ros/src/system/autoware_health_checker/.gitignore @@ -0,0 +1,2 @@ +data/node_depends.dot +data/node_depends.pdf \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/CMakeLists.txt b/ros/src/system/autoware_health_checker/CMakeLists.txt new file mode 100644 index 00000000000..b4c0f5051de --- /dev/null +++ b/ros/src/system/autoware_health_checker/CMakeLists.txt @@ -0,0 +1,88 @@ +cmake_minimum_required(VERSION 2.8.3) +project(autoware_health_checker) + +add_compile_options(-std=c++11) + +find_package(catkin REQUIRED COMPONENTS + autoware_system_msgs + roscpp + diagnostic_msgs + jsk_rviz_plugins + rostest + rosunit + rosgraph_msgs +) + +catkin_package( + INCLUDE_DIRS include + LIBRARIES node_status_publisher + CATKIN_DEPENDS autoware_system_msgs roscpp rosgraph_msgs +# DEPENDS system_lib +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${autoware_system_msgs_INCLUDE_DIRS} +) + +set(NODE_STATUS_PUBLISHER_SRC + src/node_status_publisher.cpp + src/diag_buffer.cpp + src/rate_checker.cpp +) +add_library(node_status_publisher + ${NODE_STATUS_PUBLISHER_SRC} +) +target_link_libraries(node_status_publisher ${catkin_LIBRARIES}) +add_dependencies(node_status_publisher ${catkin_EXPORTED_TARGETS} autoware_system_msgs_generate_messages_cpp) + +add_library(system_status_subscriber + src/system_status_subscriber.cpp +) +target_link_libraries(system_status_subscriber ${catkin_LIBRARIES}) +add_dependencies(system_status_subscriber ${catkin_EXPORTED_TARGETS} autoware_system_msgs_generate_messages_cpp) + +add_executable(health_aggregator + src/health_aggregator_node.cpp + src/health_aggregator.cpp +) +target_link_libraries(health_aggregator ${catkin_LIBRARIES}) +add_dependencies(health_aggregator ${catkin_EXPORTED_TARGETS} autoware_system_msgs_generate_messages_cpp) + +add_executable(health_analyzer + src/health_analyzer_node.cpp + src/health_analyzer.cpp +) +target_link_libraries(health_analyzer ${catkin_LIBRARIES}) +add_dependencies(health_analyzer ${catkin_EXPORTED_TARGETS} autoware_system_msgs_generate_messages_cpp) + +# CPP Execution programs +set(CPP_EXEC_NAMES health_aggregator health_analyzer) +foreach(cpp_exec_names ${CPP_EXEC_NAMES}) + install(TARGETS ${cpp_exec_names} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) +endforeach(cpp_exec_names) + +# include header files +install(DIRECTORY include/${PROJECT_NAME}/ + DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +) + +# Install library +install(TARGETS node_status_publisher system_status_subscriber + ARCHIVE DESTINATION lib + LIBRARY DESTINATION lib + RUNTIME DESTINATION bin +) + +if (CATKIN_ENABLE_TESTING) + find_package(rostest REQUIRED) + add_rostest_gtest(test-autoware_health_checker + test/test_autoware_health_checker.test + test/src/test_autoware_health_checker.cpp + ${NODE_STATUS_PUBLISHER_SRC}) + target_link_libraries(test-autoware_health_checker + ${catkin_LIBRARIES}) +endif () \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/data/generate_pdf.sh b/ros/src/system/autoware_health_checker/data/generate_pdf.sh new file mode 100644 index 00000000000..56b33905d5a --- /dev/null +++ b/ros/src/system/autoware_health_checker/data/generate_pdf.sh @@ -0,0 +1 @@ +dot -T pdf node_depends.dot -o node_depends.pdf \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/constants.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/constants.h new file mode 100644 index 00000000000..de37415ee81 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/constants.h @@ -0,0 +1,44 @@ +#ifndef CONSTANTS_H_INCLUDED +#define CONSTANTS_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +namespace autoware_health_checker { +constexpr uint8_t LEVEL_UNDEFINED = + autoware_system_msgs::DiagnosticStatus::UNDEFINED; +constexpr uint8_t LEVEL_OK = autoware_system_msgs::DiagnosticStatus::OK; +constexpr uint8_t LEVEL_WARN = autoware_system_msgs::DiagnosticStatus::WARN; +constexpr uint8_t LEVEL_ERROR = autoware_system_msgs::DiagnosticStatus::ERROR; +constexpr uint8_t LEVEL_FATAL = autoware_system_msgs::DiagnosticStatus::FATAL; + +constexpr uint8_t TYPE_UNDEFINED = + autoware_system_msgs::DiagnosticStatus::UNDEFINED; +constexpr uint8_t TYPE_OUT_OF_RANGE = + autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE; +constexpr uint8_t TYPE_RATE_IS_SLOW = + autoware_system_msgs::DiagnosticStatus::RATE_IS_SLOW; + +constexpr double BUFFER_LENGTH = 5.0; +constexpr double UPDATE_RATE = 10.0; +} + +#endif // CONSTANTS_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/diag_buffer.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/diag_buffer.h new file mode 100644 index 00000000000..390ce5528b2 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/diag_buffer.h @@ -0,0 +1,62 @@ +#ifndef DIAG_BUFFER_H_INCLUDED +#define DIAG_BUFFER_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in Autoare +#include +#include + +// headers in STL +#include +#include +#include +#include + +// headers in ROS +#include + +namespace autoware_health_checker { +class DiagBuffer { +public: + DiagBuffer(std::string key, uint8_t type, std::string description, + double buffer_length); + ~DiagBuffer(); + void addDiag(autoware_system_msgs::DiagnosticStatus status); + autoware_system_msgs::DiagnosticStatusArray getAndClearData(); + const uint8_t type; + const std::string description; + +private: + std::mutex mtx_; + uint8_t getErrorLevel(); + void updateBuffer(); + std::string key_; + ros::Duration buffer_length_; + std::map buffer_; + autoware_system_msgs::DiagnosticStatusArray filterBuffer(ros::Time now, + uint8_t level); + ros::Publisher status_pub_; + bool isOlderTimestamp(const autoware_system_msgs::DiagnosticStatus &a, + const autoware_system_msgs::DiagnosticStatus &b); +}; +} + +#endif // DIAG_BUFFER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_aggregator.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_aggregator.h new file mode 100644 index 00000000000..14d420686f2 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_aggregator.h @@ -0,0 +1,81 @@ +#ifndef HEALTH_AGGREGATOR_H_INCLUDED +#define HEALTH_AGGREGATOR_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in ROS +#include +#include +#include + +// headers in Autoware +#include +#include +#include +#include + +// headers in boost +#include +#include +#include +#include +#include + +// headers in STL +#include +#include + +class HealthAggregator { +public: + HealthAggregator(ros::NodeHandle nh, ros::NodeHandle pnh); + ~HealthAggregator(); + void run(); + +private: + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + ros::Publisher system_status_pub_; + std::map text_pub_; + ros::Subscriber node_status_sub_; + ros::Subscriber diagnostic_array_sub_; + ros::Subscriber topic_statistics_sub_; + void publishSystemStatus(); + void nodeStatusCallback(const autoware_system_msgs::NodeStatus::ConstPtr msg); + void + diagnosticArrayCallback(const diagnostic_msgs::DiagnosticArray::ConstPtr msg); + void + topicStatisticsCallback(const rosgraph_msgs::TopicStatistics::ConstPtr msg); + std::string + generateText(std::vector status); + jsk_rviz_plugins::OverlayText + generateOverlayText(autoware_system_msgs::SystemStatus status, uint8_t level); + std::vector + filterNodeStatus(autoware_system_msgs::SystemStatus status, uint8_t level); + boost::optional + convert(const diagnostic_msgs::DiagnosticArray::ConstPtr msg); + autoware_system_msgs::SystemStatus system_status_; + std::mutex mtx_; + void updateConnectionStatus(); + // key topic_name,publisher_node,subscriber_node + std::map, rosgraph_msgs::TopicStatistics> + topic_status_; + void updateTopicStatus(); +}; +#endif // HEALTH_AGGREGATOR_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_analyzer.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_analyzer.h new file mode 100644 index 00000000000..cc1355d7ea9 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/health_analyzer.h @@ -0,0 +1,98 @@ +#ifndef HEALTH_ANALYZER_H_INCLUDED +#define HEALTH_ANALYZER_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in ROS +#include +#include + +// headers in STL +#include + +// headers in Autoware +#include +#include + +// headers in boost +#include +#include +#include +#include +#include +#include +#include + +struct topic_property { + std::string node_pub; + std::string node_sub; +}; + +struct node_property { + std::string node_name; +}; + +typedef boost::adjacency_list + graph_t; +typedef graph_t::vertex_descriptor vertex_t; +typedef graph_t::edge_descriptor edge_t; +typedef boost::graph_traits::adjacency_iterator adjacency_iterator_t; +typedef boost::graph_traits::out_edge_iterator out_edge_iterator_t; + +class HealthAnalyzer { +public: + HealthAnalyzer(ros::NodeHandle nh, ros::NodeHandle pnh); + ~HealthAnalyzer(); + +private: + ros::Subscriber system_status_sub_; + ros::Subscriber topic_statistics_sub_; + ros::Publisher system_status_summary_pub_; + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + void + systemStatusCallback(const autoware_system_msgs::SystemStatus::ConstPtr msg); + void generateDependGraph(autoware_system_msgs::SystemStatus status); + void addDepend(rosgraph_msgs::TopicStatistics statistics); + autoware_system_msgs::SystemStatus + filterSystemStatus(autoware_system_msgs::SystemStatus status); + std::vector + findWarningNodes(autoware_system_msgs::SystemStatus status); + std::vector + findErrorNodes(autoware_system_msgs::SystemStatus status); + std::vector findRootNodes(std::vector target_nodes); + bool nodeAlreadyExistsInGraph(std::string target_node); + vertex_t getTargetNode(std::string target_node); + int countWarn(autoware_system_msgs::SystemStatus msg); + void writeDot(); + graph_t depend_graph_; + int warn_nodes_count_threshold_; + template bool isAlreadyExist(std::vector vector, T target) { + for (auto itr = vector.begin(); itr != vector.end(); itr++) { + if (target == *itr) { + return true; + } + } + return false; + }; +}; + +#endif // HEALTH_ANALYZER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h new file mode 100644 index 00000000000..a1f4a7583b5 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/node_status_publisher.h @@ -0,0 +1,113 @@ +#ifndef NODE_STATUS_PUBLISHER_H_INCLUDED +#define NODE_STATUS_PUBLISHER_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in ROS +#include + +// headers in Autoware +#include +#include +#include +#include + +// headers in STL +#include +#include +#include +#include + +// headers in boost +#include +#include +#include +#include +#include +#include + +namespace autoware_health_checker { +class NodeStatusPublisher { +public: + NodeStatusPublisher(ros::NodeHandle nh, ros::NodeHandle pnh); + ~NodeStatusPublisher(); + void ENABLE(); + uint8_t CHECK_MIN_VALUE(std::string key, double value, double warn_value, + double error_value, double fatal_value, + std::string description); + uint8_t CHECK_MAX_VALUE(std::string key, double value, double warn_value, + double error_value, double fatal_value, + std::string description); + // std::pair first value is min value and second value is max + // value + uint8_t CHECK_RANGE(std::string key, double value, + std::pair warn_value, + std::pair error_value, + std::pair fatal_value, + std::string description); + template + uint8_t CHECK_VALUE( + std::string key, T value, std::function check_func, + std::function value_json_func, + std::string description) { + addNewBuffer(key, autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE, + description); + uint8_t check_result = check_func(value); + boost::property_tree::ptree pt = value_json_func(value); + std::stringstream ss; + write_json(ss, pt); + autoware_system_msgs::DiagnosticStatus new_status; + new_status.type = autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE; + new_status.level = check_result; + new_status.description = description; + new_status.value = ss.str(); + new_status.header.stamp = ros::Time::now(); + diag_buffers_[key]->addDiag(new_status); + return new_status.level; + } + void CHECK_RATE(std::string key, double warn_rate, double error_rate, + double fatal_rate, std::string description); + void NODE_ACTIVATE() { + std::lock_guard lock(mtx_); + node_activated_ = true; + }; + void NODE_DEACTIVATE() { + std::lock_guard lock(mtx_); + node_activated_ = false; + }; + bool getNodeStatus() { return node_activated_; }; + +private: + std::vector getKeys(); + std::vector getRateCheckerKeys(); + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + std::map> diag_buffers_; + std::map> rate_checkers_; + ros::Publisher status_pub_; + bool keyExist(std::string key); + void addNewBuffer(std::string key, uint8_t type, std::string description); + std::string doubeToJson(double value); + void publishStatus(); + bool node_activated_; + std::mutex mtx_; +}; +} +#endif // NODE_STATUS_PUBLISHER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/rate_checker.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/rate_checker.h new file mode 100644 index 00000000000..71707a91974 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/rate_checker.h @@ -0,0 +1,59 @@ +#ifndef RATE_CHECKER_H_INCLUDED +#define RATE_CHECKER_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in ROS +#include + +// headers in STL +#include +#include + +// headers in Boost +#include + +// headers in Autoware +#include + +namespace autoware_health_checker { +class RateChecker { +public: + RateChecker(double buffer_length, double warn_rate, double error_rate, + double fatal_rate, std::string description); + ~RateChecker(); + void check(); + std::pair getErrorLevelAndRate(); + uint8_t getErrorLevel(); + boost::optional getRate(); + const std::string description; + +private: + ros::Time start_time_; + void update(); + std::vector data_; + const double buffer_length_; + const double warn_rate_; + const double error_rate_; + const double fatal_rate_; + std::mutex mtx_; +}; +} +#endif // RATE_CHECKER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/include/autoware_health_checker/system_status_subscriber.h b/ros/src/system/autoware_health_checker/include/autoware_health_checker/system_status_subscriber.h new file mode 100644 index 00000000000..b00f85a4991 --- /dev/null +++ b/ros/src/system/autoware_health_checker/include/autoware_health_checker/system_status_subscriber.h @@ -0,0 +1,55 @@ +#ifndef SYSTEM_STATUS_SUBSCRIBER_H_INCLUDED +#define SYSTEM_STATUS_SUBSCRIBER_H_INCLUDED + +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +// headers in Autoware +#include +#include + +// headers in ROS +#include + +// headers in STL +#include +#include + +namespace autoware_health_checker { +class SystemStatusSubscriber { +public: + SystemStatusSubscriber(ros::NodeHandle nh, ros::NodeHandle pnh); + ~SystemStatusSubscriber(); + void enable(); + void + addCallback(std::function func); + +private: + void + systemStatusCallback(const autoware_system_msgs::SystemStatus::ConstPtr msg); + std::mutex mtx_; + ros::Subscriber status_sub_; + ros::NodeHandle nh_; + ros::NodeHandle pnh_; + std::vector> + functions_; +}; +} + +#endif // SYSTEM_STATUS_SUBSCRIBER_H_INCLUDED \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/launch/health_checker.launch b/ros/src/system/autoware_health_checker/launch/health_checker.launch new file mode 100644 index 00000000000..6c69cd9b362 --- /dev/null +++ b/ros/src/system/autoware_health_checker/launch/health_checker.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/package.xml b/ros/src/system/autoware_health_checker/package.xml new file mode 100644 index 00000000000..fefb55f7882 --- /dev/null +++ b/ros/src/system/autoware_health_checker/package.xml @@ -0,0 +1,32 @@ + + + autoware_health_checker + 0.0.0 + The autoware_health_checker package + + MasayaKataoka + + Apache 2.0 + + catkin + autoware_system_msgs + roscpp + diagnostic_msgs + rosgraph_msgs + rostest + rosunit + jsk_rviz_plugins + autoware_system_msgs + roscpp + diagnostic_msgs + jsk_rviz_plugins + rosgraph_msgs + autoware_system_msgs + diagnostic_msgs + roscpp + jsk_rviz_plugins + rosgraph_msgs + + + + diff --git a/ros/src/system/autoware_health_checker/src/diag_buffer.cpp b/ros/src/system/autoware_health_checker/src/diag_buffer.cpp new file mode 100644 index 00000000000..e93d38aa7ba --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/diag_buffer.cpp @@ -0,0 +1,116 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +namespace autoware_health_checker { +DiagBuffer::DiagBuffer(std::string key, uint8_t type, std::string description, + double buffer_length) + : type(type), description(description) { + key_ = key; + buffer_length_ = ros::Duration(buffer_length); +} + +DiagBuffer::~DiagBuffer() {} + +void DiagBuffer::addDiag(autoware_system_msgs::DiagnosticStatus status) { + std::lock_guard lock(mtx_); + buffer_[status.level].status.emplace_back(status); + updateBuffer(); + return; +} + +autoware_system_msgs::DiagnosticStatusArray DiagBuffer::getAndClearData() { + std::lock_guard lock(mtx_); + autoware_system_msgs::DiagnosticStatusArray data; + data = buffer_[autoware_health_checker::LEVEL_FATAL]; + data.status.insert( + data.status.end(), + buffer_[autoware_health_checker::LEVEL_ERROR].status.begin(), + buffer_[autoware_health_checker::LEVEL_ERROR].status.end()); + data.status.insert( + data.status.end(), + buffer_[autoware_health_checker::LEVEL_WARN].status.begin(), + buffer_[autoware_health_checker::LEVEL_WARN].status.end()); + data.status.insert(data.status.end(), + buffer_[autoware_health_checker::LEVEL_OK].status.begin(), + buffer_[autoware_health_checker::LEVEL_OK].status.end()); + data.status.insert( + data.status.end(), + buffer_[autoware_health_checker::LEVEL_UNDEFINED].status.begin(), + buffer_[autoware_health_checker::LEVEL_UNDEFINED].status.end()); + std::sort(data.status.begin(), data.status.end(), + std::bind(&DiagBuffer::isOlderTimestamp, this, + std::placeholders::_1, std::placeholders::_2)); + buffer_.clear(); + return data; +} + +uint8_t DiagBuffer::getErrorLevel() { + std::lock_guard lock(mtx_); + updateBuffer(); + if (buffer_[autoware_health_checker::LEVEL_FATAL].status.size() != 0) { + return autoware_health_checker::LEVEL_FATAL; + } else if (buffer_[autoware_health_checker::LEVEL_ERROR].status.size() != 0) { + return autoware_health_checker::LEVEL_ERROR; + } else if (buffer_[autoware_health_checker::LEVEL_WARN].status.size() != 0) { + return autoware_health_checker::LEVEL_WARN; + } else { + return autoware_health_checker::LEVEL_OK; + } +} + +// filter data from timestamp and level +autoware_system_msgs::DiagnosticStatusArray +DiagBuffer::filterBuffer(ros::Time now, uint8_t level) { + autoware_system_msgs::DiagnosticStatusArray filterd_data; + autoware_system_msgs::DiagnosticStatusArray ret; + if (buffer_.count(level) != 0) { + filterd_data = buffer_[level]; + } + for (auto data_itr = filterd_data.status.begin(); + data_itr != filterd_data.status.end(); data_itr++) { + if (data_itr->header.stamp > (now - buffer_length_)) { + ret.status.push_back(*data_itr); + } + } + return ret; +} + +void DiagBuffer::updateBuffer() { + ros::Time now = ros::Time::now(); + buffer_[autoware_health_checker::LEVEL_FATAL] = + filterBuffer(now, autoware_health_checker::LEVEL_FATAL); + buffer_[autoware_health_checker::LEVEL_ERROR] = + filterBuffer(now, autoware_health_checker::LEVEL_ERROR); + buffer_[autoware_health_checker::LEVEL_WARN] = + filterBuffer(now, autoware_health_checker::LEVEL_WARN); + buffer_[autoware_health_checker::LEVEL_OK] = + filterBuffer(now, autoware_health_checker::LEVEL_OK); + buffer_[autoware_health_checker::LEVEL_UNDEFINED] = + filterBuffer(now, autoware_health_checker::LEVEL_UNDEFINED); + return; +} + +bool DiagBuffer::isOlderTimestamp( + const autoware_system_msgs::DiagnosticStatus &a, + const autoware_system_msgs::DiagnosticStatus &b) { + return a.header.stamp < b.header.stamp; +} +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/health_aggregator.cpp b/ros/src/system/autoware_health_checker/src/health_aggregator.cpp new file mode 100644 index 00000000000..682fc0098a3 --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/health_aggregator.cpp @@ -0,0 +1,235 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +HealthAggregator::HealthAggregator(ros::NodeHandle nh, ros::NodeHandle pnh) { + nh_ = nh; + pnh_ = pnh; +} + +HealthAggregator::~HealthAggregator() {} + +void HealthAggregator::run() { + system_status_pub_ = + nh_.advertise("/system_status", 10); + text_pub_[autoware_health_checker::LEVEL_OK] = + pnh_.advertise("ok_text", 1); + text_pub_[autoware_health_checker::LEVEL_WARN] = + pnh_.advertise("warn_text", 1); + text_pub_[autoware_health_checker::LEVEL_ERROR] = + pnh_.advertise("error_text", 1); + text_pub_[autoware_health_checker::LEVEL_FATAL] = + pnh_.advertise("fatal_text", 1); + node_status_sub_ = nh_.subscribe("/node_status", 10, + &HealthAggregator::nodeStatusCallback, this); + diagnostic_array_sub_ = nh_.subscribe( + "/diagnostic_agg", 10, &HealthAggregator::diagnosticArrayCallback, this); + topic_statistics_sub_ = nh_.subscribe( + "/statistics", 1, &HealthAggregator::topicStatisticsCallback, this); + boost::thread publish_thread( + boost::bind(&HealthAggregator::publishSystemStatus, this)); + return; +} + +void HealthAggregator::topicStatisticsCallback( + const rosgraph_msgs::TopicStatistics::ConstPtr msg) { + std::array key = {msg->topic, msg->node_pub, msg->node_sub}; + topic_status_[key] = *msg; + return; +} + +void HealthAggregator::updateTopicStatus() { + ros::Time now = ros::Time::now(); + for (std::pair, rosgraph_msgs::TopicStatistics> + pair : topic_status_) { + if ((now - ros::Duration(autoware_health_checker::BUFFER_LENGTH)) < + pair.second.window_stop) { + system_status_.topic_statistics.push_back(pair.second); + } + } + return; +} + +void HealthAggregator::publishSystemStatus() { + ros::Rate rate = ros::Rate(autoware_health_checker::UPDATE_RATE); + while (ros::ok()) { + mtx_.lock(); + system_status_.header.stamp = ros::Time::now(); + updateConnectionStatus(); + updateTopicStatus(); + system_status_pub_.publish(system_status_); + text_pub_[autoware_health_checker::LEVEL_OK].publish( + generateOverlayText(system_status_, autoware_health_checker::LEVEL_OK)); + text_pub_[autoware_health_checker::LEVEL_WARN].publish(generateOverlayText( + system_status_, autoware_health_checker::LEVEL_WARN)); + text_pub_[autoware_health_checker::LEVEL_ERROR].publish(generateOverlayText( + system_status_, autoware_health_checker::LEVEL_ERROR)); + text_pub_[autoware_health_checker::LEVEL_FATAL].publish(generateOverlayText( + system_status_, autoware_health_checker::LEVEL_FATAL)); + system_status_.topic_statistics.clear(); + system_status_.node_status.clear(); + system_status_.hardware_status.clear(); + mtx_.unlock(); + rate.sleep(); + } + return; +} + +void HealthAggregator::updateConnectionStatus() { + std::vector detected_nodes; + ros::master::getNodes(detected_nodes); + system_status_.available_nodes = detected_nodes; + return; +} + +void HealthAggregator::nodeStatusCallback( + const autoware_system_msgs::NodeStatus::ConstPtr msg) { + mtx_.lock(); + system_status_.node_status.push_back(*msg); + mtx_.unlock(); + return; +} + +void HealthAggregator::diagnosticArrayCallback( + const diagnostic_msgs::DiagnosticArray::ConstPtr msg) { + mtx_.lock(); + boost::optional status = convert(msg); + if (status) { + system_status_.hardware_status.push_back(*status); + } + mtx_.unlock(); + return; +} + +std::string HealthAggregator::generateText( + std::vector status) { + std::string text; + for (auto itr = status.begin(); itr != status.end(); itr++) { + text = text + itr->description + "\n"; + // text = itr->key + " : " + itr->description + "\n"; + } + return text; +} + +jsk_rviz_plugins::OverlayText +HealthAggregator::generateOverlayText(autoware_system_msgs::SystemStatus status, + uint8_t level) { + jsk_rviz_plugins::OverlayText text; + text.action = text.ADD; + text.width = 640; + text.height = 640; + text.top = 0; + text.bg_color.r = 0; + text.bg_color.g = 0; + text.bg_color.b = 0; + text.bg_color.a = 0.7; + text.text_size = 20.0; + if (level == autoware_health_checker::LEVEL_OK) { + text.left = 0; + text.fg_color.r = 0.0; + text.fg_color.g = 0.0; + text.fg_color.b = 1.0; + text.fg_color.a = 1.0; + text.text = generateText(filterNodeStatus(status, level)); + } else if (level == autoware_health_checker::LEVEL_WARN) { + text.left = 640 * 1; + text.fg_color.r = 1.0; + text.fg_color.g = 1.0; + text.fg_color.b = 0.0; + text.fg_color.a = 1.0; + text.text = generateText(filterNodeStatus(status, level)); + } else if (level == autoware_health_checker::LEVEL_ERROR) { + text.left = 640 * 2; + text.fg_color.r = 1.0; + text.fg_color.g = 0.0; + text.fg_color.b = 0.0; + text.fg_color.a = 1.0; + text.text = generateText(filterNodeStatus(status, level)); + } else if (level == autoware_health_checker::LEVEL_FATAL) { + text.left = 640 * 3; + text.fg_color.r = 1.0; + text.fg_color.g = 1.0; + text.fg_color.b = 1.0; + text.fg_color.a = 1.0; + text.text = generateText(filterNodeStatus(status, level)); + } + return text; +} + +std::vector +HealthAggregator::filterNodeStatus(autoware_system_msgs::SystemStatus status, + uint8_t level) { + std::vector ret; + for (auto node_status_itr = status.node_status.begin(); + node_status_itr != status.node_status.end(); node_status_itr++) { + if (node_status_itr->node_activated) { + for (auto array_itr = node_status_itr->status.begin(); + array_itr != node_status_itr->status.end(); array_itr++) { + for (auto itr = array_itr->status.begin(); + itr != array_itr->status.end(); itr++) { + if (itr->level == level) { + ret.push_back(*itr); + } + } + } + } + } + return ret; +} + +boost::optional HealthAggregator::convert( + const diagnostic_msgs::DiagnosticArray::ConstPtr msg) { + autoware_system_msgs::HardwareStatus status; + if (msg->status.size() == 0) { + return boost::none; + } + status.header = msg->header; + for (auto diag_itr = msg->status.begin(); diag_itr != msg->status.end(); + diag_itr++) { + status.hardware_name = diag_itr->hardware_id; + autoware_system_msgs::DiagnosticStatus diag; + autoware_system_msgs::DiagnosticStatusArray diag_array; + diag.header = msg->header; + diag.key = diag_itr->hardware_id; + diag.description = diag_itr->message; + diag.type = autoware_system_msgs::DiagnosticStatus::HARDWARE; + if (diag_itr->level == diagnostic_msgs::DiagnosticStatus::OK) { + diag.level = autoware_health_checker::LEVEL_OK; + } else if (diag_itr->level == diagnostic_msgs::DiagnosticStatus::WARN) { + diag.level = autoware_health_checker::LEVEL_WARN; + } else if (diag_itr->level == diagnostic_msgs::DiagnosticStatus::ERROR) { + diag.level = autoware_health_checker::LEVEL_ERROR; + } else if (diag_itr->level == diagnostic_msgs::DiagnosticStatus::STALE) { + diag.level = autoware_health_checker::LEVEL_FATAL; + } + using namespace boost::property_tree; + std::stringstream ss; + ptree pt; + for (auto value_itr = diag_itr->values.begin(); + value_itr != diag_itr->values.end(); value_itr++) { + pt.put(value_itr->key + ".string", value_itr->value); + } + write_json(ss, pt); + diag.value = ss.str(); + diag_array.status.push_back(diag); + status.status.push_back(diag_array); + } + return status; +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/health_aggregator_node.cpp b/ros/src/system/autoware_health_checker/src/health_aggregator_node.cpp new file mode 100644 index 00000000000..802dcaeab9f --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/health_aggregator_node.cpp @@ -0,0 +1,32 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +#include + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "health_aggregator"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + HealthAggregator agg(nh, pnh); + agg.run(); + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/health_analyzer.cpp b/ros/src/system/autoware_health_checker/src/health_analyzer.cpp new file mode 100644 index 00000000000..c4ed5e4546f --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/health_analyzer.cpp @@ -0,0 +1,250 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +HealthAnalyzer::HealthAnalyzer(ros::NodeHandle nh, ros::NodeHandle pnh) { + nh_ = nh; + pnh_ = pnh; + pnh_.param("warn_nodes_count_threshold", warn_nodes_count_threshold_, 30); + system_status_summary_pub_ = + nh_.advertise( + "/system_status/summary", 1); + system_status_sub_ = nh_.subscribe( + "/system_status", 1, &HealthAnalyzer::systemStatusCallback, this); +} + +HealthAnalyzer::~HealthAnalyzer() { writeDot(); } + +int HealthAnalyzer::countWarn(autoware_system_msgs::SystemStatus msg) { + int count = 0; + for (auto node_status_itr = msg.node_status.begin(); + node_status_itr != msg.node_status.end(); node_status_itr++) { + for (auto status_itr = node_status_itr->status.begin(); + status_itr != node_status_itr->status.end(); status_itr++) { + for (auto itr = status_itr->status.begin(); + itr != status_itr->status.end(); itr++) { + if (itr->level == autoware_health_checker::LEVEL_WARN) { + count++; + } + } + } + } + for (auto hardware_status_itr = msg.hardware_status.begin(); + hardware_status_itr != msg.hardware_status.end(); + hardware_status_itr++) { + for (auto status_itr = hardware_status_itr->status.begin(); + status_itr != hardware_status_itr->status.end(); status_itr++) { + for (auto itr = status_itr->status.begin(); + itr != status_itr->status.end(); itr++) { + if (itr->level == autoware_health_checker::LEVEL_WARN) { + count++; + } + } + } + } + return count; +} + +std::vector +HealthAnalyzer::findWarningNodes(autoware_system_msgs::SystemStatus status) { + std::vector ret; + for (auto node_status_itr = status.node_status.begin(); + node_status_itr != status.node_status.end(); node_status_itr++) { + for (auto status_itr = node_status_itr->status.begin(); + status_itr != node_status_itr->status.end(); status_itr++) { + for (auto itr = status_itr->status.begin(); + itr != status_itr->status.end(); itr++) { + if ((itr->level == autoware_health_checker::LEVEL_WARN) && + (isAlreadyExist(ret, node_status_itr->node_name) == false)) { + ret.push_back(node_status_itr->node_name); + } else if ((itr->level == autoware_health_checker::LEVEL_ERROR) && + (isAlreadyExist(ret, node_status_itr->node_name) == false)) { + ret.push_back(node_status_itr->node_name); + } else if ((itr->level == autoware_health_checker::LEVEL_FATAL) && + (isAlreadyExist(ret, node_status_itr->node_name) == false)) { + ret.push_back(node_status_itr->node_name); + } + } + } + } + return ret; +} + +std::vector +HealthAnalyzer::findErrorNodes(autoware_system_msgs::SystemStatus status) { + std::vector ret; + for (auto node_status_itr = status.node_status.begin(); + node_status_itr != status.node_status.end(); node_status_itr++) { + for (auto status_itr = node_status_itr->status.begin(); + status_itr != node_status_itr->status.end(); status_itr++) { + for (auto itr = status_itr->status.begin(); + itr != status_itr->status.end(); itr++) { + if ((itr->level == autoware_health_checker::LEVEL_ERROR) && + (isAlreadyExist(ret, node_status_itr->node_name) == false)) { + if (isAlreadyExist(status.available_nodes, + node_status_itr->node_name)) { + ret.push_back(node_status_itr->node_name); + } + } else if ((itr->level == autoware_health_checker::LEVEL_FATAL) && + (isAlreadyExist(ret, node_status_itr->node_name) == false)) { + if (isAlreadyExist(status.available_nodes, + node_status_itr->node_name)) { + ret.push_back(node_status_itr->node_name); + } + } + } + } + } + return ret; +} + +std::vector +HealthAnalyzer::findRootNodes(std::vector target_nodes) { + std::vector ret; + for (auto itr = target_nodes.begin(); itr != target_nodes.end(); itr++) { + std::vector pub_nodes; + adjacency_iterator_t vi; + adjacency_iterator_t vi_end; + vertex_t target_node = getTargetNode(*itr); + bool depend_found = false; + for (boost::tie(vi, vi_end) = adjacent_vertices(target_node, depend_graph_); + vi != vi_end; ++vi) { + if (isAlreadyExist(target_nodes, depend_graph_[*vi].node_name)) { + depend_found = true; + } + } + if (!depend_found) { + ret.push_back(*itr); + // ROS_ERROR_STREAM("Autoware Health Analyzer detects something wrong in " + // << *itr << " node."); + } + } + return ret; +} + +autoware_system_msgs::SystemStatus +HealthAnalyzer::filterSystemStatus(autoware_system_msgs::SystemStatus status) { + int warn_count = countWarn(status); + autoware_system_msgs::SystemStatus filtered_status; + std::vector target_nodes; + if (warn_count >= warn_nodes_count_threshold_) { + filtered_status.detect_too_match_warning = true; + target_nodes = findWarningNodes(status); + } else { + filtered_status.detect_too_match_warning = false; + target_nodes = findErrorNodes(status); + } + std::vector root_nodes = findRootNodes(target_nodes); + for (auto node_status_itr = status.node_status.begin(); + node_status_itr != status.node_status.end(); node_status_itr++) { + if (isAlreadyExist(root_nodes, node_status_itr->node_name)) { + filtered_status.node_status.push_back(*node_status_itr); + } + } + filtered_status.header = status.header; + filtered_status.available_nodes = status.available_nodes; + filtered_status.hardware_status = status.hardware_status; + filtered_status.topic_statistics = status.topic_statistics; + return filtered_status; +} + +void HealthAnalyzer::systemStatusCallback( + const autoware_system_msgs::SystemStatus::ConstPtr msg) { + generateDependGraph(*msg); + system_status_summary_pub_.publish(filterSystemStatus(*msg)); + return; +} + +void HealthAnalyzer::generateDependGraph( + autoware_system_msgs::SystemStatus status) { + depend_graph_ = graph_t(); + for (auto itr = status.topic_statistics.begin(); + itr != status.topic_statistics.end(); itr++) { + addDepend(*itr); + } + return; +} + +void HealthAnalyzer::writeDot() { + std::string path = ros::package::getPath("autoware_health_checker") + + "/data/node_depends.dot"; + std::ofstream f(path.c_str()); + boost::write_graphviz( + f, depend_graph_, + boost::make_label_writer(get(&node_property::node_name, depend_graph_))); + return; +} + +bool HealthAnalyzer::nodeAlreadyExistsInGraph(std::string target_node) { + auto vertex_range = boost::vertices(depend_graph_); + for (auto first = vertex_range.first, last = vertex_range.second; + first != last; ++first) { + vertex_t v = *first; + if (depend_graph_[v].node_name == target_node) { + return true; + } + } + return false; +} + +vertex_t HealthAnalyzer::getTargetNode(std::string target_node) { + vertex_t ret; + auto vertex_range = boost::vertices(depend_graph_); + for (auto first = vertex_range.first, last = vertex_range.second; + first != last; ++first) { + vertex_t v = *first; + if (depend_graph_[v].node_name == target_node) { + ret = v; + return ret; + } + } + return ret; +} + +void HealthAnalyzer::addDepend(rosgraph_msgs::TopicStatistics statistics) { + if (statistics.node_pub == statistics.node_sub) { + return; + } + vertex_t node_sub; + vertex_t node_pub; + edge_t topic; + if (!nodeAlreadyExistsInGraph(statistics.node_pub)) { + vertex_t v = boost::add_vertex(depend_graph_); + depend_graph_[v].node_name = statistics.node_pub; + node_pub = v; + } else { + vertex_t v = getTargetNode(statistics.node_pub); + node_pub = v; + } + if (!nodeAlreadyExistsInGraph(statistics.node_sub)) { + vertex_t v = boost::add_vertex(depend_graph_); + depend_graph_[v].node_name = statistics.node_sub; + node_sub = v; + } else { + vertex_t v = getTargetNode(statistics.node_sub); + node_sub = v; + } + bool inserted = false; + boost::tie(topic, inserted) = + boost::add_edge(node_sub, node_pub, depend_graph_); + depend_graph_[topic].node_sub = statistics.node_sub; + depend_graph_[topic].node_pub = statistics.node_pub; + return; +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/health_analyzer_node.cpp b/ros/src/system/autoware_health_checker/src/health_analyzer_node.cpp new file mode 100644 index 00000000000..3c66c7e8a74 --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/health_analyzer_node.cpp @@ -0,0 +1,31 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +#include + +int main(int argc, char *argv[]) { + ros::init(argc, argv, "health_analyzer"); + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + HealthAnalyzer analyzer(nh, pnh); + ros::spin(); + return 0; +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp b/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp new file mode 100644 index 00000000000..a088ee6bd6b --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/node_status_publisher.cpp @@ -0,0 +1,222 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +namespace autoware_health_checker { +NodeStatusPublisher::NodeStatusPublisher(ros::NodeHandle nh, + ros::NodeHandle pnh) { + node_activated_ = false; + nh_ = nh; + pnh_ = pnh; + status_pub_ = + nh_.advertise("node_status", 10); +} + +NodeStatusPublisher::~NodeStatusPublisher() {} + +void NodeStatusPublisher::publishStatus() { + ros::Rate rate = ros::Rate(autoware_health_checker::UPDATE_RATE); + while (ros::ok()) { + mtx_.lock(); + autoware_system_msgs::NodeStatus status; + status.node_activated = node_activated_; + ros::Time now = ros::Time::now(); + status.header.stamp = now; + status.node_name = ros::this_node::getName(); + std::vector checker_keys = getRateCheckerKeys(); + // iterate Rate checker and publish rate_check result + for (auto key_itr = checker_keys.begin(); key_itr != checker_keys.end(); + key_itr++) { + autoware_system_msgs::DiagnosticStatusArray diag_array; + autoware_system_msgs::DiagnosticStatus diag; + diag.type = autoware_system_msgs::DiagnosticStatus::RATE_IS_SLOW; + std::pair result = + rate_checkers_[*key_itr]->getErrorLevelAndRate(); + diag.level = result.first; + diag.key = *key_itr; + diag.value = doubeToJson(result.second); + diag.description = rate_checkers_[*key_itr]->description; + diag.header.stamp = now; + diag_array.status.push_back(diag); + status.status.push_back(diag_array); + } + // iterate Diagnostic Buffer and publish all diagnostic data + std::vector keys = getKeys(); + for (auto key_itr = keys.begin(); key_itr != keys.end(); key_itr++) { + status.status.push_back(diag_buffers_[*key_itr]->getAndClearData()); + } + status_pub_.publish(status); + mtx_.unlock(); + rate.sleep(); + } + return; +} + +void NodeStatusPublisher::ENABLE() { + boost::thread publish_thread( + boost::bind(&NodeStatusPublisher::publishStatus, this)); + return; +} + +std::vector NodeStatusPublisher::getKeys() { + std::vector keys; + std::vector checker_keys = getRateCheckerKeys(); + std::pair> buf_itr; + BOOST_FOREACH (buf_itr, diag_buffers_) { + bool matched = false; + for (auto checker_key_itr = checker_keys.begin(); + checker_key_itr != checker_keys.end(); checker_key_itr++) { + if (*checker_key_itr == buf_itr.first) { + matched = true; + } + } + if (!matched) { + keys.push_back(buf_itr.first); + } + } + return keys; +} + +std::vector NodeStatusPublisher::getRateCheckerKeys() { + std::vector keys; + std::pair> checker_itr; + BOOST_FOREACH (checker_itr, rate_checkers_) { + keys.push_back(checker_itr.first); + } + return keys; +} + +bool NodeStatusPublisher::keyExist(std::string key) { + if (diag_buffers_.count(key) == 0) { + return false; + } + return true; +} + +// add New Diagnostic Buffer if the key does not exist +void NodeStatusPublisher::addNewBuffer(std::string key, uint8_t type, + std::string description) { + if (!keyExist(key)) { + std::shared_ptr buf_ptr = std::make_shared( + key, type, description, autoware_health_checker::BUFFER_LENGTH); + diag_buffers_[key] = buf_ptr; + } + return; +} + +uint8_t NodeStatusPublisher::CHECK_MIN_VALUE(std::string key, double value, + double warn_value, + double error_value, + double fatal_value, + std::string description) { + addNewBuffer(key, autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE, + description); + autoware_system_msgs::DiagnosticStatus new_status; + new_status.type = autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE; + if (value < fatal_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::FATAL; + } else if (value < error_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::ERROR; + } else if (value < warn_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::WARN; + } else { + new_status.level = autoware_system_msgs::DiagnosticStatus::OK; + } + new_status.description = description; + new_status.value = doubeToJson(value); + new_status.header.stamp = ros::Time::now(); + diag_buffers_[key]->addDiag(new_status); + return new_status.level; +} + +uint8_t NodeStatusPublisher::CHECK_MAX_VALUE(std::string key, double value, + double warn_value, + double error_value, + double fatal_value, + std::string description) { + addNewBuffer(key, autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE, + description); + autoware_system_msgs::DiagnosticStatus new_status; + new_status.type = autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE; + if (value > fatal_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::FATAL; + } else if (value > error_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::ERROR; + } else if (value > warn_value) { + new_status.level = autoware_system_msgs::DiagnosticStatus::WARN; + } else { + new_status.level = autoware_system_msgs::DiagnosticStatus::OK; + } + new_status.description = description; + new_status.value = doubeToJson(value); + new_status.header.stamp = ros::Time::now(); + diag_buffers_[key]->addDiag(new_status); + return new_status.level; +} + +uint8_t NodeStatusPublisher::CHECK_RANGE(std::string key, double value, + std::pair warn_value, + std::pair error_value, + std::pair fatal_value, + std::string description) { + addNewBuffer(key, autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE, + description); + autoware_system_msgs::DiagnosticStatus new_status; + new_status.type = autoware_system_msgs::DiagnosticStatus::OUT_OF_RANGE; + if (value < fatal_value.first || value > fatal_value.second) { + new_status.level = autoware_system_msgs::DiagnosticStatus::FATAL; + } else if (value < error_value.first || value > error_value.second) { + new_status.level = autoware_system_msgs::DiagnosticStatus::ERROR; + } else if (value < warn_value.first || value > warn_value.second) { + new_status.level = autoware_system_msgs::DiagnosticStatus::WARN; + } else { + new_status.level = autoware_system_msgs::DiagnosticStatus::OK; + } + new_status.value = doubeToJson(value); + new_status.description = description; + new_status.header.stamp = ros::Time::now(); + diag_buffers_[key]->addDiag(new_status); + return new_status.level; +} + +void NodeStatusPublisher::CHECK_RATE(std::string key, double warn_rate, + double error_rate, double fatal_rate, + std::string description) { + if (!keyExist(key)) { + std::shared_ptr checker_ptr = std::make_shared( + autoware_health_checker::BUFFER_LENGTH, warn_rate, error_rate, + fatal_rate, description); + rate_checkers_[key] = checker_ptr; + } + addNewBuffer(key, autoware_system_msgs::DiagnosticStatus::RATE_IS_SLOW, + description); + rate_checkers_[key]->check(); + return; +} + +std::string NodeStatusPublisher::doubeToJson(double value) { + using namespace boost::property_tree; + std::stringstream ss; + ptree pt; + pt.put("value.double", value); + write_json(ss, pt); + return ss.str(); +} +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/rate_checker.cpp b/ros/src/system/autoware_health_checker/src/rate_checker.cpp new file mode 100644 index 00000000000..9a7e22e8d1e --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/rate_checker.cpp @@ -0,0 +1,99 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +namespace autoware_health_checker { +RateChecker::RateChecker(double buffer_length, double warn_rate, + double error_rate, double fatal_rate, + std::string description) + : buffer_length_(buffer_length), warn_rate_(warn_rate), + error_rate_(error_rate), fatal_rate_(fatal_rate), + description(description) { + start_time_ = ros::Time::now(); +} + +RateChecker::~RateChecker() {} + +std::pair RateChecker::getErrorLevelAndRate() { + std::pair ret; + boost::optional rate = getRate(); + if (!rate) { + ret = std::make_pair(autoware_health_checker::LEVEL_ERROR, 0); + } else if (rate.get() < fatal_rate_) { + ret = std::make_pair(autoware_health_checker::LEVEL_FATAL, rate.get()); + } else if (rate.get() < error_rate_) { + ret = std::make_pair(autoware_health_checker::LEVEL_ERROR, rate.get()); + } else if (rate.get() < warn_rate_) { + ret = std::make_pair(autoware_health_checker::LEVEL_WARN, rate.get()); + } else { + ret = std::make_pair(autoware_health_checker::LEVEL_OK, rate.get()); + } + return ret; +} + +uint8_t RateChecker::getErrorLevel() { + boost::optional rate = getRate(); + if (!rate) { + return autoware_health_checker::LEVEL_ERROR; + } + if (rate.get() < fatal_rate_) { + return autoware_health_checker::LEVEL_FATAL; + } + if (rate.get() < error_rate_) { + return autoware_health_checker::LEVEL_ERROR; + } + if (rate.get() < warn_rate_) { + return autoware_health_checker::LEVEL_WARN; + } + return autoware_health_checker::LEVEL_OK; +} + +void RateChecker::check() { + update(); + mtx_.lock(); + data_.push_back(ros::Time::now()); + mtx_.unlock(); +} + +void RateChecker::update() { + mtx_.lock(); + std::vector buffer; + for (auto data_itr = data_.begin(); data_itr != data_.end(); data_itr++) { + if (*data_itr > ros::Time::now() - ros::Duration(buffer_length_)) { + buffer.push_back(*data_itr); + } + } + data_ = buffer; + mtx_.unlock(); + return; +} + +boost::optional RateChecker::getRate() { + boost::optional rate; + if (ros::Time::now() - start_time_ < ros::Duration(buffer_length_)) { + return boost::none; + } + update(); + mtx_.lock(); + rate = data_.size() / buffer_length_; + mtx_.unlock(); + return rate; +} +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/src/system_status_subscriber.cpp b/ros/src/system/autoware_health_checker/src/system_status_subscriber.cpp new file mode 100644 index 00000000000..8139c9f2c8a --- /dev/null +++ b/ros/src/system/autoware_health_checker/src/system_status_subscriber.cpp @@ -0,0 +1,60 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ + +#include + +namespace autoware_health_checker { +SystemStatusSubscriber::SystemStatusSubscriber(ros::NodeHandle nh, + ros::NodeHandle pnh) { + nh_ = nh; + pnh_ = pnh; +} + +SystemStatusSubscriber::~SystemStatusSubscriber() {} + +void SystemStatusSubscriber::enable() { + ros::AsyncSpinner spinner(1); + spinner.start(); + ros::Rate rate(1); + status_sub_ = nh_.subscribe( + "system_status", 10, &SystemStatusSubscriber::systemStatusCallback, this); + while (ros::ok()) { + rate.sleep(); + } + spinner.stop(); + return; +} + +void SystemStatusSubscriber::systemStatusCallback( + const autoware_system_msgs::SystemStatus::ConstPtr msg) { + for (auto function_itr = functions_.begin(); function_itr != functions_.end(); + function_itr++) { + std::function func = + *function_itr; + func(*msg); + } + return; +} + +void SystemStatusSubscriber::addCallback( + std::function func) { + functions_.push_back(func); + return; +} +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/test/src/test_autoware_health_checker.cpp b/ros/src/system/autoware_health_checker/test/src/test_autoware_health_checker.cpp new file mode 100644 index 00000000000..be73533a9df --- /dev/null +++ b/ros/src/system/autoware_health_checker/test/src/test_autoware_health_checker.cpp @@ -0,0 +1,180 @@ +/* + * Copyright 2019 Autoware Foundation. All rights reserved. + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + * + * v1.0 Masaya Kataoka + */ +#include +#include +#include + +class AutowareHealthCheckerTestSuite : public ::testing::Test { +public: + AutowareHealthCheckerTestSuite() {} + + ~AutowareHealthCheckerTestSuite() {} +}; + +class AutowareHealthCheckerTestClass { +public: + AutowareHealthCheckerTestClass() { + ros::NodeHandle nh; + ros::NodeHandle pnh("~"); + node_status_publisher_ptr = + std::make_shared(nh, pnh); + }; + std::shared_ptr + node_status_publisher_ptr; +}; + +TEST(TestSuite, CHECK_MIN_VALUE) { + AutowareHealthCheckerTestClass test_autoware_health_checker; + uint8_t ret_fatal = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MIN_VALUE( + "test", 1, 6, 4, 2, "test"); + ASSERT_EQ(ret_fatal, autoware_health_checker::LEVEL_FATAL) + << "The value was self-diagnosed as fatal"; + uint8_t ret_error = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MIN_VALUE( + "test", 3, 6, 4, 2, "test"); + ASSERT_EQ(ret_error, autoware_health_checker::LEVEL_ERROR) + << "The value was self-diagnosed as error"; + uint8_t ret_warn = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MIN_VALUE( + "test", 5, 6, 4, 2, "test"); + ASSERT_EQ(ret_warn, autoware_health_checker::LEVEL_WARN) + << "The value was self-diagnosed as warn"; + uint8_t ret_ok = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MIN_VALUE( + "test", 7, 6, 4, 2, "test"); + ASSERT_EQ(ret_ok, autoware_health_checker::LEVEL_OK) + << "The value was self-diagnosed as ok"; +} + +TEST(TestSuite, CHECK_MAX_VALUE) { + AutowareHealthCheckerTestClass test_autoware_health_checker; + uint8_t ret_fatal = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MAX_VALUE( + "test", 7, 2, 4, 6, "test"); + ASSERT_EQ(ret_fatal, autoware_health_checker::LEVEL_FATAL) + << "The value was self-diagnosed as fatal"; + uint8_t ret_error = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MAX_VALUE( + "test", 5, 2, 4, 6, "test"); + ASSERT_EQ(ret_error, autoware_health_checker::LEVEL_ERROR) + << "The value was self-diagnosed as error"; + uint8_t ret_warn = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MAX_VALUE( + "test", 3, 2, 4, 6, "test"); + ASSERT_EQ(ret_warn, autoware_health_checker::LEVEL_WARN) + << "The value was self-diagnosed as warn"; + uint8_t ret_ok = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_MAX_VALUE( + "test", 1, 2, 4, 6, "test"); + ASSERT_EQ(ret_ok, autoware_health_checker::LEVEL_OK) + << "The value was self-diagnosed as ok"; +} + +TEST(TestSuite, CHECK_RANGE) { + AutowareHealthCheckerTestClass test_autoware_health_checker; + uint8_t ret_fatal = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_RANGE( + "test", 7.0, {2.0, 4.0}, {1.0, 5.0}, {0.0, 6.0}, "test"); + ASSERT_EQ(ret_fatal, autoware_health_checker::LEVEL_FATAL) + << "The value was self-diagnosed as fatal"; + uint8_t ret_error = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_RANGE( + "test", 5.5, {2.0, 4.0}, {1.0, 5.0}, {0.0, 6.0}, "test"); + ASSERT_EQ(ret_error, autoware_health_checker::LEVEL_ERROR) + << "The value was self-diagnosed as error"; + uint8_t ret_warn = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_RANGE( + "test", 4.5, {2.0, 4.0}, {1.0, 5.0}, {0.0, 6.0}, "test"); + ASSERT_EQ(ret_warn, autoware_health_checker::LEVEL_WARN) + << "The value was self-diagnosed as warn"; + uint8_t ret_ok = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_RANGE( + "test", 3.0, {2.0, 4.0}, {1.0, 5.0}, {0.0, 6.0}, "test"); + ASSERT_EQ(ret_ok, autoware_health_checker::LEVEL_OK) + << "The value was self-diagnosed as ok"; +} + +uint8_t test_function(double value) { + if (value == 0.0) { + return autoware_health_checker::LEVEL_FATAL; + } + if (value == 1.0) { + return autoware_health_checker::LEVEL_ERROR; + } + if (value == 2.0) { + return autoware_health_checker::LEVEL_WARN; + } + return autoware_health_checker::LEVEL_OK; +}; + +boost::property_tree::ptree test_value_json_func(double value) { + boost::property_tree::ptree tree; + tree.put("value", value); + return tree; +}; + +TEST(TestSuite, CHECK_VALUE) { + AutowareHealthCheckerTestClass test_autoware_health_checker; + std::function check_func = test_function; + std::function + check_value_json_func = test_value_json_func; + uint8_t ret_fatal = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_VALUE( + "test", 0.0, check_func, check_value_json_func, "test"); + ASSERT_EQ(ret_fatal, autoware_health_checker::LEVEL_FATAL) + << "The value was self-diagnosed as fatal"; + uint8_t ret_error = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_VALUE( + "test", 1.0, check_func, check_value_json_func, "test"); + ASSERT_EQ(ret_error, autoware_health_checker::LEVEL_ERROR) + << "The value was self-diagnosed as fatal"; + uint8_t ret_warn = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_VALUE( + "test", 2.0, check_func, check_value_json_func, "test"); + ASSERT_EQ(ret_warn, autoware_health_checker::LEVEL_WARN) + << "The value was self-diagnosed as fatal"; + uint8_t ret_ok = + test_autoware_health_checker.node_status_publisher_ptr->CHECK_VALUE( + "test", -1.0, check_func, check_value_json_func, "test"); + ASSERT_EQ(ret_ok, autoware_health_checker::LEVEL_OK) + << "The value was self-diagnosed as fatal"; + boost::optional value = + check_value_json_func(0.0).get_optional("value"); + ASSERT_EQ(value.get(), 0.0) + << "The value must be true, failed to get json value"; +} + +TEST(TestSuite, NODE_STATUS) { + AutowareHealthCheckerTestClass test_autoware_health_checker; + test_autoware_health_checker.node_status_publisher_ptr->NODE_ACTIVATE(); + uint8_t ret_active = + test_autoware_health_checker.node_status_publisher_ptr->getNodeStatus(); + ASSERT_EQ(ret_active, true) << "The value must be true"; + test_autoware_health_checker.node_status_publisher_ptr->NODE_DEACTIVATE(); + uint8_t ret_inactive = + test_autoware_health_checker.node_status_publisher_ptr->getNodeStatus(); + ASSERT_EQ(ret_inactive, false) << "The value must be true"; +} + +int main(int argc, char **argv) { + testing::InitGoogleTest(&argc, argv); + ros::init(argc, argv, "AutowareHealthCheckerTestNode"); + return RUN_ALL_TESTS(); +} \ No newline at end of file diff --git a/ros/src/system/autoware_health_checker/test/test_autoware_health_checker.test b/ros/src/system/autoware_health_checker/test/test_autoware_health_checker.test new file mode 100644 index 00000000000..d87a24411dd --- /dev/null +++ b/ros/src/system/autoware_health_checker/test/test_autoware_health_checker.test @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/.gitignore b/ros/src/system/gazebo/catvehicle/.gitignore deleted file mode 100644 index 512e65c10c7..00000000000 --- a/ros/src/system/gazebo/catvehicle/.gitignore +++ /dev/null @@ -1,48 +0,0 @@ -build/ -bin/ -lib/ -msg_gen/ -srv_gen/ -msg/*Action.msg -msg/*ActionFeedback.msg -msg/*ActionGoal.msg -msg/*ActionResult.msg -msg/*Feedback.msg -msg/*Goal.msg -msg/*Result.msg -msg/_*.py - -slprj/ -*_rtw/ -simulink/*.tgz - -# Generated by dynamic reconfigure -*.cfgc -/cfg/cpp/ -/cfg/*.py - -# Ignore generated docs -*.dox -*.wikidoc - -# eclipse stuff -.project -.cproject - -# qcreator stuff -CMakeLists.txt.user - -srv/_*.py -*.pcd -*.pyc -qtcreator-* -*.user - -/planning/cfg -/planning/docs -/planning/src - -*~ - -# Emacs -.#* \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/CHANGELOG.rst b/ros/src/system/gazebo/catvehicle/CHANGELOG.rst deleted file mode 100644 index f4e0c6bfb06..00000000000 --- a/ros/src/system/gazebo/catvehicle/CHANGELOG.rst +++ /dev/null @@ -1,77 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package catvehicle -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.1 (2018-01-20) ------------------- -* update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.0 (2017-12-11) ------------------- -* Prepare release for 1.6.0 -* Contributors: Yamato ANDO - -1.5.1 (2017-09-25) ------------------- -* Release/1.5.1 (`#816 `_) - * fix a build error by gcc version - * fix build error for older indigo version - * update changelog for v1.5.1 - * 1.5.1 -* Contributors: Yusuke FUJII - -1.5.0 (2017-09-21) ------------------- -* Update changelog -* fix version inconsistency -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- -* version number must equal current release number so we can start releasing in the future -* Contributors: Dejan Pangercic - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- -* Fix library dependency -* ROS Kinectic Upgrade tested on Ubuntu 16.04 and OpenCV 3.2.0 - Modules not included: - -orb_localizer - -dpm_ocv node and lib - Everything else working - Added some libraries for Gazebo on src/extras -* Update for kinetic -* Contributors: Yukihiro Saito, Yusuke Fujii, amc-nu - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- -* Tuned gazebo parameter -* Add Gazebo sim -* Contributors: Yukihiro Saito - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/system/gazebo/catvehicle/CMakeLists.txt b/ros/src/system/gazebo/catvehicle/CMakeLists.txt deleted file mode 100644 index 61c05bd8a82..00000000000 --- a/ros/src/system/gazebo/catvehicle/CMakeLists.txt +++ /dev/null @@ -1,77 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(catvehicle) -set(ROS_VERSION $ENV{ROS_DISTRO}) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages - -find_package(autoware_build_flags REQUIRED) -find_package(catkin REQUIRED COMPONENTS - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud - ) - -set(CMAKE_CXX_FLAGS "-O2 -Wall ${CMAKE_CXX_FLAGS}") - -## System dependencies are found with CMake's conventions -find_package(Boost REQUIRED COMPONENTS system) - -# Need to have these in order to find/include boost stuff -include_directories(${Boost_INCLUDE_DIRS}) -link_directories(${Boost_LIBRARY_DIRS}) - -include(FindPkgConfig) -if (PKG_CONFIG_FOUND) - pkg_check_modules(GAZEBO gazebo) -endif () -include_directories(${GAZEBO_INCLUDE_DIRS}) -link_directories(${GAZEBO_LIBRARY_DIRS}) -include_directories(include) - -catkin_python_setup() - -catkin_package( - INCLUDE_DIRS include - LIBRARIES catvehicle - CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf -) - -include_directories(include include/catvehicle) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh) -target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - -add_executable(distanceEstimator src/distanceEstimator.cpp) -target_link_libraries(distanceEstimator ${catkin_LIBRARIES}) - -install(DIRECTORY launch - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY meshes - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY urdf - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -install(DIRECTORY worlds - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) - -## Mark executables and/or libraries for installation -install(TARGETS catvehiclegazebo - LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} - ) diff --git a/ros/src/system/gazebo/catvehicle/README.md b/ros/src/system/gazebo/catvehicle/README.md deleted file mode 100644 index 9f818693e9b..00000000000 --- a/ros/src/system/gazebo/catvehicle/README.md +++ /dev/null @@ -1,65 +0,0 @@ -# About -The catvehicle ROS package houses files that utilize the Gazebo simulator, and additional interfaces to the physical CAT Vehicle Testbed. - -# Dependencies -* ROS -* obstaclestopper - -# Catkin Workspace and Build -In order to use the catvehicle ROS package, you should work within a catkin workspace. If you do not already have one: -``` -cd ~ -mkdir -p catvehicle_ws/src -cd catvehicle_ws/src -catkin_init_workspace -cd .. -catkin_make -``` - -At this point, you can extract this package into your src directory: -``` -cd catvehicle_ws/src -tar xzf catvehicle-x.y.z.tgz -cd .. -catkin_make -``` - -# Simple Tutorial and Examples -Follow the tutorials on the CAT Vehicle Testbed group on the CPS Virtual Organization to see how to use the testbed. - -# Acknowledgements -## License -Copyright (c) 2013-2017 Arizona Board of Regents -All rights reserved - -Permission is hereby granted, without written agreement and without -license or royalty fees, to use, copy, modify, and distribute this -software and its documentation for any purpose, provided that the -above copyright notice and the following two paragraphs appear in -all copies of this software. - -IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -SUCH DAMAGE. - -THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -## Authors and contributors -* Jonathan Sprinkle (sprinkjm@email.arizona.edu) -* Rahul Bhadani (rahulkumarbhadani@email.arizona.edu) -* Sam Taylor -* Kennon McKeever (kennondmckeever@email.arizona.edu) -* Alex Warren -* Swati Munjal (smunjal@email.arizona.edu) -* Ashley Kang (askang@email.arizona.edu) -* Matt Bunting (mosfet@email.arizona.edu) -* Sean Whitsitt - -## Support -This work was supported by the National Science Foundation and AFOSR under awards 1521617, 1446435, 1262960 and 1253334. Any opinions, findings, and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation. diff --git a/ros/src/system/gazebo/catvehicle/config/catvehicle_control.yaml b/ros/src/system/gazebo/catvehicle/config/catvehicle_control.yaml deleted file mode 100644 index 28a356b0496..00000000000 --- a/ros/src/system/gazebo/catvehicle/config/catvehicle_control.yaml +++ /dev/null @@ -1,71 +0,0 @@ -# Author: Jonathan Sprinkle -# Copyright (c) 2015 Arizona Board of Regents -# All rights reserved. -# -# Permission is hereby granted, without written agreement and without -# license or royalty fees, to use, copy, modify, and distribute this -# software and its documentation for any purpose, provided that the -# above copyright notice and the following two paragraphs appear in -# all copies of this software. -# -# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -# SUCH DAMAGE. -# -# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -# Summary: -# This YAML file includes the controller connectivity for ROS-based control -# through Gazebo. For more information and for the tutorials used to create -# this file, see -# http://gazebosim.org/tutorials/?tut=ros_control#Prerequisites - -# controls the rear two tires based on individual motors - # Publish all joint states ----------------------------------- - joint_state_controller: - type: joint_state_controller/JointStateController - publish_rate: 50 - - # Velocity Controllers --------------------------------------- - - # The left/right rear wheels are what moves the car. This - # controller set uses PID for velocity set points - joint1_velocity_controller: - type: velocity_controllers/JointVelocityController - joint: back_left_wheel_joint - pid: {p: 100.0, i: 0.01, d: 10.0} - joint2_velocity_controller: - type: velocity_controllers/JointVelocityController - joint: back_right_wheel_joint - pid: {p: 100.0, i: 0.01, d: 10.0} - - # we are no longer using these controllers for angular rate - # but we may reinstate them later - #front_left_steering_controller: - # type: velocity_controllers/JointVelocityController - # joint: front_left_steering_joint - # pid: {p: 100.0, i: 0.01, d: 10.0} - #front_right_steering_controller: - # type: velocity_controllers/JointVelocityController - # joint: front_right_steering_joint - # pid: {p: 100.0, i: 0.01, d: 10.0} - - # permits a set point for the steering (tire) angle, which - # is enforced by these position controllers. The value is - # set based on the dynamics of the controller, not an - # instantaneous set for the position - front_left_steering_position_controller: - type: position_controllers/JointPositionController - joint: front_left_steering_joint - pid: {p: 100.0, i: 0.01, d: 10.0} - front_right_steering_position_controller: - type: position_controllers/JointPositionController - joint: front_right_steering_joint - pid: {p: 100.0, i: 0.01, d: 10.0} - diff --git a/ros/src/system/gazebo/catvehicle/config/map.yaml b/ros/src/system/gazebo/catvehicle/config/map.yaml deleted file mode 100644 index 108c2a5cd93..00000000000 --- a/ros/src/system/gazebo/catvehicle/config/map.yaml +++ /dev/null @@ -1,6 +0,0 @@ -image: testmap.png -resolution: 0.1 -origin: [0.0, 0.0, 0.0] -occupied_thresh: 0.65 -free_thresh: 0.196 -negate: 0 diff --git a/ros/src/system/gazebo/catvehicle/dae/duck.dae b/ros/src/system/gazebo/catvehicle/dae/duck.dae deleted file mode 100644 index a5bebcf32a1..00000000000 --- a/ros/src/system/gazebo/catvehicle/dae/duck.dae +++ /dev/null @@ -1,198 +0,0 @@ - - - - - gcorson - Maya 8.0 | ColladaMaya v3.02 | FCollada v3.2 - Collada Maya Export Options: bakeTransforms=0;exportPolygonMeshes=1;bakeLighting=0;isSampling=0; -curveConstrainSampling=0;exportCameraAsLookat=0; -exportLights=1;exportCameras=1;exportJointsAndSkin=1; -exportAnimations=1;exportTriangles=1;exportInvisibleNodes=0; -exportNormals=1;exportTexCoords=1;exportVertexColors=1;exportTangents=0; -exportTexTangents=0;exportConstraints=1;exportPhysics=0;exportXRefs=1; -dereferenceXRefs=0;cameraXFov=0;cameraYFov=1 - -Copyright 2006 Sony Computer Entertainment Inc. -Licensed under the SCEA Shared Source License, Version 1.0 (the -"License"); you may not use this file except in compliance with the -License. You may obtain a copy of the License at: -http://research.scea.com/scea_shared_source_license.html -Unless required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS, -WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -See the License for the specific language governing permissions and -limitations under the License. - - file:///C:/vs2005/sample_data/Complete_Packages/SCEA_Private/Maya_MoonLander/Moonlander/untitled - - 2006-08-23T22:29:59Z - 2007-02-21T22:52:44Z - - Y_UP - - - - - - - 37.8492 - 1.5 - 1 - 10000 - - - - - - - - - - 1 1 1 - - - - - - - duck.png - - - - - - - - - - - - - file2 - A8R8G8B8 - - - - - file2-surface - LINEAR_MIPMAP_LINEAR - LINEAR - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - - - - 0 0 0 1 - - - 0.3 - - - 0 0 0 1 - - - 0.5 - - - 0 0 0 1 - - - 1 - - - 1 - - - - - - - - - - - 35.0226 89.3874 23.3732 19.5676 89.7173 22.4879 9.22909 91.5427 17.1037 4.33048 88.7008 4.57726 45.0571 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145 682 779 225 2032 407 146 601 777 222 2033 403 145 681 405 223 681 405 223 2033 403 145 2019 402 2263 2020 406 151 228 88 77 2016 420 160 2016 420 160 228 88 77 312 154 107 41 140 103 2034 414 156 312 154 107 312 154 107 2034 414 156 2016 420 160 311 135 100 2035 415 157 41 140 103 41 140 103 2035 415 157 2034 414 156 311 135 921 29 77 897 2035 415 1218 2035 415 1218 29 77 897 2036 394 1205 307 76 896 2037 395 1206 29 77 897 29 77 897 2037 395 1206 2036 394 1205 227 79 899 2038 398 1209 307 76 896 307 76 896 2038 398 1209 2037 395 1206 227 79 899 45 81 901 2038 398 1209 2038 398 1209 45 81 901 2039 400 1211 45 81 901 162 353 1164 2039 400 1211 2039 400 1211 162 353 1164 2040 428 1224 162 353 1164 79 355 1166 2040 428 1224 2040 428 1224 79 355 1166 2041 430 1226 233 358 1169 2042 433 1229 79 355 1166 79 355 1166 2042 433 1229 2041 430 1226 3 360 1171 2043 435 1231 233 358 1169 233 358 1169 2043 435 1231 2042 433 1229 774 2256 2212 2044 1653 1955 3 360 1171 3 360 1171 2044 1653 1955 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2069 237 1006 184 241 49 2070 238 1009 2052 263 64 185 244 52 2072 261 1010 2072 261 1010 185 244 52 2068 245 1007 2050 292 123 2064 288 1003 186 250 55 186 250 55 2064 288 1003 2073 247 1011 279 251 56 186 250 55 2071 246 1008 2071 246 1008 186 250 55 2073 247 1011 280 257 1103 2075 252 1099 187 259 1104 187 259 1104 2075 252 1099 2074 260 1105 2054 327 235 2077 328 1014 2053 256 59 2053 256 59 2077 328 1014 2076 253 1015 2053 256 59 2076 253 1015 280 257 60 280 257 60 2076 253 1015 2075 252 2276 187 259 1104 2074 260 1105 2055 266 1109 2055 266 1109 2074 260 1105 2078 264 1107 2054 327 235 2052 263 64 2077 328 1014 2077 328 1014 2052 263 64 2072 261 1010 2055 266 1109 2078 264 1107 188 268 1111 188 268 1111 2078 264 1107 2079 269 1112 188 268 1111 2079 269 1112 2056 272 1115 2056 272 1115 2079 269 1112 2080 270 1113 189 274 1117 2056 272 1115 2081 275 1118 2081 275 1118 2056 272 1115 2080 270 1113 2057 287 1128 189 274 1117 2082 285 1126 2082 285 1126 189 274 1117 2081 275 1118 191 283 88 281 281 2271 2083 284 1022 2083 284 1022 281 281 2271 2084 276 1021 190 280 1123 2057 287 1128 2085 277 1120 2085 277 1120 2057 287 1128 2082 285 1126 281 281 1124 190 280 1123 2084 276 1119 2084 276 1119 190 280 1123 2085 277 1120 322 296 127 191 283 88 2067 376 1004 2067 376 1004 191 283 88 2083 284 1022 1946 735 970 656 733 310 2086 2250 1025 2086 2250 1025 656 733 310 2087 571 1024 2058 731 308 2059 730 307 2088 572 1027 2088 572 1027 2059 730 307 2089 727 1026 656 733 310 2058 731 308 2087 571 1024 2087 571 1024 2058 731 308 2088 572 1027 554 681 274 2091 676 1028 653 689 279 653 689 279 2091 676 1028 2090 686 1029 555 683 276 2093 684 1030 652 680 273 652 680 273 2093 684 1030 2092 677 1031 652 680 273 2092 677 1031 554 681 274 554 681 274 2092 677 1031 2091 676 1028 2060 702 288 2094 700 1032 555 683 276 555 683 276 2094 700 1032 2093 684 1030 2059 730 307 556 690 280 2089 727 1026 2089 727 1026 556 690 280 2095 685 1033 653 689 279 2090 686 1029 556 690 280 556 690 280 2090 686 1029 2095 685 1033 1953 766 1001 557 696 284 2096 768 1035 2096 768 1035 557 696 284 2097 691 1034 654 695 1427 558 698 1426 2098 692 1423 2098 692 1423 558 698 1426 2099 699 1428 557 696 284 654 695 2270 2097 691 1034 2097 691 1034 654 695 2270 2098 692 1037 558 698 1426 2061 705 1432 2099 699 1428 2099 699 1428 2061 705 1432 2100 703 1430 1953 766 1001 2096 768 1035 2060 702 288 2060 702 288 2096 768 1035 2094 700 1032 2061 705 1432 559 707 1434 2100 703 1430 2100 703 1430 559 707 1434 2101 708 1435 559 707 1434 2062 711 1438 2101 708 1435 2101 708 1435 2062 711 1438 2102 709 1436 560 713 1440 2103 714 1441 2062 711 1438 2062 711 1438 2103 714 1441 2102 709 1436 2063 726 1451 2104 724 1449 560 713 1440 560 713 1440 2104 724 1449 2103 714 1441 561 720 1447 2105 715 1442 2063 726 1451 2063 726 1451 2105 715 1442 2104 724 1449 562 722 302 2107 723 1044 655 719 299 655 719 299 2107 723 1044 2106 716 2266 655 719 1446 2106 716 1443 561 720 1447 561 720 1447 2106 716 1443 2105 715 1442 1946 735 970 2086 2250 1025 562 722 302 562 722 302 2086 2250 1025 2107 723 1044 1686 2081 751 1687 2006 621 1807 2005 620 1117 1276 374 1237 1275 373 1151 1277 375

- - - - - - - - 0 0 1 0 - 0 1 0 0 - 1 0 0 0 - - - - - - - - - - - - 400.113 463.264 -431.078 - 0 0 1 0 - 0 1 0 -223.2 - 1 0 0 -38.4 - - - - 148.654 183.672 -292.179 - 0 0 1 -12.8709 - 0 1 0 -191.679 - 1 0 0 -45.6358 - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/dae/duck.png b/ros/src/system/gazebo/catvehicle/dae/duck.png deleted file mode 100644 index 6656eb5f5dd..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/dae/duck.png and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/include/catvehicle/cmd_vel.hh b/ros/src/system/gazebo/catvehicle/include/catvehicle/cmd_vel.hh deleted file mode 100644 index 26a689270d6..00000000000 --- a/ros/src/system/gazebo/catvehicle/include/catvehicle/cmd_vel.hh +++ /dev/null @@ -1,48 +0,0 @@ -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include -#include -//#include - - -namespace gazebo -{ -class CmdVelController : public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/); - void OnUpdate(const common::UpdateInfo & /*_info*/); -// void SteeringSmooth(); -private: - void CatVehicleSimROSThread(); - void Callback(const geometry_msgs::Twist::ConstPtr& msg); - - //ROS - ros::Subscriber sub_; - boost::thread ros_spinner_thread_; - ros::NodeHandle* rosnode_; - - //variables - double u1; // commanded velocity - double u2; // commanded tire angle - double x1; // actual velocity - double x2; // actual tire angle -// double difference; -// double prev_angle; -// double cur_angle; - - //Gazebo - physics::JointPtr steering_joints[2]; - physics::JointPtr velocity_joints[2]; -// ros::NodeHandle* rosnode_; - physics::JointController *steering_cont; - physics::JointVelocityController *rearWheel_cont; - event::ConnectionPtr updateConnection; - physics::ModelPtr model; -}; -} diff --git a/ros/src/system/gazebo/catvehicle/include/catvehicle/cont.hh b/ros/src/system/gazebo/catvehicle/include/catvehicle/cont.hh deleted file mode 100644 index dd269da3da3..00000000000 --- a/ros/src/system/gazebo/catvehicle/include/catvehicle/cont.hh +++ /dev/null @@ -1,65 +0,0 @@ -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include -#include -//#include -#include - -namespace gazebo -{ - class CatSteering : public ModelPlugin - { - public: - CatSteering(); - void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf); - //void OnUpdate(const common::UpdateInfo & _info); - - private: - void CatVehicleSimROSThread(); - void modelRead(const gazebo_msgs::ModelStates::ConstPtr& msg); - - physics::PhysicsEnginePtr physicsEngine; - //to read the name space from urdf file - std::string robotNamespace; - //to read the name space from urdf file - std::string tfScope; - //Name of the speed topic being published - std::string speedTopic; - // Name of the tire angle topic being published - std::string tireTopic; - // Name of the odometry topic being published - std::string odomTopic; - //ROS - ros::Subscriber sub_; - ros::Publisher ros_pub; - ros::Publisher steering_pub; - ros::Publisher odom_pub; - boost::thread ros_spinner_thread_; - ros::NodeHandle* rosnode_; - - //velocity vector to fetch velocity from model entity - math::Vector3 linear_vel; - math::Vector3 angular_vel; - //Gazebo - physics::JointPtr steering_joints[2]; - physics::JointController *j_cont; - event::ConnectionPtr updateConnection; - - - //Pointer to the model entity - physics::ModelPtr model; - //Pointer to the world in which the model exists - physics::WorldPtr world; - - - //rate at which to update the catsteering - double updateRate; - //Previous time when the catsteering was updated. - ros::Time prevUpdateTime; - }; -} diff --git a/ros/src/system/gazebo/catvehicle/include/catvehicle/cont_lead.hh b/ros/src/system/gazebo/catvehicle/include/catvehicle/cont_lead.hh deleted file mode 100644 index 5fb9835bd39..00000000000 --- a/ros/src/system/gazebo/catvehicle/include/catvehicle/cont_lead.hh +++ /dev/null @@ -1,43 +0,0 @@ -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include -#include -//#include - - -namespace gazebo -{ -class LeadSteering : public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/); - void OnUpdate(const common::UpdateInfo & /*_info*/); -// void SteeringSmooth(); -private: - void LeadVehicleSimROSThread(); - void Callback(const geometry_msgs::Twist::ConstPtr& msg); - - //ROS - ros::Subscriber sub_; - boost::thread ros_spinner_thread_; - ros::NodeHandle* rosnode_; - - //variables - double angle; -// double difference; -// double prev_angle; -// double cur_angle; - - //Gazebo - physics::JointPtr steering_joints[2]; -// ros::NodeHandle* rosnode_; - physics::JointController *j_cont; - event::ConnectionPtr updateConnection; - physics::ModelPtr model; -}; -} diff --git a/ros/src/system/gazebo/catvehicle/include/catvehicle/gps_controller.hh b/ros/src/system/gazebo/catvehicle/include/catvehicle/gps_controller.hh deleted file mode 100644 index dca8dd266d7..00000000000 --- a/ros/src/system/gazebo/catvehicle/include/catvehicle/gps_controller.hh +++ /dev/null @@ -1,40 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "nav_msgs/Odometry.h" -#include - - -namespace gazebo -{ -class CatGPS : public ModelPlugin -{ -public: - void Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/); - void OnUpdate(const common::UpdateInfo & /*_info*/); -private: - void CatVehicleSimROSThread(); - void Callback(const nav_msgs::Odometry::ConstPtr& msg); - - - //ROS - ros::Subscriber sub_; - boost::thread ros_spinner_thread_; - ros::NodeHandle* rosnode_; - - //gazebo - event::ConnectionPtr updateConnection; - physics::ModelPtr model; - - //variables - int k; - double x , y , z , x_ang , y_ang , z_ang , omega , x_new , y_new , offset_x , offset_y , car_height; - math::Vector3 vector; - math::Pose _pose; - math::Quaternion quaternion; -}; -} diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle.launch deleted file mode 100644 index a89234fdf67..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle.launch +++ /dev/null @@ -1,100 +0,0 @@ - - - - - - - -true - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_canyonview.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_canyonview.launch deleted file mode 100644 index 28956dffa96..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_canyonview.launch +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_custom.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_custom.launch deleted file mode 100644 index a95114849f2..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_custom.launch +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_empty.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_empty.launch deleted file mode 100644 index 589b6bbf8db..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_empty.launch +++ /dev/null @@ -1,56 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_follower.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_follower.launch deleted file mode 100644 index 6ea11d9692c..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_follower.launch +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_neighborhood.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_neighborhood.launch deleted file mode 100644 index d8dd1b6d235..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_neighborhood.launch +++ /dev/null @@ -1,66 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/catvehicle_skidpan.launch b/ros/src/system/gazebo/catvehicle/launch/catvehicle_skidpan.launch deleted file mode 100644 index bf509e9c9be..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/catvehicle_skidpan.launch +++ /dev/null @@ -1,76 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator.launch b/ros/src/system/gazebo/catvehicle/launch/distanceEstimator.launch deleted file mode 100644 index 6f016f2b246..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_simulator.launch b/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_simulator.launch deleted file mode 100644 index a312ffce59b..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_simulator.launch +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_standalone.launch b/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_standalone.launch deleted file mode 100644 index c9cba3c97b6..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/distanceEstimator_standalone.launch +++ /dev/null @@ -1,42 +0,0 @@ - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/hectorslam-sicktest.launch b/ros/src/system/gazebo/catvehicle/launch/hectorslam-sicktest.launch deleted file mode 100644 index 951bef383a2..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/hectorslam-sicktest.launch +++ /dev/null @@ -1,77 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/hectorslam.launch b/ros/src/system/gazebo/catvehicle/launch/hectorslam.launch deleted file mode 100644 index e039c09f791..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/hectorslam.launch +++ /dev/null @@ -1,54 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/humancar.launch b/ros/src/system/gazebo/catvehicle/launch/humancar.launch deleted file mode 100644 index e78268dbf37..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/humancar.launch +++ /dev/null @@ -1,43 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/joystick.launch b/ros/src/system/gazebo/catvehicle/launch/joystick.launch deleted file mode 100644 index 5729f15db00..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/joystick.launch +++ /dev/null @@ -1,52 +0,0 @@ - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/robotviz.launch b/ros/src/system/gazebo/catvehicle/launch/robotviz.launch deleted file mode 100644 index 8e8736960e5..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/robotviz.launch +++ /dev/null @@ -1,44 +0,0 @@ - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/sick.launch b/ros/src/system/gazebo/catvehicle/launch/sick.launch deleted file mode 100644 index 9ef76ca2ae1..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/sick.launch +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/launch/sickTest.launch b/ros/src/system/gazebo/catvehicle/launch/sickTest.launch deleted file mode 100644 index b25e9537edd..00000000000 --- a/ros/src/system/gazebo/catvehicle/launch/sickTest.launch +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/matlab files/DistanceEstimation.m b/ros/src/system/gazebo/catvehicle/matlab files/DistanceEstimation.m deleted file mode 100644 index c79a715dd69..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/DistanceEstimation.m +++ /dev/null @@ -1,28 +0,0 @@ -% Put the directory lisiting here where ROSbag Files are stored -% This file reads rosbag file that has topic named /DistanceEstimator/dist -% and convert them to .mat file -% Developer: Rahul Kumar Bhadani -% rahulbhadani@email.arizona.edu - -DIRPath = './'; -Files=dir(DIRPath); -cd(DIRPath); -for k=1:length(Files) - FileNames=Files(k).name; - - if ((strcmp(FileNames,'.') == 0 || strcmp(FileNames,'..') == 0 ) && length(FileNames) > 3) - if strcmp(FileNames(end-2:end),'bag') - bag = rosbag(FileNames); - bagselect1 = select(bag, 'Topic','/DistanceEstimator/dist'); - msgs = readMessages(bagselect1); - Distance = zeros(1,length(msgs)); - for i = 1:length(msgs) - Distance(i) = msgs{i}.Data; - end - ts = timeseries(bagselect1, 'Data'); - matFile = FileNames(1:end-4); - matFile = strcat(matFile,'.mat'); - save(matFile,'ts','Distance'); - end - end -end \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/matlab files/follower_profile.m b/ros/src/system/gazebo/catvehicle/matlab files/follower_profile.m deleted file mode 100644 index 08694bd20f4..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/follower_profile.m +++ /dev/null @@ -1,84 +0,0 @@ -%Implementation of follower algorithm - -%Developed by Rahul Kumar Bhadani - -%ROS_IP = IP Address of ROS Master -%lead = name of the model of leader AV Car -%follower = name of the model of follower car - -function follower_profile(ROS_IP, lead, follower) - -%If number of argument is not two, flag message and exit. -if nargin < 2 - sprintf('Usage: velocityProfiler(192.168.0.32, catvehicle)'); - return; -end - -rosshutdown; -close all; -modelname1 = strcat('/',lead); -modelname2 = strcat('/',follower); -%Connect to ROS master -master_uri= strcat('http://',ROS_IP); -master_uri = strcat(master_uri,':11311'); -rosinit(master_uri); - -%get handle for cmd_vel topic for publishing the data -velpub1 = rospublisher(strcat(modelname1,'/cmd_vel'),rostype.geometry_msgs_Twist); -velpub2 = rospublisher(strcat(modelname2,'/cmd_vel'),rostype.geometry_msgs_Twist); - -%get handle for speed topic for subscribing to the data -speedsub1 = rossubscriber(strcat(modelname1,'/vel')); -speedsub2 = rossubscriber(strcat(modelname2,'/vel')); - -%get handle for /DistanceEstimator -distanceEstimaterSub = rossubscriber('/DistanceEstimator/dist'); - -%Discretize timestamp -t = 0:0.05:150; -v1 = 3; -v2 = 6; -v3 = 0; - -%Velocity profile -input = v1.*(t<50) + v2.*(t>=50).*(t<100) + v3.*(t>= 100); - -%Velocity profile will be sine -%input = abs(2*sin(t)); - -%Variable to store output velocity -output1 = zeros(length(t),1); -output2 = zeros(length(t),1); - -%handle for rosmessage object for velpub topic -velMsgs1 = rosmessage(velpub1); -velMsgs2 = rosmessage(velpub2); -for i=1:length(t) - velMsgs1.Linear.X = input(i); - velMsgs1.Angular.Z = 0.0; - %Publish on the topic /catvehicle/cmd_vel - send(velpub1, velMsgs1); - %Read from the topic /catvehicle/speed - speedata1 = receive(speedsub1,10); - distance = receive(distanceEstimaterSub,10); - x = distance.Data; - - %Follower control rule - velMsgs2.Linear.X = (1/30.*x + 2/3).*speedata1.Linear.X; - velMsgs2.Angular.Z = 0.0; - send(velpub2, velMsgs2); - speedata2 = receive(speedsub2,10); - output1(i) = speedata1.Linear.X; - output2(i) = speedata2.Linear.X; -end - -%Plot the input and output velocity profile -[n, p] = size(output1); -T = 1:n; -plot(T, input'); -hold on; -plot(T, output1); -plot(T, output2); -title('Original Data'); -legend('Input function', 'Output response of lead','Output response of follower'); -grid on; diff --git a/ros/src/system/gazebo/catvehicle/matlab files/matlabTutorial.m b/ros/src/system/gazebo/catvehicle/matlab files/matlabTutorial.m deleted file mode 100644 index fbac49b3405..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/matlabTutorial.m +++ /dev/null @@ -1,65 +0,0 @@ -% Author: Jonathan Sprinkle -% Copyright (c) 2016 Arizona Board of Regents -% See copyright file - -% load the bagfile -bagfile=rosbag('catvehicle_tutorial.bag'); -% select only the /catvehicle/odom topic -odomBag=select(bagfile,'Topic','/catvehicle/odom'); -% extract timeseries data (this will take some time) -odom = timeseries(odomBag,'Pose.Pose.Position.X','Pose.Pose.Position.Y'); - -figure -% plot x,y vs. time -plot(odom.Time,odom.Data(:,1),odom.Time,odom.Data(:,2)) -% legend information -legend({'X position','Y position'}) - -%% Select the commanded input value -% where are data interesting? Let's look at the cmd_vel_safe inputs -cmd_vel_safeBag=select(bagfile,'Topic','/catvehicle/cmd_vel_safe'); -% this will take some time -cmd_vel_safe=timeseries(cmd_vel_safeBag,'Linear.X','Angular.Z'); - -%% Plot raw cmd_vel_safe data -% let's plot these data too -figure -% plot x,y vs. time -plot(cmd_vel_safe.Time,cmd_vel_safe.Data(:,1),cmd_vel_safe.Time,cmd_vel_safe.Data(:,2)) -% legend information -legend({'Commanded velocity','Commanded steering'}) - -%% Find where interesting data start appearing -veldiffs = diff(cmd_vel_safe.Data(:,1)); -vindices = find(veldiffs); -cmd_vel_safe.Data(veldiffs(1)-5:veldiffs(1)+5,1) -deltadiffs = diff(cmd_vel_safe.Data(:,2)); -dindices=find(deltadiffs); -cmd_vel_safe.Data(indices(1)-10:indices(1)+10,2) - -disp('Note that the values within two time series will not necessarily'); -disp(' match up wrt one another'); -cmd_vel_safe.Time(vindices(1)) -odom.Time(vindices(1)) - -%% find the index nearest to a certain time -interestingTime=cmd_vel_safe.Time(vindices(1)); -odomTmp = odom.Time > interestingTime; -odomIndex = max(0,find(odomTmp)-5); % back up 5 indices, if they exist; - - -%% now, we plot side-by-side from our relative indices -figure -plot(odom.Time(odomIndex(1):end),odom.Data(odomIndex(1):end,1),... - odom.Time(odomIndex(1):end),odom.Data(odomIndex(1):end,2),... - cmd_vel_safe.Time(vindices(1):end),cmd_vel_safe.Data(vindices(1):end,1),... - cmd_vel_safe.Time(vindices(1):end),cmd_vel_safe.Data(vindices(1):end,2)); -legend({'X position','Y position','cmd velocity','cmd steering'}) - -%% visualize the (x,y) position only -figure -plot(odom.Data(:,1),odom.Data(:,2)) -axis equal -legend('(x,y) position'); -xlabel('X position') -ylabel('Y position') diff --git a/ros/src/system/gazebo/catvehicle/matlab files/profileByMatrix.m b/ros/src/system/gazebo/catvehicle/matlab files/profileByMatrix.m deleted file mode 100644 index f6c122576d4..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/profileByMatrix.m +++ /dev/null @@ -1,73 +0,0 @@ -%Implementation of follower algorithm - -%Developed by Rahul Kumar Bhadani - -%ROS_IP = IP Address of ROS Master -%lead = name of the model of leader AV Car -%follower = name of the model of follower car - -function profileByMatrix(ROS_IP, roboname, vel_input, time_input, tire_angle) - - - -%If number of argument is not two, flag message and exit. -if nargin < 4 - sprintf('Uage: velocityProfiler(192.168.0.32, catvehicle, velmatfile, timematfile)'); - return; -end - -if nargin < 5 - tire_angle = 0.0; -end -rosshutdown; -close all; -modelname = strcat('/',roboname); -%Connect to ROS master -master_uri= strcat('http://',ROS_IP); -master_uri = strcat(master_uri,':11311'); -rosinit(master_uri); - -%get handle for /catvehicle/cmd_vel topic for publishing the data -velpub = rospublisher(strcat(modelname,'/cmd_vel'),rostype.geometry_msgs_Twist); - -%get handle for /catvehicle/vel topic for subscribing to the data -speedsub = rossubscriber(strcat(modelname,'/vel')); - -vmat = load(vel_input); -tmat = load(time_input); -t = tmat.t; -%Velocity profile -input = vmat.Vel; -%Velocity profile will be sine -%input = abs(2*sin(t)); - -%Variable to store output velocity -output = zeros(length(t),1); - -%handle for rosmessage object for velpub topic -velMsgs = rosmessage(velpub); -for i=1:length(t) - velMsgs.Linear.X = input(i); - velMsgs.Angular.Z = tire_angle; - %Publish on the topic /catvehicle/cmd_vel - send(velpub, velMsgs); - %Read from the topic /catvehicle/speed - speedata = receive(speedsub,10); - output(i) = speedata.Linear.X; - pause(0.1); - if i == 3000 - break; - end -end - -%Plot the input and output velocity profile -[n, p] = size(output); -T = 1:n; -plot(T, input'); -hold on; -plot(T, output); -title('Original Data'); -legend('Input function', 'Output response'); -grid on; - -save input.mat input output diff --git a/ros/src/system/gazebo/catvehicle/matlab files/speed_plot.m b/ros/src/system/gazebo/catvehicle/matlab files/speed_plot.m deleted file mode 100644 index d600c89e095..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/speed_plot.m +++ /dev/null @@ -1,117 +0,0 @@ -% Author: Rahul Kumar Bhadani -% rahulbhadani@email.arizona.edu -% This file will read the velocity data from the ascii file and clip the -% portion of data that are recorded before the input time so that we can -% shift graph at t = t0 when experiment starts - - - -% Load the data from file into matlab variable assuming that current -% directory has the data file named vData.mat. If you are working with file -% that has different name, please change the script - -%Another assumption has been made that output start from zero and slowly -%gain the value. -data = load('vData.mat','-ascii'); -%Step Input: Change the value as required -A =1; - -[n, p] = size(data); -t = 1:n; -Input=repmat(A,1,n); -figure(1); -plot(t, Input'); -hold on; -plot(t, data); -title('Original Data'); -legend('Input Step function', 'Output response'); -grid on; - -%determine the size of data file -first_zero = 0; -last_zero = 0; -final_time = 0; - -%Clip the region before the start of the experiment -for t=1:length(data) - if( data(t) > 0.0 && data (t) < 0.0001) - first_zero = t; - end -end - -data = data(first_zero:length(data)); - -for t=1:length(data) - if( data(t+5) - data (t) > 0.0005) - last_zero = t; - break; - end -end - -data = data(last_zero:length(data)); - -for t=1:length(data) - if( abs(data(t+10) - data (t)) < 0.000001) - final_time = t+10; - break; - end -end - -data = data(1:final_time); - -%At this point we have the data that are from experiment. -[n, p] = size(data); -t = 1:n; -Input=repmat(A,1,n); -figure(2); -plot(t, Input'); -hold on; -plot(t, data); -title('Clean Data'); -legend('Input Step function', 'Output response'); -grid on; - - -%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%Approximation of data as second order system to determine the transfer -%function -%%%%%%%%%%%%%%%%%%%%%%%%%%%%% - -%Get the peak time. -[maxVal, maxTime] = max(data); -peakTime = maxTime; -hold on; -plot(peakTime, maxVal,'*'); -text(peakTime, maxVal,'Y_{peak}'); -finalVal = 0; -finalTime = 0; -%Find the final value. If the amplitude has not changed more than threshold -%within last 50 -%unit of time, treat the latter amplitude as final value. - for t=peakTime:length(data) - if( abs(data(t) - data (t-25)) < A*0.0001) - finalVal = data(t); - finalTime = t; - break; - end - end - -plot(finalTime, finalVal,'*'); -text(finalTime, finalVal,'Y_{final}'); - -%Overshoot -Overshoot = (maxVal - finalVal)/finalVal; -%Damping Coefficient -Zeta = sqrt( (log(Overshoot)^2) / ( (log(Overshoot)^2) +(pi^2) ) ); - -Wd = pi/peakTime; -Wn = Wd/( sqrt ( 1 - (Zeta^2) ) ); - -denom = [1 2*Zeta*Wn Wn*Wn]; -sys = tf(A, denom); -t = [0:0.01:1000]; -figure(3); -title('Approximation of response as second order system'); -step(sys,t); -grid on; diff --git a/ros/src/system/gazebo/catvehicle/matlab files/velCapture.m b/ros/src/system/gazebo/catvehicle/matlab files/velCapture.m deleted file mode 100644 index 44ec1ee215d..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/velCapture.m +++ /dev/null @@ -1,39 +0,0 @@ -% Function to capture catvehicle velocity and plotting live graph -function velCapture(ROS_IP, roboname) -%If number of argument is not two, flag message and exit. -if nargin < 2 - disp('Uage: velocityProfiler(192.168.0.32, catvehicle)'); - return; -end -close all; -%rosshutdown; -modelname = strcat('/',roboname); -%Connect to ROS master -master_uri= strcat('http://',ROS_IP); -master_uri = strcat(master_uri,':11311'); -%rosinit(master_uri); - -%get handle for /catvehicle/vel topic for subscribing to the data -speedsub = rossubscriber(strcat(modelname,'/vel')); -dt = datestr(now,'mmmm-dd-yyyy-HH-MM-SS'); -sprintf('Velocity capture starts at %s',dt) - -t = 0:0.05:50; -output = zeros(length(t),1); -figure; -grid on; -title('Velocity [m/s]'); -for i = 1:length(t) - speedata = receive(speedsub,10); - output(i) = speedata.Linear.X; - - plot([max(i-1,1),i], output([max(i-1,1),i]),'b-'); - hold on; - drawnow; -end -dt = datestr(now,'mmmm-dd-yyyy-HH-MM-SS'); -file = strcat(dt,'.mat'); - save(file, 'output'); -grid on; -title('Velocity [m/s]'); -end diff --git a/ros/src/system/gazebo/catvehicle/matlab files/velocityProfiler.m b/ros/src/system/gazebo/catvehicle/matlab files/velocityProfiler.m deleted file mode 100644 index 23915f693df..00000000000 --- a/ros/src/system/gazebo/catvehicle/matlab files/velocityProfiler.m +++ /dev/null @@ -1,69 +0,0 @@ -%Matlab scripto to publish velocity on /catvehicle/cmd_vel topic and -%subscribe to catvehicle/speed topic - -%Developed by Rahul Kumar Bhadani - -%ROS_IP = IP Address of ROS Master -%roboname = name of the model -function velocityProfiler(ROS_IP, roboname, tire_angle) - - -%If number of argument is not two, flag message and exit. -if nargin < 2 - sprintf('Uage: velocityProfiler(192.168.0.32, catvehicle)'); - return; -end - -if nargin < 3 - tire_angle = 0.0; -end -rosshutdown; -close all; -modelname = strcat('/',roboname); -%Connect to ROS master -master_uri= strcat('http://',ROS_IP); -master_uri = strcat(master_uri,':11311'); -rosinit(master_uri); - -%get handle for /catvehicle/cmd_vel topic for publishing the data -velpub = rospublisher(strcat(modelname,'/cmd_vel'),rostype.geometry_msgs_Twist); - -%get handle for /catvehicle/vel topic for subscribing to the data -speedsub = rossubscriber(strcat(modelname,'/vel')); - -%Discretize timestamp -t = 0:0.01:150; -v1 = 3; -v2 = 6; -v3 = 0; - -%Velocity profile -input = v1.*(t<50) + v2.*(t>=50).*(t<100) + v3.*(t>= 100); - -%Velocity profile will be sine -%input = abs(2*sin(t)); - -%Variable to store output velocity -output = zeros(length(t),1); - -%handle for rosmessage object for velpub topic -velMsgs = rosmessage(velpub); -for i=1:length(t) - velMsgs.Linear.X = input(i); - velMsgs.Angular.Z = tire_angle; - %Publish on the topic /catvehicle/cmd_vel - send(velpub, velMsgs); - %Read from the topic /catvehicle/speed - speedata = receive(speedsub,10); - output(i) = speedata.Linear.X; -end - -%Plot the input and output velocity profile -[n, p] = size(output); -T = 1:n; -plot(T, input'); -hold on; -plot(T, output); -title('Original Data'); -legend('Input function', 'Output response'); -grid on; diff --git a/ros/src/system/gazebo/catvehicle/meshes/ford_escape_no_wheels_2.dae b/ros/src/system/gazebo/catvehicle/meshes/ford_escape_no_wheels_2.dae deleted file mode 100644 index 47961d22988..00000000000 --- a/ros/src/system/gazebo/catvehicle/meshes/ford_escape_no_wheels_2.dae +++ /dev/null @@ -1,8870 +0,0 @@ - - - - - SketchUp 13.0.4124 - - 2013-07-29T07:45:51Z - 2013-07-29T07:45:51Z - - Z_UP - - - - - - 1.94289e-016 -1 0 47.37728 1 1.94289e-016 0 33.99154 -0 0 1 -7.819158 0 0 0 1 - - 1 0 0 0.3649486 0 -1 0 17.94522 -0 0 1 0 0 0 0 1 - - - - - - - - - - - - 1 0 0 0 0 -1 0 2.516006 -0 0 1 16.06713 0 0 0 1 - - - - - - - - - - - - - 1.94289e-016 -1 0 -202.1279 1 1.94289e-016 0 409.5009 -0 0 1 -38.70076 0 0 0 1 - - - - 1.94289e-016 -1 0 -297.753 1 1.94289e-016 0 445.6458 -0 0 1 -37.32736 0 0 0 1 - - - - 1.94289e-016 -1 0 -354.5011 1 1.94289e-016 0 409.5004 -0 0 1 -18.21459 0 0 0 1 - - - - -2.220446e-016 -1 0 -276.7707 -1 2.220446e-016 0 -439.3344 0 0 1 -30.70365 0 0 0 1 - - - - -2.220446e-016 -1 0 -257.944 -1 2.220446e-016 0 -435.0538 0 0 1 -26.78728 0 0 0 1 - - - - 1.94289e-016 -1 0 -196.4178 1 1.94289e-016 0 409.501 -0 0 1 -33.66773 0 0 0 1 - - - - 1.94289e-016 -1 0 -361.61 1 1.94289e-016 0 409.499 -0 0 1 -22.17064 0 0 0 1 - - - - 1.94289e-016 -1 0 -196.4178 1 1.94289e-016 0 409.501 -0 0 1 -33.66773 0 0 0 1 - - - - 1.94289e-016 -1 0 -203.0378 1 1.94289e-016 0 409.501 -0 0 1 -36.51307 0 0 0 1 - - - - 1.94289e-016 -1 0 -204.2705 1 1.94289e-016 0 409.2489 -0 0 1 -44.08922 0 0 0 1 - - - - 1.94289e-016 -1 0 -276.7707 1 1.94289e-016 0 440.9868 -0 0 1 -30.70365 0 0 0 1 - - - - 1.94289e-016 -1 0 -257.944 1 1.94289e-016 0 436.7062 -0 0 1 -26.78728 0 0 0 1 - - - - 1.94289e-016 -1 0 -297.753 1 1.94289e-016 0 373.3557 -0 0 1 -37.32736 0 0 0 1 - - - - 1.94289e-016 -1 0 -352.5913 1 1.94289e-016 0 409.5004 -0 0 1 -11.31236 0 0 0 1 - - - - 1.94289e-016 -1 0 -361.4751 1 1.94289e-016 0 409.5003 -0 0 1 -10.03368 0 0 0 1 - - - - 1.94289e-016 -1 0 -203.7646 1 1.94289e-016 0 409.5008 -0 0 1 -13.07739 0 0 0 1 - - - - 1.94289e-016 -1 0 -337.6961 1 1.94289e-016 0 409.5004 -0 0 1 -31.66469 0 0 0 1 - - - - 1.94289e-016 -1 0 -201.2903 1 1.94289e-016 0 412.0337 -0 0 1 -45.50504 0 0 0 1 - - - - 1.94289e-016 -1 0 -198.7845 1 1.94289e-016 0 429.5517 -0 0 1 -39.20166 0 0 0 1 - - - - 1.94289e-016 -1 0 -278.4926 1 1.94289e-016 0 410.7837 -0 0 1 -31.50618 0 0 0 1 - - - - 1.94289e-016 -1 0 -276.0804 1 1.94289e-016 0 409.5009 -0 0 1 -27.79183 0 0 0 1 - - - - 1.94289e-016 -1 0 -251.9373 1 1.94289e-016 0 409.5006 -0 0 1 -53.759 0 0 0 1 - - - - 1.94289e-016 -1 0 -196.7328 1 1.94289e-016 0 409.501 -0 0 1 -28.58899 0 0 0 1 - - - - 1.94289e-016 -1 0 -201.0698 1 1.94289e-016 0 409.5009 -0 0 1 -44.43829 0 0 0 1 - - - - 1.94289e-016 -1 0 -354.5011 1 1.94289e-016 0 409.5004 -0 0 1 -18.21459 0 0 0 1 - - - - 1.94289e-016 -1 0 -202.1279 1 1.94289e-016 0 409.5009 -0 0 1 -28.41277 0 0 0 1 - - - - 1.94289e-016 -1 0 -235.4794 1 1.94289e-016 0 381.6771 -0 0 1 -44.57892 0 0 0 1 - - - - 1.94289e-016 -1 0 -292.3184 1 1.94289e-016 0 381.0661 -0 0 1 -42.69098 0 0 0 1 - - - - 1.94289e-016 -1 0 -291.9231 1 1.94289e-016 0 408.4581 -0 0 1 -45.29719 0 0 0 1 - - - - 1.94289e-016 -1 0 -292.3184 1 1.94289e-016 0 436.6305 -0 0 1 -43.0461 0 0 0 1 - - - - 1.94289e-016 -1 0 -235.4794 1 1.94289e-016 0 437.3253 -0 0 1 -44.57892 0 0 0 1 - - - - 1.94289e-016 -1 0 -306.3436 1 1.94289e-016 0 442.9134 -0 0 1 -21.03356 0 0 0 1 - - - - 1.94289e-016 -1 0 -196.5811 1 1.94289e-016 0 409.501 -0 0 1 -23.52599 0 0 0 1 - - - - - - - - - - 0 0.04231452 0 0.2839991 9.126645 1.823922 0.1425252 9.168997 0.2007523 0.1425252 9.168997 0.2007523 0.2839991 9.126645 1.823922 0 0.04231452 0 0 0.04231452 0 0.1414364 0 1.623178 0.2839991 9.126645 1.823922 0.2839991 9.126645 1.823922 0.1414364 0 1.623178 0 0.04231452 0 - - - - - - - - - - 0.9960997 -0.0136379 -0.08717494 0.9960997 -0.0136379 -0.08717494 0.9960997 -0.0136379 -0.08717494 -0.9960997 0.0136379 0.08717494 -0.9960997 0.0136379 0.08717494 -0.9960997 0.0136379 0.08717494 0.9961017 -0.01364268 -0.08715144 0.9961017 -0.01364268 -0.08715144 0.9961017 -0.01364268 -0.08715144 -0.9961017 0.01364268 0.08715144 -0.9961017 0.01364268 0.08715144 -0.9961017 0.01364268 0.08715144 - - - - - - - - - - 0.965332 0.6196289 0.02490234 0.9462891 0.0234375 0.6362305 9.170089 0.2014689 9.129677 1.830842 0.04231055 -5.049925e-005 0.965332 0.6196289 0.9667969 0.9301758 0.02490234 0.9462891 9.129678 1.830838 0.001936941 1.629327 0.04231055 -5.050323e-005 - - - - - - - - - - - - - - -

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163 12 164 40 165 29 166 58 167 40 168 41 169 12 170 57 171 59 172 30 173 41 174 48 175 42 176 30 177 60 178 43 179 31 180 22 181 43 182 61 183 34 184 60 185 31 186 32 187 22 188 62 189 44 190 32 191 63 192 64 193 65 194 33 195 45 196 46 197 25 198 33 199 66 200 45 201 46 202 67 203 34 204 68 205 35 206 36 207 69 208 36 209 47 210 27 211 48 212 49 213 38 214 49 215 70 216 53 217 71 218 54 219 72 220 56 221 39 222 57 223 40 224 73 225 40 226 58 227 73 228 74 229 30 230 59 231 49 232 48 233 30 234 60 235 75 236 43 237 43 238 76 239 61 240 22 241 61 242 77 243 34 244 78 245 60 246 32 247 62 248 63 249 62 250 22 251 79 252 80 253 44 254 63 255 65 256 66 257 33 258 81 259 65 260 64 261 45 262 82 263 46 264 66 265 83 266 45 267 67 268 78 269 34 270 46 271 84 272 67 273 81 274 64 275 85 276 86 277 68 278 36 279 69 280 86 277 36 281 87 282 69 283 47 284 70 285 49 286 30 287 88 288 89 289 90 290 91 291 92 292 47 293 93 294 72 295 39 296 58 297 94 298 73 299 95 300 74 301 59 302 70 303 30 304 74 305 60 306 96 307 75 308 43 309 75 310 76 311 61 312 76 313 97 314 22 315 77 316 79 317 61 318 98 319 77 320 78 321 99 322 60 323 63 324 62 325 79 326 80 327 63 328 100 329 101 330 44 331 80 332 45 333 83 334 82 335 82 336 84 337 46 338 67 339 102 340 78 341 84 342 103 343 67 344 104 345 81 346 85 347 105 348 104 349 85 350 87 351 86 352 69 353 106 354 87 355 47 356 88 357 107 358 89 359 108 360 92 361 91 362 92 363 106 364 47 365 109 366 72 367 93 368 73 369 94 370 110 371 111 372 95 373 59 374 99 375 96 376 60 377 96 378 112 379 75 380 75 310 113 381 76 382 76 383 114 384 115 385 61 386 97 387 98 388 79 389 77 390 116 391 98 392 117 393 77 394 78 395 118 396 99 397 63 398 79 399 119 400 120 401 121 402 122 403 63 404 119 405 100 406 110 407 101 408 80 409 83 410 123 411 82 412 82 413 124 414 84 415 125 416 102 417 67 418 126 419 118 420 78 421 124 422 103 423 84 424 103 425 125 426 67 427 127 428 104 429 105 430 87 431 128 432 86 433 129 434 87 435 106 364 130 436 131 437 132 438 133 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/package.xml b/ros/src/system/gazebo/catvehicle/package.xml deleted file mode 100644 index fe05b494d03..00000000000 --- a/ros/src/system/gazebo/catvehicle/package.xml +++ /dev/null @@ -1,50 +0,0 @@ - - - catvehicle - 1.6.3 - The catvehicle package (formerly known as azcar_sim) - - Jonathan Sprinkle - - BSD - - Jonathan Sprinkle - Rahul Bhadani - Sam Taylor - Kennon McKeever - Alex Warren - Swati Munjal - Ashley Kang - Matt Bunting - Sean Whitsitt - - catkin - autoware_build_flags - - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud - - controller_manager - gazebo_ros_control - geometry_msgs - position_controllers - roscpp - rospy - sensor_msgs - std_msgs - tf - transmission_interface - velocity_controllers - velodyne_pointcloud - - diff --git a/ros/src/system/gazebo/catvehicle/simulink/build_ros_model.sh b/ros/src/system/gazebo/catvehicle/simulink/build_ros_model.sh deleted file mode 100755 index 84606467702..00000000000 --- a/ros/src/system/gazebo/catvehicle/simulink/build_ros_model.sh +++ /dev/null @@ -1,126 +0,0 @@ -#!/bin/bash -# -# Copyright 2014-2015 The MathWorks, Inc. -ARCHIVE=$1 -CATKIN_WS=$2 - -catkinWorkspaceHelp() { - echo "" - echo "You can create a Catkin workspace as follows:" - echo " mkdir -p ~/catkin_ws/src" - echo " cd ~/catkin_ws/src" - echo " catkin_init_workspace" -} - - -commandUsage() { - echo "Usage: $(basename $0) ARCHIVE_NAME... CATKIN_WS..." - echo "Extract and build a C++ ROS node generated from a Simulink model." - echo "ARCHIVE_NAME is the name of the TGZ file generated from the Simulink model." - echo "CATKIN_WS is the full path to your ROS Catkin workspace." - echo "" - echo "Example:" - echo " ./$(basename $0) simulinkmodel.tgz ~/catkin_ws" -} - - -fullUsage() { - commandUsage - catkinWorkspaceHelp - exit -} - - -toLowerCase() { - echo $1 | tr '[A-Z]' '[a-z]' -} - -if [ -z $1 ] || ([ ! -z $1 ] && [ $1 = "-h" ] || [ $1 = "--help" ]) ; then - fullUsage - exit 0 -fi - -if [ ! $# -eq 2 ] ; then - echo "Expected two input arguments. Got $#." - fullUsage - exit 1 -fi - -# Check Catkin workspace -if [ ! -d "$CATKIN_WS" ] ; then - echo "The catkin workspace directory, "$CATKIN_WS", does not exist." - echo "Enter a valid catkin workspace directory." - catkinWorkspaceHelp - exit 1 -fi - -# Sanity check for CATKIN workspace -if [ ! -f "$CATKIN_WS"/src/CMakeLists.txt ] ; then - echo "The Catkin workspace directory, "$CATKIN_WS", is not a valid Catkin workspace." - echo "Enter a valid Catkin workspace directory." - catkinWorkspaceHelp - exit 1 -fi - -# Check Simulink archive -if [ ! -f "$ARCHIVE" ] ; then - echo "The archive, "$ARCHIVE", does not exist." - echo "Enter a valid Simulink model archive (.tgz file)." - echo "" - commandUsage - exit 1 -fi - -# Enforce that $ARCHIVE ends with .tgz, since the model -# name is derived by stripping off the .tgz extension -if [ ${ARCHIVE: -4} != ".tgz" ] ; then - echo "The archive, "$ARCHIVE", does not have a .tgz extension." - echo "Enter a valid Simulink model archive (.tgz file)." - echo "" - commandUsage - exit 1 -fi - -# Check if $ARCHIVE is a valid zip file -gzip -t $ARCHIVE 2> /dev/null -VALID_ZIP=$? -if [ $VALID_ZIP -ne 0 ] ; then - echo "The archive, "$ARCHIVE", is not a valid .tgz (tar zip) file." - echo "" - commandUsage - exit 1 -fi - -# Check for one of the standard files generated from Simulink -# (ert_main.cpp) -tar ztf $ARCHIVE | grep -q ert_main.cpp 2> /dev/null -VALID_SIMULINK_ARCHIVE=$? -if [ $VALID_SIMULINK_ARCHIVE -ne 0 ] ; then - echo "The archive, "$ARCHIVE", is not a valid Simulink model archive (.tgz file)." - echo "" - commandUsage - exit 1 -fi - -# $ARCHIVE appears to be valid. -# Extract and build it - -MODEL_NAME=$(toLowerCase $(basename $ARCHIVE .tgz)) -PROJECT_DIR="$CATKIN_WS/src/$MODEL_NAME" -echo "Catkin project directory: $PROJECT_DIR" - -# Extract files to catkin project directory -mkdir -p "$PROJECT_DIR" -rm -fr "$PROJECT_DIR"/* -tar -C "$PROJECT_DIR" -xf $ARCHIVE - -# Ensure that catkin_make will rebuild the executable -touch "$PROJECT_DIR"/*.cpp - -# Build the Simulink model as a catkin project -CURR_DIR=`pwd` -cd "$CATKIN_WS" -catkin_make "$MODEL_NAME"_node -cd "$CURR_DIR" - -exit 0 diff --git a/ros/src/system/gazebo/catvehicle/simulink/cameraExample.slx b/ros/src/system/gazebo/catvehicle/simulink/cameraExample.slx deleted file mode 100644 index f77cc9a8263..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/cameraExample.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/carFollower.slx b/ros/src/system/gazebo/catvehicle/simulink/carFollower.slx deleted file mode 100644 index 20b72f2625e..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/carFollower.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/car_speed_tested.slx b/ros/src/system/gazebo/catvehicle/simulink/car_speed_tested.slx deleted file mode 100644 index ccf64478994..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/car_speed_tested.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/catvehicle_hoffmannFollower.slx b/ros/src/system/gazebo/catvehicle/simulink/catvehicle_hoffmannFollower.slx deleted file mode 100644 index 02619cbde55..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/catvehicle_hoffmannFollower.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/circularPathPrototype.m b/ros/src/system/gazebo/catvehicle/simulink/circularPathPrototype.m deleted file mode 100644 index 3f90fa2c4d3..00000000000 --- a/ros/src/system/gazebo/catvehicle/simulink/circularPathPrototype.m +++ /dev/null @@ -1,12 +0,0 @@ -%% my test file -% To visualize the angles, run this code: -radius=3.6; start=[0 0]; -angles=linspace(-pi,pi,31); -r = radius*exp(angles*1j); -xs = real(r)-radius+start(1); -ys = imag(r)+start(2); -% since the direction of travel is in the 'x' direction, the -% heading (phi) matchines the angle of the circle -phis=(pi/2)+angles; -xends=cos(phis);yends=sin(phis); -figure;plot(xs,ys);hold on; quiver(xs,ys,xends,yends);axis equal;hold off \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/simulink/cmdvel2gazebo.slx b/ros/src/system/gazebo/catvehicle/simulink/cmdvel2gazebo.slx deleted file mode 100644 index 26df550d535..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/cmdvel2gazebo.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/controllerTester.slx b/ros/src/system/gazebo/catvehicle/simulink/controllerTester.slx deleted file mode 100644 index 48ce7ad9c14..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/controllerTester.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/deadMansSwitch_tester.slx b/ros/src/system/gazebo/catvehicle/simulink/deadMansSwitch_tester.slx deleted file mode 100644 index db15a39736c..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/deadMansSwitch_tester.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/obstacleStopper.slx b/ros/src/system/gazebo/catvehicle/simulink/obstacleStopper.slx deleted file mode 100644 index 2d300a780e6..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/obstacleStopper.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/plotData.m b/ros/src/system/gazebo/catvehicle/simulink/plotData.m deleted file mode 100644 index b9c2f2bd6bd..00000000000 --- a/ros/src/system/gazebo/catvehicle/simulink/plotData.m +++ /dev/null @@ -1,16 +0,0 @@ -% Author: Jonathan Sprinkle -% plots the distance outputs from a data file - -function plotData( timeseries ) - -% this timeseries is what we have -figure -hold on -plot(timeseries.dist); -plot(timeseries.velConverted); -plot(timeseries.vdot); -plot(timeseries.vout); -plot(timeseries.uTireAngle); -legend({'dist','velConverted','vdot','vout','uTireAngle'}); - -end \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/simulink/plotDistances.m b/ros/src/system/gazebo/catvehicle/simulink/plotDistances.m deleted file mode 100644 index 1f3597c8782..00000000000 --- a/ros/src/system/gazebo/catvehicle/simulink/plotDistances.m +++ /dev/null @@ -1,13 +0,0 @@ -% Author: Jonathan Sprinkle -% plots the distance outputs from a data file - -function plotDistances -load distances.mat -% this timeseries is what we have -figure -hold on -plot(DistanceEstimator.Data__signal_1_); -plot(DistanceEstimator.Data__signal_2_); -legend({'Distance','Angle (rad)'}); - -end \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/simulink/plotDisvout.m b/ros/src/system/gazebo/catvehicle/simulink/plotDisvout.m deleted file mode 100644 index 51b4e4ce37b..00000000000 --- a/ros/src/system/gazebo/catvehicle/simulink/plotDisvout.m +++ /dev/null @@ -1,13 +0,0 @@ -% Author: Jonathan Sprinkle -% plots the distance outputs from a data file - -function plotData( timeseries ) - -% this timeseries is what we have -figure -hold on -plot(timeseries.Data); -plot(timeseries.uVelOut); -legend({'Distance','VelOut'}); - -end \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/simulink/quickExample.slx b/ros/src/system/gazebo/catvehicle/simulink/quickExample.slx deleted file mode 100644 index 1f4fe507d66..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/quickExample.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/safeOpenLoopCircle.slx b/ros/src/system/gazebo/catvehicle/simulink/safeOpenLoopCircle.slx deleted file mode 100644 index 0602affcbf6..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/safeOpenLoopCircle.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/simulink/simpleStateFlowModel.slx b/ros/src/system/gazebo/catvehicle/simulink/simpleStateFlowModel.slx deleted file mode 100644 index a01ce4fe0f6..00000000000 Binary files a/ros/src/system/gazebo/catvehicle/simulink/simpleStateFlowModel.slx and /dev/null differ diff --git a/ros/src/system/gazebo/catvehicle/src/cmdvel2gazebo.py b/ros/src/system/gazebo/catvehicle/src/cmdvel2gazebo.py deleted file mode 100755 index 309d253a257..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/cmdvel2gazebo.py +++ /dev/null @@ -1,163 +0,0 @@ -#!/usr/bin/env python -# -# Author: Jonathan Sprinkle -# Copyright (c) 2015-2016 Arizona Board of Regents -# All rights reserved. -# -# Permission is hereby granted, without written agreement and without -# license or royalty fees, to use, copy, modify, and distribute this -# software and its documentation for any purpose, provided that the -# above copyright notice and the following two paragraphs appear in -# all copies of this software. -# -# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -# SUCH DAMAGE. -# -# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -# This node converts cmd_vel inputs to the vehicle to the ROS topics that -# are exposed in Gazebo for moving the vehicle in simulation. Notably, the -# inputs to Gazebo are to joints on the wheel, so there is a multiplier of -# 2.8101 that is applied to the joint's velocity whenever we try to move -# so that the output in Gazebo will match the desired input velocity. - -import rospy -from std_msgs.msg import String, Float64 -from geometry_msgs.msg import Twist, Pose -import sys, getopt, math - -class cmdvel2gazebo: - - def __init__(self,ns): - self.ns = ns - rospy.init_node('cmdvel2gazebo', anonymous=True) - - # the format(ns) looks for the namespace in the ros parameter server, I guess - rospy.Subscriber('cmd_vel'.format(ns), Twist, self.callback) - self.pub_steerL = rospy.Publisher('front_left_steering_position_controller/command'.format(ns), Float64, queue_size=1) - self.pub_steerR = rospy.Publisher('front_right_steering_position_controller/command'.format(ns), Float64, queue_size=1) - self.pub_rearL = rospy.Publisher('joint1_velocity_controller/command'.format(ns), Float64, queue_size=1) - self.pub_rearR = rospy.Publisher('joint2_velocity_controller/command'.format(ns), Float64, queue_size=1) - - # initial velocity and tire angle are 0 - self.x = 0 - self.z = 0 - - # TODO: get wheelbase and treadwidth from SDF or - # params database instead of hardcoded here - - # car Wheelbase (in m) - # simulator value matches the 'real' car - self.L = 2.62 - - # car Tread - # this value is from the car's manual - # self.T=1.55 - - # car Tread - # this value is from the simulator - self.T=1.301 - - # how many seconds delay for the dead man's switch - # TODO: set timeout from launch file or rosparam - self.timeout=rospy.Duration.from_sec(0.2); - self.lastMsg=rospy.Time.now() - - # we want maxsteer to be that of the "inside" tire, and since it is 0.6 in gazebo, we - # set our ideal steering angle max to be less than that, based on geometry - self.maxsteerInside=0.6; - # tan(maxsteerInside) = wheelbase/radius --> solve for max radius at this angle - rMax = self.L/math.tan(self.maxsteerInside); - # radius of inside tire is rMax, so radius of the ideal middle tire (rIdeal) is rMax+treadwidth/2 - rIdeal = rMax+(self.T/2.0) - # tan(angle) = wheelbase/radius - self.maxsteer=math.atan2(self.L,rIdeal) - # the ideal max steering angle we can command is now set - rospy.loginfo(rospy.get_caller_id() + " maximum ideal steering angle set to {0}.".format(self.maxsteer)) - - - def callback(self,data): - # 2.8101 is the gain factor in order to account for mechanical reduction of the tyres - self.x = 2.8101*data.linear.x - # constrain the ideal steering angle such that the ackermann steering is maxed out - self.z = max(-self.maxsteer,min(self.maxsteer,data.angular.z)) - self.lastMsg = rospy.Time.now() - - def publish(self): - # now that these values are published, we - # reset the velocity, so that if we don't hear new - # ones for the next timestep that we time out; note - # that the tire angle will not change - # NOTE: we only set self.x to be 0 after 200ms of timeout - if rospy.Time.now() - self.lastMsg > self.timeout: - # rospy.loginfo(rospy.get_caller_id() + " timed out waiting for new input, setting velocity to 0.") - self.x = 0 - return - - if self.z != 0: - T=self.T - L=self.L - # self.v is the linear *velocity* - r = L/math.fabs(math.tan(self.z)) - - rL = r-(math.copysign(1,self.z)*(T/2.0)); - rR = r+(math.copysign(1,self.z)*(T/2.0)) - msgRearR = Float64() - # the right tire will go a little faster when we turn left (positive angle) - # amount is proportional to the radius of the outside/ideal - msgRearR.data = self.x*rR/r; - msgRearL = Float64() - # the left tire will go a little slower when we turn left (positive angle) - # amount is proportional to the radius of the inside/ideal - msgRearL.data = self.x*rL/r; - - self.pub_rearL.publish(msgRearL) - self.pub_rearR.publish(msgRearR) - - msgSteerL = Float64() - msgSteerR = Float64() - # the left tire's angle is solved directly from geometry - msgSteerL.data = math.atan2(L,rL)*math.copysign(1,self.z) - self.pub_steerL.publish(msgSteerL) - - # the right tire's angle is solved directly from geometry - msgSteerR.data = math.atan2(L,rR)*math.copysign(1,self.z) - self.pub_steerR.publish(msgSteerR) - else: - # if we aren't turning, everything is easy! - msgRear = Float64() - msgRear.data = self.x; - self.pub_rearL.publish(msgRear) - self.pub_rearR.publish(msgRear) - - msgSteer = Float64() - msgSteer.data = self.z - - self.pub_steerL.publish(msgSteer) - self.pub_steerR.publish(msgSteer) -def usage(): - print('cmdvel2gazebo -n catvehicle') - - -def main(argv): - # we eventually get the ns (namespace) from the ROS parameter server for this node - ns='' - node = cmdvel2gazebo(ns) - rate = rospy.Rate(100) # run at 10Hz - while not rospy.is_shutdown(): - node.publish() - rate.sleep() - -if __name__ == '__main__': - main(sys.argv[1:]) - try: - listener('catvehicle') - except rospy.ROSInterruptException: - pass diff --git a/ros/src/system/gazebo/catvehicle/src/cont.cc b/ros/src/system/gazebo/catvehicle/src/cont.cc deleted file mode 100644 index dddcd60adb8..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/cont.cc +++ /dev/null @@ -1,221 +0,0 @@ -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -// JMS added Wrench for steering info -#include "geometry_msgs/Wrench.h" -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include "std_msgs/String.h" -#include "catvehicle/cont.hh" -#include - -using namespace std; - -//string logFile = "//home//"+std::string(getpwuid (getuid())->pw_name)+"//azcar_speed//vData.mat"; -//fstream logOut(logFile.c_str(),ios_base::out | ios_base::app); - -namespace gazebo -{ - CatSteering::CatSteering() - { - /*Rahul added default values of update rate of odometry data*/ - this->updateRate = 100.0; - this->prevUpdateTime = ros::Time::now(); - } - - void CatSteering::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) - { - // Store the pointer to the model - - this->model = _parent; - this->world = _parent->GetWorld(); - this->robotNamespace = ""; - - /* Rahul Added updateRate tag in urdf file which can be used to control the publishing rate of - odometry data. Following code reads the update rate value from urdf file and check if they - are factor of real time update rate specified in the gazebo. If they are not just print - warning message and proceed gracefully - */ - physicsEngine = (this->world)->GetPhysicsEngine(); - //get the update rate from sdf - if (_sdf->HasElement("updateRate")) - { - this->updateRate = _sdf->GetElement("updateRate")->Get(); - //TO DO: Check if gazebo's update rate is multiple of update rate specified in the urdf file. - if( fmod(physicsEngine->GetRealTimeUpdateRate(), this->updateRate) != 0) - { - ROS_WARN_STREAM("updateRate in urdf file is not a factor of real time update rate specified in gazebo"); - ROS_WARN("update rate = %f",this->updateRate); - } - else - { - ROS_INFO("update rate = %f",this->updateRate); - } - } - // get namespace from urdf .gazebo file which is actually passed to .gazebo file from .launch file - if (_sdf->HasElement("robotNamespace")) - { - this->robotNamespace = _sdf->GetElement("robotNamespace")->Get(); - } - this->speedTopic = this->robotNamespace + "/vel"; - - this->tireTopic = this->robotNamespace + "/steering"; - - this->odomTopic = this->robotNamespace + "/odom"; - - // this->tfScope = this->robotNamespace.substr(1,this->robotNamespace.size()-1); - this->tfScope = ""; - - - //Start up ros_node - int argc = 0; - char** argv = NULL; - ros::init(argc, argv, "cat_sim", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName); - rosnode_ = new ros::NodeHandle(this->robotNamespace); - - ros_pub = rosnode_->advertise(speedTopic, 1); - steering_pub = rosnode_->advertise(tireTopic, 1); - odom_pub = rosnode_->advertise(odomTopic, 1); - - - //rosnode_ = new ros::NodeHandle(robot_namespace); - this->ros_spinner_thread_ = boost::thread( boost::bind( &CatSteering::CatVehicleSimROSThread, this ) ); - } //end Load - - void CatSteering::CatVehicleSimROSThread() - { - ROS_INFO_STREAM("$ Callback thread id=" << boost::this_thread::get_id()); - - //Added by Rahul - ros::NodeHandle nodehandle; - //modelRead calback function is necessary in order to get instantaneous velocity vector - ros::Subscriber sub = nodehandle.subscribe("gazebo/model_states", 1, &CatSteering::modelRead, this); - - ros::Rate loop_rate(10); - - while (this->rosnode_->ok()) - { - ros::spinOnce(); - loop_rate.sleep( ); - } - } //end CatVehicleSimROSThread - - //Added by Rahul - void CatSteering::modelRead(const gazebo_msgs::ModelStates::ConstPtr& msg) - { - - /* Rahul added code to control the update rate of odometry data*/ - ros::Duration duration = ros::Time::now() - this->prevUpdateTime; - if (duration.toSec() < 1.0/(this->updateRate)) - { - return; - } - - - // gazebo::common::Time::MSleep(10); - - - ros::Time current_time = ros::Time::now(); - vector modelNames = msg->name; - int index=-1; - - // figure out which index we are in the msg list of model states - for( int i=0; irobotNamespace == std::string("/"+modelNames[i]) ) - { - // ROS_INFO_STREAM(this->robotNamespace << " comparing to " << std::string("/"+modelNames[i]) << "[" << i << "]"); - index = i; - } - } - - double Vx, Vy, Vz, V; - //Variable to story velocity vector that will be used for publishing on speed topic - geometry_msgs::Twist out_vel; - // JMS: output to give steering information - geometry_msgs::Wrench steering_msg; - - linear_vel = model->GetRelativeLinearVel(); - angular_vel = model->GetRelativeAngularVel(); - Vx = out_vel.linear.x = linear_vel.x; - Vy = out_vel.linear.y = linear_vel.y; - Vz = out_vel.linear.z = linear_vel.z; - out_vel.angular.x = angular_vel.x; - out_vel.angular.y = angular_vel.y; - out_vel.angular.z = angular_vel.z; - V = sqrt(Vx*Vx + Vy*Vy + Vz*Vz); - - - //Publish the velocity as string to speed topic - ros_pub.publish(out_vel); - // logOut << V << ";\n"; - - // JMS: get information about the steering joints - physics::JointPtr steering_joints[2]; - steering_joints[0] = model->GetJoint("front_left_steering_joint"); - steering_joints[1] = model->GetJoint("front_right_steering_joint"); - //physics::JointState j_state0 = new physics::JointState(steering_joints[0]); - //physics::JointState j_state1 = new physics::JointState(steering_joints[1]); - - double a0,a1; - a0 = steering_joints[0]->GetAngle(0).Radian(); - a1 = steering_joints[1]->GetAngle(0).Radian(); - // average these values, though in most modes they will be equal - - steering_msg.torque.z = (a0+a1)/2.0; - steering_pub.publish(steering_msg); - - if( index == -1 ) - { - ROS_ERROR_STREAM("Unable to find odometry for model name " << this->robotNamespace << "=" << index); - } - else - { - static tf::TransformBroadcaster br; - tf::Transform transform; - transform.setOrigin( tf::Vector3(msg->pose[index].position.x, - msg->pose[index].position.y, - msg->pose[index].position.z) ); - tf::Quaternion q(msg->pose[index].orientation.x, - msg->pose[index].orientation.y, - msg->pose[index].orientation.z, - msg->pose[index].orientation.w); - transform.setRotation(q); - br.sendTransform(tf::StampedTransform(transform, current_time, - this->tfScope + "/odom", - this->tfScope + "/base_link") ); - // br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), - // this->tfScope + "/odom", - // this->tfScope + "/base_link") ); - - // grab the odometry from the incoming msg and post it - nav_msgs::Odometry odom; - odom.header.stamp = current_time; - odom.header.frame_id = this->tfScope + "/odom"; - // we calculate our index in the pose msg by - odom.child_frame_id = this->tfScope + "/base_link"; - odom.pose.pose = msg->pose[index]; - odom.twist.twist = msg->twist[index]; - - odom_pub.publish(odom); - /* Rahul added variable to save the time of last update of odometry data*/ - this->prevUpdateTime = ros::Time::now(); - } - } - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(CatSteering) -} diff --git a/ros/src/system/gazebo/catvehicle/src/cont_lead.cc b/ros/src/system/gazebo/catvehicle/src/cont_lead.cc deleted file mode 100644 index ab31a1c061f..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/cont_lead.cc +++ /dev/null @@ -1,105 +0,0 @@ -#include -#include -#include -#include -#include -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include -#include -//#include - -#include "cont_lead.hh" - -namespace gazebo -{ - void LeadSteering::Load(physics::ModelPtr _parent, sdf::ElementPtr /*_sdf*/) - { - // Store the pointer to the model - model = _parent; - -// prev_angle = 0.0; - angle = 0.0; -// cur_angle = 0.0; - - // Get Pointer to the for jointcontroller - j_cont = new physics::JointController(model); - - //Get pointers at joints - steering_joints[0] = model->GetJoint("front_left_steering_joint"); - steering_joints[1] = model->GetJoint("front_right_steering_joint"); - - // Listen to the update event. This event is broadcast every - // simulation iteration. - this->updateConnection = event::Events::ConnectWorldUpdateBegin( - boost::bind(&LeadSteering::OnUpdate, this, _1)); - - - //Start up ros_node - std::string robot_namespace = "/"; - int argc = 0; - char** argv = NULL; - ros::init(argc, argv, "lead_sim", ros::init_options::NoSigintHandler | ros::init_options::AnonymousName); - rosnode_ = new ros::NodeHandle(robot_namespace); - this->ros_spinner_thread_ = boost::thread( boost::bind( &LeadSteering::LeadVehicleSimROSThread,this ) ); - } //end Load - - // Called by the world update start event - void LeadSteering::OnUpdate(const common::UpdateInfo & /*_info*/) - { -// SteeringSmooth(); - j_cont->SetJointPosition(steering_joints[0], angle); - j_cont->SetJointPosition(steering_joints[1], angle); - } //end OnUpdate - - void LeadSteering::LeadVehicleSimROSThread() - { - ROS_INFO_STREAM("Callback thread id=" << boost::this_thread::get_id()); - std::string topic_name = "cmd_str_lead"; - sub_ = rosnode_->subscribe(topic_name, 1000, &LeadSteering::Callback, this); - - while (this->rosnode_->ok()) - { - usleep(1000); - ros::spinOnce(); - } - } //end LeadVehicleSimROSThread - - - void LeadSteering::Callback(const geometry_msgs::Twist::ConstPtr& msg) - { - float ang = msg->angular.z; - angle = ang; -// cur_angle = ang; -// SteeringSmooth(); - } //end Callback - -/* void LeadSteering::SteeringSmooth() - { - double mini = 0.01; - difference = cur_angle - prev_angle; - - if( ( abs(difference) > mini ) && ( difference > 0.0) ) - { - prev_angle += mini; - angle = prev_angle; - usleep(1000); - SteeringSmooth(); - } - else if( ( abs(difference) > mini ) && ( difference < 0.0) ) - { - prev_angle -= mini; - angle = prev_angle; - usleep(2000); - SteeringSmooth(); - } - else - { - angle = cur_angle; - prev_angle = angle; - } - }*/ - - // Register this plugin with the simulator - GZ_REGISTER_MODEL_PLUGIN(LeadSteering) -} diff --git a/ros/src/system/gazebo/catvehicle/src/distanceEstimator.cpp b/ros/src/system/gazebo/catvehicle/src/distanceEstimator.cpp deleted file mode 100644 index 43a1f87f8fa..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/distanceEstimator.cpp +++ /dev/null @@ -1,166 +0,0 @@ -// Author: Jonathan Sprinkle -// This (very simple) node reads a laser scan, and -// publishes the distance to the nearest point -// -// TODO: ensure nearest few points are somewhat close -// TODO: what to return if no closest points? -// TODO: enable angle range we care about -// TODO: enable distance range we care about - -#include "ros/ros.h" -#include "std_msgs/Float32.h" -#include "sensor_msgs/LaserScan.h" - -#include -#include - - -// this global var holds the distance -std_msgs::Float32 angle; -std_msgs::Float32 dist; -std_msgs::Float32 dist_1; -std_msgs::Float32 vel; -std_msgs::Float32 vel_1; -std_msgs::Float32 accel; -ros::Time lastUpdate; -bool newMessage; -double angle_min; -double angle_max; - -// This very simple callback looks through the data array, and then -// returns the value (not the index) of that distance -void scanCallback( const sensor_msgs::LaserScan::ConstPtr& scan ) -{ - - // update what was 1 time ago - dist_1 = dist; - vel_1 = vel; - lastUpdate = scan->header.stamp; -// ROS_INFO_STREAM(lastUpdate); - newMessage = true; - dist.data = scan->range_max; - angle.data = scan->angle_min; - float angle_tmp=scan->angle_min; - float inc = scan->angle_increment; - for( std::vector::const_iterator it=scan->ranges.begin(); - it!=scan->ranges.end(); it++, angle_tmp=angle_tmp+inc ) - { - if( dist.data > *it && *it > scan->range_min - && angle_tmp > angle_min && angle_tmp < angle_max - ) - { - dist.data = *it; - angle.data = angle_tmp; - } - } - - // HACK update from 0.02 to reflect actual time - // if the distance is greater now than before, then - // vel is greater (i.e., they are moving away from us) - vel.data = (dist.data - dist_1.data)/0.02; - // if vel is greater now than it was before, then - // accel is greater (i.e., they are accel away from us) - accel.data = (vel.data - vel_1.data)/0.02; -} - -int main( int argc, char **argv ) -{ - // initialize global vars - dist.data = dist_1.data = 0; - vel.data = vel_1.data = 0; - accel.data = 0; - - std::string scan_topic; - std::string dist_topic; - std::string angle_topic; - - /** - * The ros::init() function needs to see argc and argv so that it can perform - * any ROS arguments and name remapping that were provided at the command line. For programmatic - * remappings you can use a different version of init() which takes remappings - * directly, but for most command-line programs, passing argc and argv is the easiest - * way to do it. The third argument to init() is the name of the node. - * - * You must call one of the versions of ros::init() before using any other - * part of the ROS system. - */ - ros::init(argc, argv, "DistanceEstimator"); - - /** - * NodeHandle is the main access point to communications with the ROS system. - * The first NodeHandle constructed will fully initialize this node, and the last - * NodeHandle destructed will close down the node. - */ -// ros::NodeHandle n; - // set up the handle for this node, in order to publish information - // the node handle is retrieved from the parameters in the .launch file, - // but we have to initialize the handle to have the name in that file. - ros::NodeHandle n("~"); - - /** - * The advertise() function is how you tell ROS that you want to - * publish on a given topic name. This invokes a call to the ROS - * master node, which keeps a registry of who is publishing and who - * is subscribing. After this advertise() call is made, the master - * node will notify anyone who is trying to subscribe to this topic name, - * and they will in turn negotiate a peer-to-peer connection with this - * node. advertise() returns a Publisher object which allows you to - * publish messages on that topic through a call to publish(). Once - * all copies of the returned Publisher object are destroyed, the topic - * will be automatically unadvertised. - * - * The second parameter to advertise() is the size of the message queue - * used for publishing messages. If messages are published more quickly - * than we can send them, the number here specifies how many messages to - * buffer up before throwing some away. - */ - n.param("dist_topic", dist_topic, std::string("dist")); - n.param("angle_topic", angle_topic, std::string("angle")); - n.param("scan_topic", scan_topic, std::string("/scan")); -// n.param("angle_min", angle_min, -M_PI/32.0f); -// n.param("angle_max", angle_max, M_PI/32.0f); - n.param("angle_min", angle_min, -0.1); - n.param("angle_max", angle_max, 0.1); - - ROS_INFO_STREAM("Node namespace is " << ros::this_node::getNamespace()); - ROS_INFO_STREAM("Node name is " << ros::this_node::getName( ) ); - - -// TODO: make this not just a float value - ros::Publisher dist_pub = n.advertise(dist_topic, 1); - ros::Publisher angle_pub = n.advertise(angle_topic, 1); - - // we also want to subscribe to the signaller - ros::Subscriber sub = n.subscribe(scan_topic, 1, &scanCallback); - - ROS_INFO_STREAM("Looking for scan in topic " << scan_topic); - ROS_INFO_STREAM("Publishing estimated distance to target in topic " << ros::this_node::getName( ) << "/" << dist_topic); - ROS_INFO_STREAM("Publishing estimated angle to target in topic " << ros::this_node::getName( ) << "/" << angle_topic); - - // run at 50Hz? - ros::Rate loop_rate(1000); - lastUpdate = ros::Time(); - newMessage = false; - - while( ros::ok() ) - { -// ROS_INFO( "Nearest object=%lf", dist ); - - // TODO: publish only if the time stamp is newer from the sensor - double eps = (double)1/(double)100; // the epsilon time that is 'equal' in diff - if( newMessage ) - { - dist_pub.publish(dist); - angle_pub.publish(angle); - newMessage = false; - } -// vel_pub.publish(vel); -// accel_pub.publish(accel); - ros::spinOnce( ); - loop_rate.sleep( ); - - } - - return EXIT_SUCCESS; -} - diff --git a/ros/src/system/gazebo/catvehicle/src/joy2cmdvel.py b/ros/src/system/gazebo/catvehicle/src/joy2cmdvel.py deleted file mode 100755 index bd7fa12107c..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/joy2cmdvel.py +++ /dev/null @@ -1,82 +0,0 @@ -#!/usr/bin/env python -# -# Author: Jonathan Sprinkle -# Copyright (c) 2015-2016 Arizona Board of Regents -# All rights reserved. -# -# Permission is hereby granted, without written agreement and without -# license or royalty fees, to use, copy, modify, and distribute this -# software and its documentation for any purpose, provided that the -# above copyright notice and the following two paragraphs appear in -# all copies of this software. -# -# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -# SUCH DAMAGE. -# -# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - - - -import rospy -from std_msgs.msg import String, Float64 -from geometry_msgs.msg import Twist, Pose -from sensor_msgs.msg import Joy -import sys, getopt - -# requires the ros-kinetic-joysticks - -class joy2cmdvel: - - def __init__(self): - rospy.init_node('joy2cmdvel', anonymous=True) - - self.ns = rospy.get_param("~namespace","catvehicle") - self.velmax = rospy.get_param("~velmax",3) - - rospy.loginfo(rospy.get_caller_id() + " startup in namespace {0} with max velocity {1}".format(self.ns,self.velmax)) - - - rospy.Subscriber('/joy'.format(self.ns), Joy, self.callback) - self.pub_cmdvel = rospy.Publisher('{0}/cmd_vel'.format(self.ns), Twist, queue_size=1) - - self.x = 0 - self.z = 0 - - def callback(self,data): -# rospy.loginfo(rospy.get_caller_id() + " heard linear=%lf, angular=%lf", data.axes[3], data.axes[0]) - self.x = data.axes[3]*self.velmax - self.z = data.axes[0] - - def publish(self): - msgTwist = Twist() - msgTwist.linear.x = self.x - msgTwist.angular.z = self.z - self.pub_cmdvel.publish(msgTwist) - -def usage(): - print('joy2cmdvel -n catvehicle') - - -def main(argv): - - node = joy2cmdvel() - rate = rospy.Rate(100) # run at 100Hz - while not rospy.is_shutdown(): - node.publish() - rate.sleep() - -if __name__ == '__main__': - main(sys.argv[1:]) - try: - listener('catvehicle') - except rospy.ROSInterruptException: - pass - - diff --git a/ros/src/system/gazebo/catvehicle/src/leadercmd.cc b/ros/src/system/gazebo/catvehicle/src/leadercmd.cc deleted file mode 100644 index 4e00290553d..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/leadercmd.cc +++ /dev/null @@ -1,55 +0,0 @@ -/* Author: Rahul Kumar Bhadani - * This code applies velocity profile to the leader car -*/ - -#include "ros/ros.h" -#include "geometry_msgs/Twist.h" -#include "nav_msgs/Odometry.h" - -#include -#include - - -// this global var holds the distance -geometry_msgs::Twist leader_vel; - - - -int main( int argc, char **argv ) -{ - ros::init(argc, argv, "leadercmd"); - - ros::NodeHandle n; - - std::string leader_InputVel_topic="/catvehicle/cmd_vel"; - - - ros::Publisher leader_vel_pub = n.advertise(leader_InputVel_topic, 1); - - ros::Rate loop_rate(100); - - double bias = 3.0; - double sinecomp = 0.0; - double t = 0; - double pi = 3.14159265359; - while( ros::ok() ) - { - if(t > 100) - { - t = 0.0; - } - sinecomp = sin(t*5/(2*pi)); - t += 0.005; - - - leader_vel.linear.x = bias + sinecomp; - - leader_vel_pub.publish(leader_vel); - ros::spinOnce( ); - loop_rate.sleep( ); - - } - - return EXIT_SUCCESS; -} - diff --git a/ros/src/system/gazebo/catvehicle/src/odom2path.py b/ros/src/system/gazebo/catvehicle/src/odom2path.py deleted file mode 100755 index 4af2f63964a..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/odom2path.py +++ /dev/null @@ -1,136 +0,0 @@ -#!/usr/bin/env python -# -# Author: Jonathan Sprinkle -# Copyright (c) 2015-2016 Arizona Board of Regents -# All rights reserved. -# -# Permission is hereby granted, without written agreement and without -# license or royalty fees, to use, copy, modify, and distribute this -# software and its documentation for any purpose, provided that the -# above copyright notice and the following two paragraphs appear in -# all copies of this software. -# -# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -# SUCH DAMAGE. -# -# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -# This node will publish the path in which you've traveled. The publishing -# happens at 10Hz, unless no connection to odometry exists. -# The published path is appended whenever the odometry differs by at least -# 1m in the L1 norm---i.e., x or y changes by 1m---from the last point in the -# published path. - -import rospy -from std_msgs.msg import String, Header -from geometry_msgs.msg import Twist, Pose, PoseStamped -from nav_msgs.msg import Path, Odometry -import sys, getopt - -class odom2path: - - def __init__(self,ns): - self.ns = ns - rospy.init_node('odom2path', anonymous=True) - - # set so that whenever we receive on the odom topic, - # the callback method is called - rospy.Subscriber('odom'.format(ns), Odometry, self.callback) - # setup the state data for the publisher - self.pub_path = rospy.Publisher('path'.format(ns), Path, queue_size=10) - # we want to publish immediately when we receive a new data point - self.publishNow = True - # initialize the path message and its header - self.pathMsg = Path() - self.pathMsg.header = Header() - # initial values are not provided (set to None) - self.x = None - self.y = None - - # This method is called whenever we receive from the subscriber above - def callback(self,data): - # we always publish right away - self.publishNow = True - # increment the header's sequence - self.pathMsg.header.seq += 1 - # using rospy.Time means automatically getting sim time as appropriate - self.pathMsg.header.stamp = rospy.Time.now() - # the odometry frame is set here - # TODO: set a parameter for the odometry frame - self.pathMsg.header.frame_id = '{0}/odom'.format(self.ns) - - # Note that we append a new pose to the path ONLY if the position - # has moved more than 1m from its previous spot (L1 norm) - if self.x == None or (abs(self.x - data.pose.pose.position.x) > 1 - or abs(self.y - data.pose.pose.position.y) > 1): - pose = PoseStamped() - - # copy over the values individually - pose.header.frame_id='{0}/odom'.format(self.ns) - pose.header.seq= len(self.pathMsg.poses)+1 - pose.header.stamp = rospy.Time.now() - pose.pose.position.x = float(data.pose.pose.position.x) - pose.pose.position.y = float(data.pose.pose.position.y) - pose.pose.orientation.x = float(data.pose.pose.orientation.x) - pose.pose.orientation.y = float(data.pose.pose.orientation.y) - pose.pose.orientation.z = float(data.pose.pose.orientation.z) - pose.pose.orientation.w = float(data.pose.pose.orientation.w) - - self.pathMsg.poses.append(pose) - - self.x = float(data.pose.pose.position.x) - self.y = float(data.pose.pose.position.y) - - # refer to the publishNow var, which is set during the receipt of a new msg - def publish(self): - if self.publishNow: - rospy.logdebug(rospy.get_caller_id() + " publishing new path with {0} elements.".format(len(self.pathMsg.poses))) - self.pub_path.publish(self.pathMsg) - # after we publish, we ensure to wait until a new odom point arrives - self.publishNow = False - -def usage(): - print('odom2path -n catvehicle') - - -def main(argv): - # here we must acquire the ns from the cmd line, so that we can - # ensure that we use the right frame for the tf of the path msgs - ns='' - try: - opts, args = getopt.getopt(argv, "hn:", ["help", "namespace="]) - except getopt.GetoptError: - usage() - exit.sys() - - for o, a in opts: - if o == "help": - usage() - exit.sys() - elif o in ("-n","-namespace"): - ns=a - else: - usage() - exit.sys() - - node = odom2path(ns) - rate = rospy.Rate(10) # run at 10Hz - while not rospy.is_shutdown(): - node.publish() - rate.sleep() - -if __name__ == '__main__': - main(sys.argv[1:]) - try: - listener('catvehicle') - except rospy.ROSInterruptException: - pass - - diff --git a/ros/src/system/gazebo/catvehicle/src/primitiveCmdVel.py b/ros/src/system/gazebo/catvehicle/src/primitiveCmdVel.py deleted file mode 100755 index 019909b09bf..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/primitiveCmdVel.py +++ /dev/null @@ -1,99 +0,0 @@ -#!/usr/bin/env python -# -# Author: Jonathan Sprinkle -# Copyright (c) 2015 Arizona Board of Regents -# All rights reserved. -# -# Permission is hereby granted, without written agreement and without -# license or royalty fees, to use, copy, modify, and distribute this -# software and its documentation for any purpose, provided that the -# above copyright notice and the following two paragraphs appear in -# all copies of this software. -# -# IN NO EVENT SHALL THE ARIZONA BOARD OF REGENTS BE LIABLE TO ANY PARTY -# FOR DIRECT, INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES -# ARISING OUT OF THE USE OF THIS SOFTWARE AND ITS DOCUMENTATION, EVEN -# IF THE ARIZONA BOARD OF REGENTS HAS BEEN ADVISED OF THE POSSIBILITY OF -# SUCH DAMAGE. -# -# THE ARIZONA BOARD OF REGENTS SPECIFICALLY DISCLAIMS ANY WARRANTIES, -# INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY -# AND FITNESS FOR A PARTICULAR PURPOSE. THE SOFTWARE PROVIDED HEREUNDER -# IS ON AN "AS IS" BASIS, AND THE ARIZONA BOARD OF REGENTS HAS NO OBLIGATION -# TO PROVIDE MAINTENANCE, SUPPORT, UPDATES, ENHANCEMENTS, OR MODIFICATIONS. - -# This node generates cmd_vel inputs to the vehicle in order to make it move -# around. Use the arrow keys to make the vehicle turn its wheels, move forward, -# or backward. If you want to move forward (but turn left), first press the left -# arrow key, then press up. - -import rospy -from geometry_msgs.msg import Twist -import sys, getopt, curses - -class primitiveCmdVel: - - def __init__(self,ns): - self.ns = ns - rospy.init_node('primitiveCmdVel', anonymous=True) - self.pub_cmd_vel = rospy.Publisher('{0}/cmd_vel'.format(ns), Twist, queue_size=1) - - self.x = 0 - self.z = 0 - - def publish(self): - msg = Twist() - msg.linear.x = self.x - msg.angular.z = self.z - self.pub_cmd_vel.publish(msg) - -def usage(): - print('primitiveCmdVel -n catvehicle') - - -def main(argv): - ns='catvehicle' - try: - opts, args = getopt.getopt(argv, "hn:", ["help", "namespace="]) - except getopt.GetoptError: - usage() - exit.sys() - - stdscr = curses.initscr() - node = primitiveCmdVel(ns) - while not rospy.is_shutdown(): - -# import curses -#stdscr = curses.initscr() -#c = stdscr.getch() -#print 'you entered', chr(c) -#curses.endwin() - - ch = stdscr.getch() - -# ch = sys.stdin.read(1) - node.x = 4 - node.z = 0 - # left arrow - if ch == chr(37): - node.z = 1 - # up arrow - elif ch == chr(38): - node.x = node.x - # right arrow - elif ch == chr(39): - node.z = -1 - # down arrow - elif ch == chr(40): - node.x = -node.x - else: - curses.endwin() - - node.publish() - - curses.endwin() - -if __name__ == '__main__': - main(sys.argv[1:]) - - diff --git a/ros/src/system/gazebo/catvehicle/src/resetSim.sh b/ros/src/system/gazebo/catvehicle/src/resetSim.sh deleted file mode 100755 index 49289eb31ac..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/resetSim.sh +++ /dev/null @@ -1,3 +0,0 @@ -#!/bin/bash - -rosservice call /gazebo/reset_world diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/README.txt b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/README.txt deleted file mode 100644 index a64474c58f6..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/README.txt +++ /dev/null @@ -1,7 +0,0 @@ -Author: Jonathan Sprinkle - -This tests directory contains tests that command the simulated car in -Gazebo using only commands to the low-level joints and transmissions on -the simulated car. - -The tests will run ONLY when the cmdvel2gazebo.py node is not running. diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdSimpleTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdSimpleTest.sh deleted file mode 100755 index 8eb6b92f6b3..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdSimpleTest.sh +++ /dev/null @@ -1,40 +0,0 @@ -#!/bin/bash - -NS=catvehicle$1 -CL=front_left_steering_position_controller -CR=front_right_steering_position_controller -R=0.57 - -echo "Tires right" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: -${R}" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: -${R}" - -echo "Tires front" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: 0.0" - -echo "Tires left" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: ${R}" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: ${R}" - -echo "Tires front" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: 0.0" - - -echo "Move forward" -rostopic pub -1 /${NS}/joint1_velocity_controller/command std_msgs/Float64 "data: 1.0" & -rostopic pub -1 /${NS}/joint2_velocity_controller/command std_msgs/Float64 "data: 1.0" - -echo "Now stopping" -rostopic pub -1 /${NS}/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - -echo "Move backward" -rostopic pub -1 /${NS}/joint1_velocity_controller/command std_msgs/Float64 "data: -1.0" & -rostopic pub -1 /${NS}/joint2_velocity_controller/command std_msgs/Float64 "data: -1.0" - -echo "Now stopping" -rostopic pub -1 /${NS}/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireRateTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireRateTest.sh deleted file mode 100755 index 762b0de72d5..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireRateTest.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -echo "Tires right" -rostopic pub -1 /catvehicle/front_left_steering_controller/command std_msgs/Float64 "data: -1.0" & -rostopic pub -1 /catvehicle/front_right_steering_controller/command std_msgs/Float64 "data: -1.0" - -echo "Tires front" -rostopic pub -1 /catvehicle/front_left_steering_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/front_right_steering_controller/command std_msgs/Float64 "data: 0.0" - -echo "Tires left" -rostopic pub -1 /catvehicle/front_left_steering_controller/command std_msgs/Float64 "data: 1.0" & -rostopic pub -1 /catvehicle/front_right_steering_controller/command std_msgs/Float64 "data: 1.0" - -echo "Tires front" -rostopic pub -1 /catvehicle/front_left_steering_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/front_right_steering_controller/command std_msgs/Float64 "data: 0.0" - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireTest.sh deleted file mode 100755 index 13c1f56ab76..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdTireTest.sh +++ /dev/null @@ -1,23 +0,0 @@ -#!/bin/bash - -NS=catvehicle$1 -CL=front_left_steering_position_controller -CR=front_right_steering_position_controller -R=10.0 - -echo "Tires right" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: -${R}" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: -${R}" - -echo "Tires front" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: 0.0" - -echo "Tires left" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: ${R}" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: ${R}" - -echo "Tires front" -rostopic pub -1 /${NS}/${CL}/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /${NS}/${CR}/command std_msgs/Float64 "data: 0.0" - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelFastTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelFastTest.sh deleted file mode 100755 index 0c17bcb9ff7..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelFastTest.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -echo "Move forward" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 50.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 50.0" - -echo "Now stopping" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - -echo "Move backward" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: -50.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: -50.0" - -echo "Now stopping" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelTest.sh deleted file mode 100755 index 80e7bfd0447..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/cmdVelTest.sh +++ /dev/null @@ -1,18 +0,0 @@ -#!/bin/bash - -echo "Move forward" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 10.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 10.0" - -echo "Now stopping" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - -echo "Move backward" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: -10.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: -10.0" - -echo "Now stopping" -rostopic pub -1 /catvehicle/joint1_velocity_controller/command std_msgs/Float64 "data: 0.0" & -rostopic pub -1 /catvehicle/joint2_velocity_controller/command std_msgs/Float64 "data: 0.0" - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/runCmdTests.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/runCmdTests.sh deleted file mode 100755 index eae7a79ac90..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmdTests/runCmdTests.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/bin/bash - -./cmdSimpleTest.sh - -./cmdTireTest.sh - -./cmdVelTest.sh - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/README.txt b/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/README.txt deleted file mode 100644 index 84871c382ae..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/README.txt +++ /dev/null @@ -1,5 +0,0 @@ -Author: Jonathan Sprinkle - -Sends cmd_vel message tests. These tests will only run correctly when -the cmdvel2gazebo node is running. - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdSimpleTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdSimpleTest.sh deleted file mode 100755 index e5d9531137b..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdSimpleTest.sh +++ /dev/null @@ -1,14 +0,0 @@ -#!/bin/bash - -NS=/$1 - -if [ $# -eq 1 ]; then - NS=/catvehicle -fi - - -echo 'Car' $NS ' should move forward for a few seconds' -rostopic pub -r 10 -f forward.bagy $NS/cmd_vel geometry_msgs/Twist -echo 'Car should move in reverse for a few seconds' -rostopic pub -r 10 -f reverse.bagy $NS/cmd_vel geometry_msgs/Twist -echo 'Car should stop' diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdTireTest.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdTireTest.sh deleted file mode 100755 index 9b8c6f5efed..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/cmdTireTest.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/bin/bash - -NS=/$1 - -echo "Tires right" -rostopic pub -1 $NS/cmd_vel geometry_msgs/Twist '{linear : {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: -0.4}}' - -echo "Tires front" -rostopic pub -1 $NS/cmd_vel geometry_msgs/Twist '{linear : {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' - -echo "Tires left" -rostopic pub -1 $NS/cmd_vel geometry_msgs/Twist '{linear : {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.4}}' - -echo "Tires front" -rostopic pub -1 $NS/cmd_vel geometry_msgs/Twist '{linear : {x: 0.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}' - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/forward.bagy b/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/forward.bagy deleted file mode 100644 index 3951cff0f33..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/forward.bagy +++ /dev/null @@ -1,1791 +0,0 @@ -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: 1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - 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x: -1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- -linear: - x: -1.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 0.0 ---- diff --git a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/runTests.sh b/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/runTests.sh deleted file mode 100755 index ea01052a93f..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/cmd_velTests/runTests.sh +++ /dev/null @@ -1,7 +0,0 @@ -#!/bin/bash - -./cmdSimpleTest.sh catvehicle - -./cmdTireTest.sh catvehicle - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.bagy b/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.bagy deleted file mode 100644 index e3783e62165..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.bagy +++ /dev/null @@ -1,15552 +0,0 @@ -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - 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x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- -linear: - x: 3.0 - y: 0.0 - z: 0.0 -angular: - x: 0.0 - y: 0.0 - z: 1.0 ---- diff --git a/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.sh b/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.sh deleted file mode 100755 index 246e9caffb0..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/openloop/hardLeft.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -function usage() -{ -cat << EOF -usage: hardLeft.sh -r PUBRATE -n NAMESPACE - -PUBRATE is the rate at which to publish the bagy file. Default is 100. If you - want to run a simulation at 0.1 of real time, set this to 10, for example. -NAMESPACE is the robot name. Default is catvehicle -EOF -} - -NS=/catvehicle -PUBRATE=100 - -while getopts n:r: flag; do - case $flag in - n) - NS=/$OPTARG - ;; - r) - PUBRATE=$OPTARG - ;; - ?) - usage; - exit; - ;; - esac -done - -echo "Car $NS receiving inputs with latched rate" -rostopic pub -r ${PUBRATE} -f hardLeft.bagy $NS/cmd_vel_safe geometry_msgs/Twist - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/comparison.m b/ros/src/system/gazebo/catvehicle/src/tests/slomo/comparison.m deleted file mode 100644 index 40107dab3af..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/comparison.m +++ /dev/null @@ -1,83 +0,0 @@ -% Author: Jonathan Sprinkle -% Compares bag files from several experiments in gazebo using the same -% inputs - -%% load the bagfiles - -% realtime1000 = rosbag('simpleGazeboInputs/realtime1000.bag'); -% realtime100 = rosbag('simpleGazeboInputs/realtime100.bag'); -% slowtime1000 = rosbag('simpleGazeboInputs/slowtime1000.bag'); -% slowtime100 = rosbag('simpleGazeboInputs/slowtime100.bag'); - -% realtime1000 = rosbag('complexGazeboInputs/realtime1000.bag'); -% realtime100 = rosbag('complexGazeboInputs/realtime100.bag'); -% slowtime1000 = rosbag('complexGazeboInputs/slowtime1000.bag'); -% slowtime100 = rosbag('complexGazeboInputs/slowtime100.bag'); -% realtime100_5000 = rosbag('complexGazeboInputs/realtime100-5000.bag'); -% realtime100_5000_variant = rosbag('complexGazeboInputs/realtime100-5000-variant.bag'); -% realtime100_5000_variant2 = rosbag('complexGazeboInputs/realtime100-5000-variant2.bag'); - -% realtime1000 = rosbag('complexGazeboInputs/realtime1000.bag'); -% realtime100 = rosbag('complexGazeboInputs/realtime100.bag'); -% slowtime1000 = rosbag('complexGazeboInputs/slowtime1000.bag'); -% slowtime100 = rosbag('complexGazeboInputs/slowtime100.bag'); - -% badSteering = rosbag('complexGazeboInputs/hardleft-badSteering.bag'); -% goodSteering= rosbag('complexGazeboInputs/hardleft-goodSteering.bag'); -% goodSteeringSlomo= rosbag('complexGazeboInputs/hardleft-goodSteering-slomo.bag'); -% goodSteeringSlomo2= rosbag('complexGazeboInputs/hardleft-goodSteering-slomo2.bag'); -% -% badSteering = rosbag('complexGazeboInputs/hardleft-badSteering.bag'); -% goodSteering= rosbag('complexGazeboInputs/hardleft-goodSteering.bag'); -% goodSteeringSlomo= rosbag('complexGazeboInputs/hardleft-goodSteering-slomo.bag'); -% goodSteeringSlomo2= rosbag('complexGazeboInputs/hardleft-goodSteering-slomo2.bag'); -% - -%% set up the cell arrays -bagfiles = cell(2,1); -ts = cell(2,1); - -bagfiles{1} = rosbag('complexGazeboInputs/hardLeft-lessbounce1.bag'); -bagfiles{2} = rosbag('complexGazeboInputs/hardLeft-lessbounce2.bag'); -bagfiles{3} = rosbag('complexGazeboInputs/hardLeft-lessbounce3.bag'); -% bagfiles{4} = rosbag('complexGazeboInputs/hardLeft-seed4.bag'); -% bagfiles{5} = rosbag('complexGazeboInputs/hardLeft-seed5.bag'); - -% bagfiles{1} = realtime1000; -% bagfiles{2} = realtime100; -% bagfiles{3} = slowtime1000; -% bagfiles{4} = slowtime100; -% bagfiles{5} = realtime100_5000; -% bagfiles{6} = realtime100_5000_variant; -% bagfiles{7} = realtime100_5000_variant2; - -%% make the cell of titles -titles = cell(2,1); -titles{1} = 'Run 1'; -titles{2} = 'Run 2'; -titles{3} = 'Run 3'; -% titles{4} = 'Run 4'; -% titles{5} = 'Run 5'; -% titles{1} = 'Real time, 1000Hz'; -% titles{2} = 'Real time, 100Hz'; -% titles{3} = '1/10 time, 1000Hz'; -% titles{4} = '1/10 time, 100Hz'; -% titles{5} = 'Real time, 100Hz (5000 iters)'; -% titles{6} = 'Real time, 100Hz (5000 iters, erp=0.1, cmcv=10, csl=0.01), #1'; -% titles{7} = 'Real time, 100Hz (5000 iters, erp=0.1, cmcv=10, csl=0.01), #2'; - -%% grab data inputs of cmd_vel_safe -for i=1:length(bagfiles) - bagselect = select(bagfiles{i}, 'Topic', '/catvehicle/odom'); - ts{i} = timeseries(bagselect, 'Pose.Pose.Position.X', 'Pose.Pose.Position.Y'); -end - -%% produce a plot of data -figure -hold on - -for i=1:length(bagfiles) - plot(ts{i}.Data(:,2),ts{i}.Data(:,1)); -end - -legend(titles); diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/hardLeft.sh b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/hardLeft.sh deleted file mode 100755 index 246e9caffb0..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/hardLeft.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -function usage() -{ -cat << EOF -usage: hardLeft.sh -r PUBRATE -n NAMESPACE - -PUBRATE is the rate at which to publish the bagy file. Default is 100. If you - want to run a simulation at 0.1 of real time, set this to 10, for example. -NAMESPACE is the robot name. Default is catvehicle -EOF -} - -NS=/catvehicle -PUBRATE=100 - -while getopts n:r: flag; do - case $flag in - n) - NS=/$OPTARG - ;; - r) - PUBRATE=$OPTARG - ;; - ?) - usage; - exit; - ;; - esac -done - -echo "Car $NS receiving inputs with latched rate" -rostopic pub -r ${PUBRATE} -f hardLeft.bagy $NS/cmd_vel_safe geometry_msgs/Twist - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/joystick1.sh b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/joystick1.sh deleted file mode 100755 index 5e2124d6b92..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/joystick1.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -function usage() -{ -cat << EOF -usage: joystick1 -r PUBRATE -n NAMESPACE - -PUBRATE is the rate at which to publish the bagy file. Default is 100. If you - want to run a simulation at 0.1 of real time, set this to 10, for example. -NAMESPACE is the robot name. Default is catvehicle -EOF -} - -NS=/catvehicle -PUBRATE=100 - -while getopts n:r: flag; do - case $flag in - n) - NS=/$OPTARG - ;; - r) - PUBRATE=$OPTARG - ;; - ?) - usage; - exit; - ;; - esac -done - -echo "Car $NS receiving inputs at $PUBRATE rate (set lower to run in slo motion)" -rostopic pub -r $PUBRATE -f joystickInput1.bagy $NS/cmd_vel_safe geometry_msgs/Twist - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime100.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime100.txt deleted file mode 100644 index 1981b443841..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime100.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.01 -1 -100 - - - quick - 1000 - 1.3 - - -And ran - -./joystick1.sh -r 100 - -It seemed like we got a real-time factor of about 1.00 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime1000.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime1000.txt deleted file mode 100644 index 3bccfabcf99..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/realtime1000.txt +++ /dev/null @@ -1,20 +0,0 @@ -In this run we did: - -0.001 -1 -1000 - - - quick - 1000 - 1.3 - - - -And ran - -./joystick1.sh -r 100 - -It seemed like we got a real-time factor of about 0.5 to 0.6 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime100.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime100.txt deleted file mode 100644 index 34baf166cfe..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime100.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.01 -1 -10 - - - quick - 1000 - 1.3 - - -And ran - -./joystick1.sh -r 10 - -It seemed like we got a real-time factor of about 0.10 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime1000.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime1000.txt deleted file mode 100644 index cb7526309b0..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/complexGazeboInputs/slowtime1000.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.001 -1 -100 - - - quick - 1000 - 1.3 - - -And ran - -./joystick1.sh -r 10 - -It seemed like we got a real-time factor of about 0.10 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/hardLeft.sh b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/hardLeft.sh deleted file mode 100755 index 6a8b37bc274..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/hardLeft.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -function usage() -{ -cat << EOF -usage: hardLeft.sh -r PUBRATE -n NAMESPACE - -PUBRATE is the rate at which to publish the bagy file. Default is 100. If you - want to run a simulation at 0.1 of real time, set this to 10, for example. -NAMESPACE is the robot name. Default is catvehicle -EOF -} - -NS=/catvehicle -PUBRATE=100 - -while getopts n:r: flag; do - case $flag in - n) - NS=/$OPTARG - ;; - r) - PUBRATE=$OPTARG - ;; - ?) - usage; - exit; - ;; - esac -done - -echo "Car $NS receiving inputs with latched rate" -rostopic pub -r 100 -f hardLeft.bagy $NS/cmd_vel_safe geometry_msgs/Twist - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/joystick1.sh b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/joystick1.sh deleted file mode 100755 index 5e2124d6b92..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/joystick1.sh +++ /dev/null @@ -1,34 +0,0 @@ -#!/bin/bash - -function usage() -{ -cat << EOF -usage: joystick1 -r PUBRATE -n NAMESPACE - -PUBRATE is the rate at which to publish the bagy file. Default is 100. If you - want to run a simulation at 0.1 of real time, set this to 10, for example. -NAMESPACE is the robot name. Default is catvehicle -EOF -} - -NS=/catvehicle -PUBRATE=100 - -while getopts n:r: flag; do - case $flag in - n) - NS=/$OPTARG - ;; - r) - PUBRATE=$OPTARG - ;; - ?) - usage; - exit; - ;; - esac -done - -echo "Car $NS receiving inputs at $PUBRATE rate (set lower to run in slo motion)" -rostopic pub -r $PUBRATE -f joystickInput1.bagy $NS/cmd_vel_safe geometry_msgs/Twist - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime100.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime100.txt deleted file mode 100644 index 9b30332c920..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime100.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.01 -1 -100 - - - quick - 200 - 1.3 - - -And ran - -./joystick1.sh -r 100 - -It seemed like we got a real-time factor of about 1.00 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime1000.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime1000.txt deleted file mode 100644 index ca8aa3b85c8..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/realtime1000.txt +++ /dev/null @@ -1,20 +0,0 @@ -In this run we did: - -0.001 -1 -1000 - - - quick - 200 - 1.3 - - - -And ran - -./joystick1.sh -r 100 - -It seemed like we got a real-time factor of about 0.6 to 0.7 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime100.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime100.txt deleted file mode 100644 index 1ccff6fc50b..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime100.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.01 -1 -10 - - - quick - 200 - 1.3 - - -And ran - -./joystick1.sh -r 10 - -It seemed like we got a real-time factor of about 0.10 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime1000.txt b/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime1000.txt deleted file mode 100644 index d096b56d0e9..00000000000 --- a/ros/src/system/gazebo/catvehicle/src/tests/slomo/simpleGazeboInputs/slowtime1000.txt +++ /dev/null @@ -1,19 +0,0 @@ -In this run we did: - -0.001 -1 -100 - - - quick - 200 - 1.3 - - -And ran - -./joystick1.sh -r 10 - -It seemed like we got a real-time factor of about 0.10 most of the time. - - diff --git a/ros/src/system/gazebo/catvehicle/urdf/catvehicle.gazebo b/ros/src/system/gazebo/catvehicle/urdf/catvehicle.gazebo deleted file mode 100644 index f3673cdd181..00000000000 --- a/ros/src/system/gazebo/catvehicle/urdf/catvehicle.gazebo +++ /dev/null @@ -1,114 +0,0 @@ - - - - - - - 10000 - 10000 - 10000000 - 1 - 0.01 - 10.0 - - - - 10000 - 10000 - 10000000 - 1 - 0.01 - 10.0 - - - - 10000 - 10000 - 1000000 - 1 - 0.01 - 100.0 - - - - 10000 - 10000 - 1000000 - 1 - 0.01 - 100.0 - - - - 0.6 - 0.5 - 1000000 - 0.1 - 0.01 - 10.0 - - - - 0.6 - 0.5 - 1000000 - 0.1 - 0.01 - 10.0 - - - - - /$(arg roboname) - gazebo_ros_control/DefaultRobotHWSim - - - - - - back_left_wheel_joint, back_right_wheel_joint, front_left_steering_joint, front_right_steering_joint, front_right_wheel_joint, front_left_wheel_joint - 50.0 - /$(arg roboname) - true - - - - - - /$(arg roboname) - - - - diff --git a/ros/src/system/gazebo/catvehicle/urdf/catvehicle.xacro b/ros/src/system/gazebo/catvehicle/urdf/catvehicle.xacro deleted file mode 100644 index 1025c153527..00000000000 --- a/ros/src/system/gazebo/catvehicle/urdf/catvehicle.xacro +++ /dev/null @@ -1,598 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - transmission_interface/SimpleTransmission - - VelocityJointInterface - - - VelocityJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - VelocityJointInterface - - - VelocityJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 1 - - - - - transmission_interface/SimpleTransmission - - PositionJointInterface - - - PositionJointInterface - 1 - - - - diff --git a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_front_laser_points.gazebo b/ros/src/system/gazebo/catvehicle/urdf/catvehicle_front_laser_points.gazebo deleted file mode 100644 index 410d9630847..00000000000 --- a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_front_laser_points.gazebo +++ /dev/null @@ -1,81 +0,0 @@ - - - - - - - 0.6 - 0.5 - - - - - 0 0 0 0 0 0 - true - 40 - - - - 180 - 1 - -1.57 - 1.57 - - - - 1.5 - - 80.0 - 0.05 - - - - gaussian - 0.0 - 0.02 - - - - - - /$(arg roboname)/front_laser_points - /front_laser_link - 0.02 - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_left_camera.gazebo b/ros/src/system/gazebo/catvehicle/urdf/catvehicle_left_camera.gazebo deleted file mode 100644 index 332520f2a5a..00000000000 --- a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_left_camera.gazebo +++ /dev/null @@ -1,82 +0,0 @@ - - - - - - - 0.6 - 0.5 - - - - - 30.0 - - 1.3962634 - - 640 - 480 - R8G8B8 - - - 0.02 - 300 - - - gaussian - 0.0 - 0.007 - - - - true - 0.0 - /$(arg roboname) - camera_left - image_raw_left - camera_left_info - camera_left_link - 0.07 - 0.0 - 0.0 - 0.0 - 0.0 - 0.0 - - - - - - diff --git a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_right_camera.gazebo b/ros/src/system/gazebo/catvehicle/urdf/catvehicle_right_camera.gazebo deleted file mode 100644 index cc939a2ebfa..00000000000 --- a/ros/src/system/gazebo/catvehicle/urdf/catvehicle_right_camera.gazebo +++ /dev/null @@ -1,82 +0,0 @@ - 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- - - - 0 - 0 - - 0 - 0 - 1 - - 117 21 0 0 -0 0 - 0 - - - - true - - - 51 0 0 0 0 0 - - - 102 7.34 0.02 - - - - - - 100 - 50 - - - - - - 125 25 0 0 0 0.78539 - - - 72 7.34 0.02 - - - - - - 100 - 50 - - - - - - 150 75 0 0 0 0 - - - 7.34 53 0.02 - - - - - - 100 - 50 - - - - - - 173.5 100 0 0 0 0 - - - 54.5 7.34 0.02 - - - - - - 100 - 50 - - - - - - 198 106 0 0 0 0 - - - 6 5 0.02 - - - - - - 100 - 50 - - - - - - - - - - - diff --git a/ros/src/system/gazebo/laser_scan_converter/CHANGELOG.rst b/ros/src/system/gazebo/laser_scan_converter/CHANGELOG.rst deleted file mode 100644 index b5ebde80d50..00000000000 --- a/ros/src/system/gazebo/laser_scan_converter/CHANGELOG.rst +++ /dev/null @@ -1,93 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package laser_scan_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- -* Switch to Apache 2 license (develop branch) (`#1741 `_) - * Switch to Apache 2 - * Replace BSD-3 license header with Apache 2 and reassign copyright to the - Autoware Foundation. - * Update license on Python files - * Update copyright years - * Add #ifndef/define _POINTS_IMAGE_H\_ - * Updated license comment -* Contributors: Esteve Fernandez - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Contributors: Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.1 (2018-01-20) ------------------- -* update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.0 (2017-12-11) ------------------- -* Prepare release for 1.6.0 -* Contributors: Yamato ANDO - -1.5.1 (2017-09-25) ------------------- -* Release/1.5.1 (`#816 `_) - * fix a build error by gcc version - * fix build error for older indigo version - * update changelog for v1.5.1 - * 1.5.1 -* Contributors: Yusuke FUJII - -1.5.0 (2017-09-21) ------------------- -* Update changelog -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- -* version number must equal current release number so we can start releasing in the future -* added changelogs -* Contributors: Dejan Pangercic - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- -* Add Gazebo sim -* Contributors: Yukihiro Saito - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/system/gazebo/laser_scan_converter/CMakeLists.txt b/ros/src/system/gazebo/laser_scan_converter/CMakeLists.txt deleted file mode 100644 index c8768e05438..00000000000 --- a/ros/src/system/gazebo/laser_scan_converter/CMakeLists.txt +++ /dev/null @@ -1,99 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(laser_scan_converter) - -## 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 - sensor_msgs - pcl_conversions - pcl_ros -) - - - -catkin_package() - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a cpp library -# add_library(point_cloud_converter -# src/${PROJECT_NAME}/point_cloud_converter.cpp -# ) - -## Declare a cpp executable -add_executable(laser_scan_converter_node src/converter.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(point_cloud_converter_node point_cloud_converter_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -target_link_libraries(laser_scan_converter_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 laser_scan_converter_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - - -foreach(dir launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - - -## 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_point_cloud_converter.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/ros/src/system/gazebo/laser_scan_converter/launch/laser_scan_converter.launch b/ros/src/system/gazebo/laser_scan_converter/launch/laser_scan_converter.launch deleted file mode 100644 index 4d5c004676f..00000000000 --- a/ros/src/system/gazebo/laser_scan_converter/launch/laser_scan_converter.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ros/src/system/gazebo/laser_scan_converter/package.xml b/ros/src/system/gazebo/laser_scan_converter/package.xml deleted file mode 100644 index 13db8d07aa8..00000000000 --- a/ros/src/system/gazebo/laser_scan_converter/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - laser_scan_converter - 1.10.0 - The laser_scan_converter package to catvehcle laser scan to Autoware laser scan. - - - - Yukihiro Saito - - - Apache 2 - - catkin - roscpp - sensor_msgs - roscpp - sensor_msgs - - - - - - - - - - - diff --git a/ros/src/system/gazebo/laser_scan_converter/src/converter.cpp b/ros/src/system/gazebo/laser_scan_converter/src/converter.cpp deleted file mode 100644 index 3402b988a42..00000000000 --- a/ros/src/system/gazebo/laser_scan_converter/src/converter.cpp +++ /dev/null @@ -1,84 +0,0 @@ -/* - * Copyright 2015-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#include -#include -#include - -using namespace std; - -class LaserScanConverter { -private: - boost::mutex m_mutex_; - // ROS - ros::NodeHandle nh_; - ros::Subscriber sub_points_; - ros::Publisher pub_points_; - - int queue_size_; - string laser_in_, laser_out_; - -public: - LaserScanConverter() - : nh_("~"), queue_size_(100), laser_in_("/points_in"), - laser_out_("/points_out") { - // Subscribe to the cloud topic using both the old message format and the - // new - sub_points_ = nh_.subscribe(laser_in_, queue_size_, - &LaserScanConverter::cloud_cb_points, this); - - pub_points_ = - nh_.advertise(laser_out_, queue_size_); - nh_.resolveName(laser_in_).c_str(); - nh_.resolveName(laser_out_).c_str(); - } - - void cloud_cb_points(const sensor_msgs::LaserScanConstPtr &msg) { - if (pub_points_.getNumSubscribers() <= 0) { - // ROS_DEBUG ("[point_cloud_converter] Got a PointCloud with %d points on - // %s, but no subscribers.", (int)msg->points.size (), nh_.resolveName - // (points_in_).c_str ()); - return; - } - - sensor_msgs::LaserScan output; - output = *msg; - output.ranges.clear(); - output.intensities.clear(); - for (int i; i < (int)msg->ranges.size(); ++i) { - if (msg->ranges.at(i) > 40.0) { - output.ranges.push_back(0); - output.intensities.push_back(0); - continue; - } - output.ranges.push_back(msg->ranges.at(i)); - output.intensities.push_back(msg->intensities.at(i)); - } - pub_points_.publish(output); - } -}; - -/* ---[ */ -int main(int argc, char **argv) { - // ROS init - ros::init(argc, argv, "laser_scan_converter", - ros::init_options::AnonymousName); - - LaserScanConverter p; - ros::spin(); - - return (0); -} diff --git a/ros/src/system/gazebo/point_cloud_converter/CHANGELOG.rst b/ros/src/system/gazebo/point_cloud_converter/CHANGELOG.rst deleted file mode 100644 index 2cd41a606c6..00000000000 --- a/ros/src/system/gazebo/point_cloud_converter/CHANGELOG.rst +++ /dev/null @@ -1,83 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package point_cloud_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Contributors: Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.1 (2018-01-20) ------------------- -* update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.0 (2017-12-11) ------------------- - -1.5.1 (2017-09-25) ------------------- -* Release/1.5.1 (`#816 `_) - * fix a build error by gcc version - * fix build error for older indigo version - * update changelog for v1.5.1 - * 1.5.1 -* Contributors: Yusuke FUJII - -1.5.0 (2017-09-21) ------------------- -* Update changelog -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- -* version number must equal current release number so we can start releasing in the future -* added changelogs -* Contributors: Dejan Pangercic - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- -* Tuned gazebo parameter -* Add Gazebo sim -* Contributors: Yukihiro Saito - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/system/gazebo/point_cloud_converter/CMakeLists.txt b/ros/src/system/gazebo/point_cloud_converter/CMakeLists.txt deleted file mode 100644 index 9425731525f..00000000000 --- a/ros/src/system/gazebo/point_cloud_converter/CMakeLists.txt +++ /dev/null @@ -1,99 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(point_cloud_converter) - -## 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 - sensor_msgs - pcl_conversions - pcl_ros -) - - - -catkin_package() - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a cpp library -# add_library(point_cloud_converter -# src/${PROJECT_NAME}/point_cloud_converter.cpp -# ) - -## Declare a cpp executable -add_executable(point_cloud_converter_node src/converter.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(point_cloud_converter_node point_cloud_converter_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -target_link_libraries(point_cloud_converter_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 point_cloud_converter_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - - -foreach(dir launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - - -## 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_point_cloud_converter.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/ros/src/system/gazebo/point_cloud_converter/launch/point_cloud_converter.launch b/ros/src/system/gazebo/point_cloud_converter/launch/point_cloud_converter.launch deleted file mode 100644 index 62f8290639f..00000000000 --- a/ros/src/system/gazebo/point_cloud_converter/launch/point_cloud_converter.launch +++ /dev/null @@ -1,10 +0,0 @@ - - - - - - - diff --git a/ros/src/system/gazebo/point_cloud_converter/package.xml b/ros/src/system/gazebo/point_cloud_converter/package.xml deleted file mode 100644 index 79e8434aaa2..00000000000 --- a/ros/src/system/gazebo/point_cloud_converter/package.xml +++ /dev/null @@ -1,31 +0,0 @@ - - - point_cloud_converter - 1.10.0 - The point_cloud_converter package to convert PointCloud to PointCloud2 or PointCloud2 to PointCloud. Basically the node of - http://wiki.ros.org/point_cloud_converter by Radu Bogdan Rusu revived. - - - - - Sammy Pfeiffer - - - TODO - - catkin - roscpp - sensor_msgs - roscpp - sensor_msgs - - - - - - - - - - - \ No newline at end of file diff --git a/ros/src/system/gazebo/point_cloud_converter/src/converter.cpp b/ros/src/system/gazebo/point_cloud_converter/src/converter.cpp deleted file mode 100644 index 814e9e81eb6..00000000000 --- a/ros/src/system/gazebo/point_cloud_converter/src/converter.cpp +++ /dev/null @@ -1,174 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2009, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote products derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - * $Id: converter.cpp 33249 2010-03-11 02:09:24Z rusu $ - * - */ - -#include -#include -#include -#include -#include -#include -#include - -using namespace std; - -class PointCloudConverter -{ - private: - boost::mutex m_mutex_; - // ROS - ros::NodeHandle nh_; - ros::Subscriber sub_points_, sub_points2_; - ros::Publisher pub_points_, pub_points2_; - - int queue_size_; - string points_in_, points2_in_, points_out_, points2_out_; - - public: - PointCloudConverter () : nh_ ("~"), queue_size_ (100), - points_in_ ("/points_in"), points2_in_ ("/points2_in"), - points_out_ ("/points_out"), points2_out_ ("/points2_out") - { - // Subscribe to the cloud topic using both the old message format and the new - sub_points_ = nh_.subscribe (points_in_, queue_size_, &PointCloudConverter::cloud_cb_points, this); - sub_points2_ = nh_.subscribe (points2_in_, queue_size_, &PointCloudConverter::cloud_cb_points2, this); - pub_points_ = nh_.advertise (points_out_, queue_size_); - pub_points2_ = nh_.advertise (points2_out_, queue_size_); - ROS_INFO ("PointCloudConverter initialized to transform from PointCloud (%s) to PointCloud2 (%s).", nh_.resolveName (points_in_).c_str (), nh_.resolveName (points2_out_).c_str ()); - ROS_INFO ("PointCloudConverter initialized to transform from PointCloud2 (%s) to PointCloud (%s).", nh_.resolveName (points2_in_).c_str (), nh_.resolveName (points_out_).c_str ()); - } - - - inline std::string - getFieldsList (const sensor_msgs::PointCloud2 &cloud) - { - std::string result; - for (size_t i = 0; i < cloud.fields.size () - 1; ++i) - result += cloud.fields[i].name + " "; - result += cloud.fields[cloud.fields.size () - 1].name; - return (result); - } - - - inline std::string - getFieldsList (const sensor_msgs::PointCloud &points) - { - std::string result = "x y z"; - for (size_t i = 0; i < points.channels.size (); i++) - result = result + " " + points.channels[i].name; - return (result); - } - - - void - cloud_cb_points2 (const sensor_msgs::PointCloud2ConstPtr &msg) - { - if (pub_points_.getNumSubscribers () <= 0) - { - //ROS_DEBUG ("[point_cloud_converter] Got a PointCloud2 with %d points on %s, but no subscribers.", msg->width * msg->height, nh_.resolveName (points2_in_).c_str ()); - return; - } - - ROS_DEBUG ("[point_cloud_converter] Got a PointCloud2 with %d points (%s) on %s.", msg->width * msg->height, getFieldsList (*msg).c_str (), nh_.resolveName (points2_in_).c_str ()); - - sensor_msgs::PointCloud output; - // Convert to the new PointCloud format - if (!sensor_msgs::convertPointCloud2ToPointCloud (*msg, output)) - { - ROS_ERROR ("[point_cloud_converter] Conversion from sensor_msgs::PointCloud2 to sensor_msgs::PointCloud failed!"); - return; - } - ROS_DEBUG ("[point_cloud_converter] Publishing a PointCloud with %d points on %s.", (int)output.points.size (), nh_.resolveName (points_out_).c_str ()); - pub_points_.publish (output); - } - - - void - cloud_cb_points (const sensor_msgs::PointCloudConstPtr &msg) - { - if (pub_points2_.getNumSubscribers () <= 0) - { - //ROS_DEBUG ("[point_cloud_converter] Got a PointCloud with %d points on %s, but no subscribers.", (int)msg->points.size (), nh_.resolveName (points_in_).c_str ()); - return; - } - - ROS_DEBUG ("[point_cloud_converter] Got a PointCloud with %d points (%s) on %s.", (int)msg->points.size (), getFieldsList (*msg).c_str (), nh_.resolveName (points_in_).c_str ()); - - sensor_msgs::PointCloud2 output; - // Convert to the old point cloud format - if (!sensor_msgs::convertPointCloudToPointCloud2 (*msg, output)) - { - ROS_ERROR ("[point_cloud_converter] Conversion from sensor_msgs::PointCloud to sensor_msgs::PointCloud2 failed!"); - return; - } - ROS_DEBUG ("[point_cloud_converter] Publishing a PointCloud2 with %d points on %s.", output.height * output.width, nh_.resolveName (points2_out_).c_str ()); - - - pcl::PointCloud pcl_output; - pcl::fromROSMsg(output, pcl_output); - - pcl::PointCloud::Ptr filtered_output_ptr(new pcl::PointCloud()); - sensor_msgs::PointCloud2 filtered_output; - for (pcl::PointCloud::const_iterator item = pcl_output.begin(); item != pcl_output.end(); item++) - { - if (item->x * item->x + item->y * item->y + item->z * item->z > 100.0*100.0) - continue; - pcl::PointXYZI sampled_p; - sampled_p.x = item->x; - sampled_p.y = item->y; - sampled_p.z = item->z; - sampled_p.intensity = 0; - filtered_output_ptr->points.push_back(sampled_p); - } - pcl::toROSMsg(*filtered_output_ptr, filtered_output); - filtered_output.header = output.header; - pub_points2_.publish (filtered_output); - } - -}; - -/* ---[ */ -int - main (int argc, char** argv) -{ - // ROS init - ros::init (argc, argv, "point_cloud_converter", ros::init_options::AnonymousName); - - PointCloudConverter p; - ros::spin (); - - return (0); -} diff --git a/ros/src/system/gazebo/script/run.sh b/ros/src/system/gazebo/script/run.sh deleted file mode 100755 index 52d91b4bea4..00000000000 --- a/ros/src/system/gazebo/script/run.sh +++ /dev/null @@ -1,38 +0,0 @@ -#! /bin/bash -MY_PATH=$(readlink -f $(dirname $0)) - -# what type of terminal -OPTION_TITLE='--title' -OPTION_WORKING_DIR='working-directory' -OPTION_CORE_GEOMETRY='--geometry=50x10+0+0' -OPTION_RM_GEOMETRY='--geometry=50x10+500+0' -OPTION_COMMAND='--command' - -if [ $(which gnome-terminal) ]; then - TERMINAL=gnome-terminal -elif [ $(which mate-terminal) ]; then - TERMINAL=mate-terminal -elif [ $(which xfce4-terminal) ]; then - TERMINAL=xfce4-terminal -elif [ $(which lxterminal) ]; then - TERMINAL=lxterminal -elif [ $(which konsole) ]; then - TERMINAL=konsole - OPTION_WORKING_DIR='workdir' - OPTION_CORE_GEOMETRY='' - OPTION_RM_GEOMETRY='' - OPTION_PM_GEOMETRY='' - OPTION_COMMAND='-e' - OPTION_TITLE='-T' -fi - -echo "Process Manager" - -# boot gzserver -${TERMINAL} ${OPTION_CORE_GEOMETRY} ${OPTION_TITLE}="gzserver" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch catvehicle catvehicle_skidpan.launch'"& -# boot gzclient -${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="gzclient" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; gzclient'" -# boot catvehicle2autoware -${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="catvehicle2autoware" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch point_cloud_converter point_cloud_converter.launch'" -${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="catvehicle2autoware" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch laser_scan_converter laser_scan_converter.launch'" -${TERMINAL} ${OPTION_RM_GEOMETRY} ${OPTION_TITLE}="catvehicle2autoware" --${OPTION_WORKING_DIR}=${MY_PATH} ${OPTION_COMMAND}="bash -c 'source ./devel/setup.bash; roslaunch twist_cmd_converter twist_cmd_converter.launch'" diff --git a/ros/src/system/gazebo/twist_cmd_converter/CHANGELOG.rst b/ros/src/system/gazebo/twist_cmd_converter/CHANGELOG.rst deleted file mode 100644 index f06cfe83553..00000000000 --- a/ros/src/system/gazebo/twist_cmd_converter/CHANGELOG.rst +++ /dev/null @@ -1,93 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package twist_cmd_converter -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ - -1.10.0 (2019-01-17) -------------------- -* Switch to Apache 2 license (develop branch) (`#1741 `_) - * Switch to Apache 2 - * Replace BSD-3 license header with Apache 2 and reassign copyright to the - Autoware Foundation. - * Update license on Python files - * Update copyright years - * Add #ifndef/define _POINTS_IMAGE_H\_ - * Updated license comment -* Contributors: Esteve Fernandez - -1.9.1 (2018-11-06) ------------------- - -1.9.0 (2018-10-31) ------------------- - -1.8.0 (2018-08-31) ------------------- - -1.7.0 (2018-05-18) ------------------- -* update Version from 1.6.3 to 1.7.0 in package.xml and CHANGELOG.rst -* Contributors: Kosuke Murakami - -1.6.3 (2018-03-06) ------------------- - -1.6.2 (2018-02-27) ------------------- -* Update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.1 (2018-01-20) ------------------- -* update CHANGELOG -* Contributors: Yusuke FUJII - -1.6.0 (2017-12-11) ------------------- -* Prepare release for 1.6.0 -* Contributors: Yamato ANDO - -1.5.1 (2017-09-25) ------------------- -* Release/1.5.1 (`#816 `_) - * fix a build error by gcc version - * fix build error for older indigo version - * update changelog for v1.5.1 - * 1.5.1 -* Contributors: Yusuke FUJII - -1.5.0 (2017-09-21) ------------------- -* Update changelog -* Contributors: Yusuke FUJII - -1.4.0 (2017-08-04) ------------------- -* version number must equal current release number so we can start releasing in the future -* added changelogs -* Contributors: Dejan Pangercic - -1.3.1 (2017-07-16) ------------------- - -1.3.0 (2017-07-14) ------------------- - -1.2.0 (2017-06-07) ------------------- - -1.1.2 (2017-02-27 23:10) ------------------------- - -1.1.1 (2017-02-27 22:25) ------------------------- - -1.1.0 (2017-02-24) ------------------- -* Add Gazebo sim -* Contributors: Yukihiro Saito - -1.0.1 (2017-01-14) ------------------- - -1.0.0 (2016-12-22) ------------------- diff --git a/ros/src/system/gazebo/twist_cmd_converter/CMakeLists.txt b/ros/src/system/gazebo/twist_cmd_converter/CMakeLists.txt deleted file mode 100644 index 916a9d125e3..00000000000 --- a/ros/src/system/gazebo/twist_cmd_converter/CMakeLists.txt +++ /dev/null @@ -1,97 +0,0 @@ -cmake_minimum_required(VERSION 2.8.3) -project(twist_cmd_converter) - -## 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 - geometry_msgs -) - - - -catkin_package() - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a cpp library -# add_library(point_cloud_converter -# src/${PROJECT_NAME}/point_cloud_converter.cpp -# ) - -## Declare a cpp executable -add_executable(twist_cmd_converter_node src/converter.cpp) - -## Add cmake target dependencies of the executable/library -## as an example, message headers may need to be generated before nodes -# add_dependencies(twist_cmd_converter_node twist_cmd_generate_messages_cpp) - -## Specify libraries to link a library or executable target against -target_link_libraries(twist_cmd_converter_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 twist_cmd_converter_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} - RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -) - - -foreach(dir launch) - install(DIRECTORY ${dir}/ - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir}) -endforeach(dir) - - -## 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_point_cloud_converter.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/ros/src/system/gazebo/twist_cmd_converter/launch/twist_cmd_converter.launch b/ros/src/system/gazebo/twist_cmd_converter/launch/twist_cmd_converter.launch deleted file mode 100644 index 6c115bb68de..00000000000 --- a/ros/src/system/gazebo/twist_cmd_converter/launch/twist_cmd_converter.launch +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/ros/src/system/gazebo/twist_cmd_converter/package.xml b/ros/src/system/gazebo/twist_cmd_converter/package.xml deleted file mode 100644 index c6b87e9fc6a..00000000000 --- a/ros/src/system/gazebo/twist_cmd_converter/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - twist_cmd_converter - 1.10.0 - The twist_cmd_converter package from Autoware twist cmd to catvehcle twist cmd. - - - - Yukihiro Saito - - - Apache 2 - - catkin - roscpp - geometry_msgs - roscpp - geometry_msgs - - - - - - - - - - - diff --git a/ros/src/system/gazebo/twist_cmd_converter/src/converter.cpp b/ros/src/system/gazebo/twist_cmd_converter/src/converter.cpp deleted file mode 100644 index 7427ee731aa..00000000000 --- a/ros/src/system/gazebo/twist_cmd_converter/src/converter.cpp +++ /dev/null @@ -1,74 +0,0 @@ -/* - * Copyright 2015-2019 Autoware Foundation. All rights reserved. - * - * Licensed under the Apache License, Version 2.0 (the "License"); - * you may not use this file except in compliance with the License. - * You may obtain a copy of the License at - * - * http://www.apache.org/licenses/LICENSE-2.0 - * - * Unless required by applicable law or agreed to in writing, software - * distributed under the License is distributed on an "AS IS" BASIS, - * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. - * See the License for the specific language governing permissions and - * limitations under the License. - */ - -#include -#include -#include -#include -#include - -using namespace std; - -class TwistCmdConverter { -private: - boost::mutex m_mutex_; - // ROS - ros::NodeHandle nh_; - ros::Subscriber sub_twist_; - ros::Publisher pub_twist_; - - int queue_size_; - string twist_in_, twist_out_; - -public: - TwistCmdConverter() - : nh_("~"), queue_size_(100), twist_in_("/twist_in"), - twist_out_("/twist_out") { - // Subscribe to the cloud topic using both the old message format and the - // new - sub_twist_ = nh_.subscribe(twist_in_, queue_size_, - &TwistCmdConverter::cloud_cb_twist, this); - - pub_twist_ = nh_.advertise(twist_out_, queue_size_); - nh_.resolveName(twist_in_).c_str(); - nh_.resolveName(twist_out_).c_str(); - } - - void cloud_cb_twist(const geometry_msgs::TwistStampedConstPtr &msg) { - if (pub_twist_.getNumSubscribers() <= 0) { - // ROS_DEBUG ("[point_cloud_converter] Got a PointCloud with %d points on - // %s, but no subscribers.", (int)msg->points.size (), nh_.resolveName - // (points_in_).c_str ()); - return; - } - - geometry_msgs::Twist output; - output = msg->twist; - pub_twist_.publish(output); - } -}; - -/* ---[ */ -int main(int argc, char **argv) { - // ROS init - ros::init(argc, argv, "twist_cmd_converter", - ros::init_options::AnonymousName); - - TwistCmdConverter p; - ros::spin(); - - return (0); -} diff --git a/ros/src/system/sync/CMakeLists.txt b/ros/src/system/sync/CMakeLists.txt index 36c42b6f6c8..c171f0f05c7 100644 --- a/ros/src/system/sync/CMakeLists.txt +++ b/ros/src/system/sync/CMakeLists.txt @@ -57,3 +57,20 @@ target_link_libraries(sync_obj_fusion ${catkin_LIBRARIES} ${OpenCV_LIBS}) add_executable(time_monitor time_monitor.cpp) target_link_libraries(time_monitor ${catkin_LIBRARIES} ${OpenCV_LIBS}) add_dependencies(time_monitor ${catkin_EXPORTED_TARGETS}) + + +install(TARGETS + sync_drivers + sync_range_fusion + sync_track + sync_obj_reproj + sync_obj_fusion + time_monitor + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) diff --git a/ros/src/util/packages/autoware_bag_tools/CMakeLists.txt b/ros/src/util/packages/autoware_bag_tools/CMakeLists.txt index 514af81c13b..d774f392fc3 100644 --- a/ros/src/util/packages/autoware_bag_tools/CMakeLists.txt +++ b/ros/src/util/packages/autoware_bag_tools/CMakeLists.txt @@ -19,4 +19,9 @@ install(PROGRAMS add_executable(nmea2kml nodes/nmea2kml/nmea2kml.cpp nodes/nmea2kml/ReadNMEASentence.cpp) target_link_libraries(nmea2kml ${catkin_LIBRARIES}) -add_dependencies(nmea2kml ${catkin_EXPORTED_TARGETS}) \ No newline at end of file +add_dependencies(nmea2kml ${catkin_EXPORTED_TARGETS}) + +install(TARGETS nmea2kml + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/CMakeLists.txt b/ros/src/util/packages/autoware_launcher/CMakeLists.txt new file mode 100644 index 00000000000..a3fe389c131 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/CMakeLists.txt @@ -0,0 +1,18 @@ +cmake_minimum_required(VERSION 2.8.3) +project(autoware_launcher) + +find_package(catkin REQUIRED COMPONENTS python_qt_binding) +catkin_python_setup() + +catkin_package( + LIBRARIES autoware_launcher + CATKIN_DEPENDS python_qt_binding +) + +catkin_install_python(PROGRAMS scripts/main + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) + +if(CATKIN_ENABLE_TESTING) + catkin_add_nosetests(tests) +endif() diff --git a/ros/src/util/packages/autoware_launcher/README.md b/ros/src/util/packages/autoware_launcher/README.md new file mode 100644 index 00000000000..e662b1c0b59 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/README.md @@ -0,0 +1,15 @@ +# Autoware Launcher + +## Quick Start + +1. Start the Autoware Launcher
`$ rosrun autoware_launcher main` +1. Load a profile
File -> Load Profile +1. Show simulation panel
View -> Simulation +1. Play rosbag
Check "Simulation Mode", then, push "Play" button. +1. Push launch buttons
Map, Vehicle, Sensing, Visualization +1. Push buttons on rviz plugin
localization +1. Check the estimated vehicle pose. +1. Push buttons on rviz plugin
detection, prediction, decision, mission, motion + +## Plugins +* [Plugin File Format](./documents/plugin/format.md) diff --git a/ros/src/util/packages/autoware_launcher/documents/plugin/format.md b/ros/src/util/packages/autoware_launcher/documents/plugin/format.md new file mode 100644 index 00000000000..0883d40754a --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/documents/plugin/format.md @@ -0,0 +1,71 @@ +# Autoware Launcher Plugin File Format + +The plugin file is yaml file. Currently, there are the following versions. +* Plugin Version 0.1 (experimental) + +# Plugin Version 0.1 + +## Plugin File +The file is the following dictionary. + +### Node Type + +| Key | Type | Value/Comment | +|----------|--------|---------------| +| format | string | Fixed value: Autoware Launcher Plugin Version 0.1 | +| exts | [Extended Data List](#extended_data) | Extended Data Definitions | +| rules | [Children Rule List](#children_rule) | Children Rule Definitions | + +### Leaf Type + +| Key | Type | Value/Comment | +|----------|--------|---------------| +| format | string | Fixed value: Autoware Launcher Plugin Version 0.1 | +| rosxml | string | Path to roslaunch xml file | +| exts | [Extended Data List](#extended_data) | Extended Data Definitions | +| args | [Argument Data List](#argument_data) | Argument Data Definitions | + + +## Argument Data / Extended Data + +dictionary + +| Key | Type | Value/Comment | +|---------|---------------|---------------| +| name | string | Data name | +| type | string | Data type (Enum: [str, int, real, bool]) | +| list | string / null | List format: (Enum: [null, space, yaml]) | +| default | | Default value | + +## Children Rule + +dictionary + +| Key | Type | Value/Comment | +|---------|---------------|---------------| +| name | string | Child node name | +| list | bool | Is multiple node | +| plugin | [Reference Rule](#ref_rule) | Child type | + +## Reference Rule + +list (If a type other than the list is specified, it is converted to a list with 1 element.) + +Each element of the list must be: +* Path Type +* Scan Type + +### Path Type + +Type is string. Specify the path to the plugin file. + +### Scan Type + +Type is dictionary. Scan all plugin files from the specified root path. + +| Key | Type | Value/Comment | +|---------|---------------|-----------------| +| scan | string | Scan root path | + + + diff --git a/ros/src/util/packages/autoware_launcher/package.xml b/ros/src/util/packages/autoware_launcher/package.xml new file mode 100644 index 00000000000..2004e92c504 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/package.xml @@ -0,0 +1,26 @@ + + + + autoware_launcher + 0.1.0 + The tool for easily launching Autoware + + Isamu Takagi + Apache 2.0 + + catkin + python_qt_binding + rospy + python-rospkg + python_qt_binding + rospy + python-rospkg + python_qt_binding + rospy + python-rospkg + rostest + python-nose + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.xml b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.xml new file mode 100644 index 00000000000..da7a45d2081 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.xml @@ -0,0 +1,6 @@ + + + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.yaml b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.yaml new file mode 100644 index 00000000000..ca959dfaa23 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/camera/usb.yaml @@ -0,0 +1,15 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: width, type: int } +- { name: height, type: int } +- { name: fps, type: int } + +panel: + widget: node.panel + frames: + - target: args.width + widget: basic.int + - target: args.height + widget: basic.int + - target: args.fps + widget: basic.int diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.xml b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.xml new file mode 100644 index 00000000000..dd5017dda34 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.yaml b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.yaml new file mode 100644 index 00000000000..d78e5081cc9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp16.yaml @@ -0,0 +1,15 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: local_frame, type: str } +- { name: device_addr, type: str } +- { name: device_port, type: int } + +panel: + widget: node.panel + frames: + - target: args.local_frame + widget: basic.text + - target: args.device_addr + widget: basic.text + - target: args.device_port + widget: basic.int diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.xml b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.xml new file mode 100644 index 00000000000..d852253fbb9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.xml @@ -0,0 +1,28 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.yaml b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.yaml new file mode 100644 index 00000000000..d78e5081cc9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/driver/lidar/vlp32c.yaml @@ -0,0 +1,15 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: local_frame, type: str } +- { name: device_addr, type: str } +- { name: device_port, type: int } + +panel: + widget: node.panel + frames: + - target: args.local_frame + widget: basic.text + - target: args.device_addr + widget: basic.text + - target: args.device_port + widget: basic.int diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.xml new file mode 100644 index 00000000000..908bcd40119 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.xml @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.yaml new file mode 100644 index 00000000000..4c74a238433 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/calibration.yaml @@ -0,0 +1,10 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- name: calibration_file + type: str + +panel: + widget: node.panel + frames: + - target: args.calibration_file + widget: basic.file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.xml new file mode 100644 index 00000000000..bebd2920f55 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.xml @@ -0,0 +1,13 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.yaml new file mode 100644 index 00000000000..b8eca7b2b77 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/concat.yaml @@ -0,0 +1,15 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: input_topics, type: str, list: yaml } +- { name: output_topic, type: str, default: /points_raw } +- { name: output_frame, type: str, default: velodyne } + +panel: + widget: node.panel + frames: + - target: args.output_frame + widget: basic.text + - target: args.output_topic + widget: basic.text + - target: args.input_topics + widget: basic.textlist diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.xml new file mode 100644 index 00000000000..bbf716f90fc --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.xml @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.yaml new file mode 100644 index 00000000000..b4c40250c10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_rule.yaml @@ -0,0 +1 @@ +format: Autoware Launcher Plugin Version 0.1 \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml new file mode 100644 index 00000000000..8391bed3137 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.xml @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.yaml new file mode 100644 index 00000000000..b4c40250c10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/lane_stop.yaml @@ -0,0 +1 @@ +format: Autoware Launcher Plugin Version 0.1 \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/map.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/map.xml new file mode 100644 index 00000000000..786cb0f162c --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/map.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/map.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/map.yaml new file mode 100644 index 00000000000..1a85c5d273f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/map.yaml @@ -0,0 +1,26 @@ +format: Autoware Launcher Plugin Version 0.1 +exts: +- name: description + type: str +args: +- name: transform_file + type: str + list: null +- name: point_cloud_files + type: str + list: space +- name: vector_map_files + type: str + list: space + +panel: + widget: node.panel + frames: + - target: exts.description + widget: basic.text + - target: args.transform_file + widget: basic.file + - target: args.point_cloud_files + widget: basic.filelist + - target: args.vector_map_files + widget: basic.filelist diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.xml new file mode 100644 index 00000000000..fad8548f1ec --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.xml @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.yaml new file mode 100644 index 00000000000..b4c40250c10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/ndt_matching.yaml @@ -0,0 +1 @@ +format: Autoware Launcher Plugin Version 0.1 \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.xml new file mode 100644 index 00000000000..b18e1d533cd --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.yaml new file mode 100644 index 00000000000..b4c40250c10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/pure_pursuit.yaml @@ -0,0 +1 @@ +format: Autoware Launcher Plugin Version 0.1 \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.xml new file mode 100644 index 00000000000..9dfa4c255ac --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.yaml new file mode 100644 index 00000000000..943db27fe58 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/rviz.yaml @@ -0,0 +1,15 @@ +format: Autoware Launcher Plugin Version 0.1 +exts: +- name: description + type: str +args: +- name: rviz_config_file + type: str + +panel: + widget: node.panel + frames: + - target: exts.description + widget: basic.text + - target: args.rviz_config_file + widget: basic.file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.xml new file mode 100644 index 00000000000..dc6bc6efa91 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.xml @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.yaml new file mode 100644 index 00000000000..ee9e7fedf0e --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2b.yaml @@ -0,0 +1,20 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: parent_frame, type: str, default: base_link } +- { name: local_frame, type: str, default: velodyne } +- { name: tx, type: real } +- { name: ty, type: real } +- { name: tz, type: real } +- { name: rx, type: real } +- { name: ry, type: real } +- { name: rz, type: real } + +panel: + widget: node.panel + frames: + - target: args.parent_frame + widget: basic.file + - target: args.local_frame + widget: basic.file + - target: [args.tx, args.ty, args.tz, args.rx, args.ry, args.rz] + widget: basic.transform diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.xml new file mode 100644 index 00000000000..2870c4c539f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.xml @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.yaml new file mode 100644 index 00000000000..3d141410f39 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/transform_v2v.yaml @@ -0,0 +1,20 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: parent_frame, type: str, default: velodyne } +- { name: local_frame, type: str } +- { name: tx, type: real } +- { name: ty, type: real } +- { name: tz, type: real } +- { name: rx, type: real } +- { name: ry, type: real } +- { name: rz, type: real } + +panel: + widget: node.panel + frames: + - target: args.parent_frame + widget: basic.file + - target: args.local_frame + widget: basic.file + - target: [args.tx, args.ty, args.tz, args.rx, args.ry, args.rz] + widget: basic.transform diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.xml new file mode 100644 index 00000000000..d07412971f5 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.xml @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.yaml new file mode 100644 index 00000000000..352b6f87ea3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/vehicle.yaml @@ -0,0 +1,19 @@ +format: Autoware Launcher Plugin Version 0.1 +exts: +- name: description + type: str +args: +- name: vehicle_model + type: str +- name: vehicle_info + type: str + +panel: + widget: node.panel + frames: + - target: exts.description + widget: basic.text + - target: args.vehicle_model + widget: basic.file + - target: args.vehicle_info + widget: basic.file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.xml new file mode 100644 index 00000000000..f06fb83982d --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.xml @@ -0,0 +1,3 @@ + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.yaml new file mode 100644 index 00000000000..b4c40250c10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/voxel_grid_filter.yaml @@ -0,0 +1 @@ +format: Autoware Launcher Plugin Version 0.1 \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.xml b/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.xml new file mode 100644 index 00000000000..eb1351fcb07 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.xml @@ -0,0 +1,49 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.yaml b/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.yaml new file mode 100644 index 00000000000..978a6a0e213 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/leaf/waypoint_loader.yaml @@ -0,0 +1,12 @@ +format: Autoware Launcher Plugin Version 0.1 +args: +- { name: load_csv, type: bool, default: true } +- { name: multi_lane_csv, type: str, default: "" } + +panel: + widget: node.panel + frames: + - target: args.load_csv + widget: basic.bool + - target: args.multi_lane_csv + widget: basic.file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/camera_group.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/camera_group.yaml new file mode 100644 index 00000000000..9bb60a386fe --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/camera_group.yaml @@ -0,0 +1,3 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: + - { name: camera, plugin: node/camera_node, list: true } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml new file mode 100644 index 00000000000..1b0601f01e8 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/camera_node.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: driver, plugin: { scan: driver/camera } } +- { name: calibration, plugin: leaf/calibration } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml new file mode 100644 index 00000000000..1e14ed8a1e6 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/decision.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: [] \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml new file mode 100644 index 00000000000..bd7c8703ad5 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/detect_obj.yaml @@ -0,0 +1,7 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: points_preproc, plugin: refs/ray_ground_filter } +- { name: points_detect, plugin: refs/euclidean_cluster } +- { name: images_detect, plugin: refs/yolov3 } +- { name: fusion, plugin: refs/range_vision_fusion } +- { name: tracking, plugin: refs/imm_ukf_pda_track } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/detect_tl.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/detect_tl.yaml new file mode 100644 index 00000000000..97bfdf75c68 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/detect_tl.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: + - { name: projection, plugin: refs/tl_projection } + - { name: recognition, plugin: refs/tl_recognition } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/detection.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/detection.yaml new file mode 100644 index 00000000000..7aabd7081f3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/detection.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: object, plugin : node/detect_obj } +- { name: traffic_lights, plugin : node/detect_tl } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/lidar_group.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_group.yaml new file mode 100644 index 00000000000..380b6d6fd50 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_group.yaml @@ -0,0 +1,3 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: lidar, plugin: node/lidar_node, list: true } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/lidar_merge.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_merge.yaml new file mode 100644 index 00000000000..60038332174 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_merge.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: concat, plugin: leaf/concat } +- { name: transform, plugin: leaf/transform_v2b } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/lidar_multi.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_multi.yaml new file mode 100644 index 00000000000..98cb8b01382 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_multi.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: concat, plugin: node/lidar_merge } +- { name: lidars, plugin: node/lidar_group } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/lidar_node.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_node.yaml new file mode 100644 index 00000000000..c5e25f5b7bd --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_node.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: driver, plugin: { scan: driver/lidar } } +- { name: transform, plugin: leaf/transform_v2v } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/lidar_single.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_single.yaml new file mode 100644 index 00000000000..41c80728c40 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/lidar_single.yaml @@ -0,0 +1,4 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: driver, plugin: { scan: driver/lidar } } +- { name: transform, plugin: leaf/transform_v2b } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/localization.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/localization.yaml new file mode 100644 index 00000000000..5250d6fb4dc --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/localization.yaml @@ -0,0 +1,5 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: downsampler, plugin: leaf/voxel_grid_filter } +- { name: localizer, plugin: leaf/ndt_matching } +- { name: vel_pose_connect, plugin: refs/vel_pose_connect } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/mission.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/mission.yaml new file mode 100644 index 00000000000..c3a95b8d926 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/mission.yaml @@ -0,0 +1,5 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: lane_rule, plugin: leaf/lane_rule } +- { name: lane_stop, plugin: leaf/lane_stop } +- { name: lane_select, plugin: refs/lane_select } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml new file mode 100644 index 00000000000..b6741866828 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/motion.yaml @@ -0,0 +1,7 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: obstacle_avoid, plugin: refs/obstacle_avoid } +- { name: velocity_set, plugin: refs/velocity_set } +- { name: waypoint_loader, plugin: leaf/waypoint_loader } +- { name: pure_pursuit, plugin: leaf/pure_pursuit } +- { name: twist_filter, plugin: refs/twist_filter } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/prediction.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/prediction.yaml new file mode 100644 index 00000000000..5b24724ac37 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/prediction.yaml @@ -0,0 +1,3 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: native_motion_predict, plugin: refs/native_motion_predict } \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/node/sensing.yaml b/ros/src/util/packages/autoware_launcher/plugins/node/sensing.yaml new file mode 100644 index 00000000000..b8b5b1ebd6d --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/node/sensing.yaml @@ -0,0 +1,14 @@ +format: Autoware Launcher Plugin Version 0.1 +exts: +- name: description + type: str +rules: +- { name: lidar, plugin: [node/lidar_single, node/lidar_multi] } +- { name: camera, plugin: node/camera_group } +- { name: gnss, plugin: refs/nmea2tfpose } + +panel: + widget: node.panel + frames: + - target: exts.description + widget: basic.text \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/euclidean_cluster.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/euclidean_cluster.yaml new file mode 100644 index 00000000000..e98d9b8e418 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/euclidean_cluster.yaml @@ -0,0 +1,10 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find lidar_euclidean_cluster_detect)/launch/lidar_euclidean_cluster_detect.launch +args: +- { name: use_gpu, type: bool, default: true } + +panel: + widget: node.panel + frames: + - target: args.use_gpu + widget: basic.bool diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/imm_ukf_pda_track.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/imm_ukf_pda_track.yaml new file mode 100644 index 00000000000..d4110984f4b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/imm_ukf_pda_track.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find imm_ukf_pda_track)/launch/imm_ukf_pda_track.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/lane_select.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/lane_select.yaml new file mode 100644 index 00000000000..b921602061f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/lane_select.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find lane_planner)/launch/lane_select.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/native_motion_predict.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/native_motion_predict.yaml new file mode 100644 index 00000000000..4ff85afdbf6 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/native_motion_predict.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find naive_motion_predict)/launch/naive_motion_predict.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/nmea2tfpose.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/nmea2tfpose.yaml new file mode 100644 index 00000000000..cc33ed3be76 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/nmea2tfpose.yaml @@ -0,0 +1,12 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find gnss_localizer)/launch/nmea2tfpose.launch +args: +- name: plane + type: int + default: 7 + +panel: + widget: node.panel + frames: + - target: args.plane + widget: basic.int diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/obstacle_avoid.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/obstacle_avoid.yaml new file mode 100644 index 00000000000..8bf42f9d0f4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/obstacle_avoid.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find astar_planner)/launch/obstacle_avoid.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/range_vision_fusion.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/range_vision_fusion.yaml new file mode 100644 index 00000000000..bb3b8e451e3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/range_vision_fusion.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find range_vision_fusion)/launch/range_vision_fusion.launch \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/ray_ground_filter.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/ray_ground_filter.yaml new file mode 100644 index 00000000000..a283ee61526 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/ray_ground_filter.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find points_preprocessor)/launch/ray_ground_filter.launch \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/tl_projection.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/tl_projection.yaml new file mode 100644 index 00000000000..124a16a5239 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/tl_projection.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find trafficlight_recognizer)/launch/feat_proj.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/tl_recognition.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/tl_recognition.yaml new file mode 100644 index 00000000000..4b032622075 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/tl_recognition.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find trafficlight_recognizer)/launch/traffic_light_recognition.launch \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/twist_filter.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/twist_filter.yaml new file mode 100644 index 00000000000..e2dcdd9dfee --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/twist_filter.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find waypoint_follower)/launch/twist_filter.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/vel_pose_connect.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/vel_pose_connect.yaml new file mode 100644 index 00000000000..2c9b2f22a57 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/vel_pose_connect.yaml @@ -0,0 +1,16 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find autoware_connector)/launch/vel_pose_connect.launch +args: +- { name: topic_pose_stamped, type: str, default: /ndt_pose } +- { name: topic_twist_stamped, type: str, default: /estimate_twist } +- { name: sim_mode, type: bool } + +panel: + widget: node.panel + frames: + - target: args.topic_pose_stamped + widget: basic.text + - target: args.topic_twist_stamped + widget: basic.text + - target: args.sim_mode + widget: basic.bool diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/velocity_set.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/velocity_set.yaml new file mode 100644 index 00000000000..6318fd03e00 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/velocity_set.yaml @@ -0,0 +1,2 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find astar_planner)/launch/velocity_set.launch diff --git a/ros/src/util/packages/autoware_launcher/plugins/refs/yolov3.yaml b/ros/src/util/packages/autoware_launcher/plugins/refs/yolov3.yaml new file mode 100644 index 00000000000..7c026840d9a --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/refs/yolov3.yaml @@ -0,0 +1,31 @@ +format: Autoware Launcher Plugin Version 0.1 +rosxml: $(find vision_darknet_detect)/launch/vision_yolo3_detect.launch +args: +- { name: score_threshold, type: real, default: 0.50 } +- { name: nms_threshold, type: real, default: 0.45 } +- { name: image_src, type: str, default: /image_raw } +- { name: camera_id, type: str, default: "" } +- { name: gpu_device_id, type: int, default: 0 } +- { name: network_definition_file, type: str, default: $(find vision_darknet_detect)/darknet/cfg/yolov3.cfg } +- { name: pretrained_model_file, type: str, default: $(find vision_darknet_detect)/darknet/data/yolov3.weights } +- { name: names_file, type: str, default: $(find vision_darknet_detect)/darknet/cfg/coco.names } + +panel: + widget: node.panel + frames: + - target: args.score_threshold + widget: basic.real + - target: args.nms_threshold + widget: basic.real + - target: args.image_src + widget: basic.text + - target: args.camera_id + widget: basic.text + - target: args.gpu_device_id + widget: basic.int + - target: args.network_definition_file + widget: basic.text + - target: args.pretrained_model_file + widget: basic.text + - target: args.names_file + widget: basic.text diff --git a/ros/src/util/packages/autoware_launcher/plugins/root/default.yaml b/ros/src/util/packages/autoware_launcher/plugins/root/default.yaml new file mode 100644 index 00000000000..20f3bd37dbf --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/plugins/root/default.yaml @@ -0,0 +1,12 @@ +format: Autoware Launcher Plugin Version 0.1 +rules: +- { name: map, plugin : leaf/map } +- { name: vehicle, plugin : leaf/vehicle } +- { name: sensing, plugin : node/sensing } +- { name: localization, plugin : node/localization } +- { name: detection, plugin : node/detection } +- { name: prediction, plugin : node/prediction } +- { name: decision, plugin : node/decision } +- { name: mission, plugin : node/mission } +- { name: motion, plugin : node/motion } +- { name: visualization, plugin : leaf/rviz } diff --git a/ros/src/system/gazebo/catvehicle/CATKIN_IGNORE b/ros/src/util/packages/autoware_launcher/plugins/warntest.txt similarity index 100% rename from ros/src/system/gazebo/catvehicle/CATKIN_IGNORE rename to ros/src/util/packages/autoware_launcher/plugins/warntest.txt diff --git a/ros/src/util/packages/autoware_launcher/profiles/.gitignore b/ros/src/util/packages/autoware_launcher/profiles/.gitignore new file mode 100644 index 00000000000..ae524617e10 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/.gitignore @@ -0,0 +1,3 @@ +*.xml +/*.tmp +/*.tmp.launch \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart.launch b/ros/src/util/packages/autoware_launcher/profiles/quickstart.launch new file mode 100644 index 00000000000..2995a4d0e74 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart.launch @@ -0,0 +1 @@ +dummy \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/files/default.rviz b/ros/src/util/packages/autoware_launcher/profiles/quickstart/files/default.rviz new file mode 100644 index 00000000000..d01d5cb5fac --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/files/default.rviz @@ -0,0 +1,604 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Camera1/Visibility1 + - /Vector Map CenterLines1/Namespaces1 + - /Global Path1/Namespaces1 + - /Local Rollouts1/Namespaces1 + - /MarkerArray1/Namespaces1 + Splitter Ratio: 0.695804 + Tree Height: 342 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Points Map + - Class: integrated_viewer/ImageViewerPlugin + Image topic: /image_raw + Lane topic: ----- + Name: ImageViewerPlugin + Point size: 3 + Point topic: ----- + Rect topic: ----- + - Class: Module Panel + Name: Module Panel + - Class: autoware_launcher_rviz::ModulePanel + Name: ModulePanel +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + camera: + Value: true + gps: + Value: true + map: + Value: true + mobility: + Value: true + velodyne: + Value: true + world: + Value: true + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + map: + gps: + {} + mobility: + {} + Update Interval: 0 + Value: true + - Alpha: 0.0500000007 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Map + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.00999999978 + Style: Points + Topic: /points_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vector_map + Name: Vector Map + Namespaces: + cross_walk: true + curb: true + gutter: true + road_edge: true + road_mark: true + road_pole: true + road_sign: true + signal: true + stop_line: true + street_light: true + utility_pole: true + white_line: true + zebra_zone: true + Queue Size: 100 + Value: true + - Class: rviz/Camera + Enabled: false + Image Rendering: overlay + Image Topic: /image_raw + Name: Camera + Overlay Alpha: 0.400000006 + Queue Size: 10 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + A* Sim Obstacle: true + Behavior State: true + Control Pose: true + Current Pose: true + Detection Range: true + Global Path: true + Global Waypoints: true + GlobalPathAnimation: true + Grid: true + Local Rollouts: true + Local Waypoints: true + MarkerArray: true + Next Waypoint Mark: true + Occupancy Grid Map: true + OverlayText: true + PP Trajectory Mark: true + Points Cluster: true + Points Map: true + Points Raw: true + Safety Box: true + Simulated Obstacle: true + Stixel: true + TF: false + Tracked Contours: true + Value: true + Vector Map: true + Vector Map CenterLines: true + Vehicle Model: true + Velocity (km/h): true + Vscan Points: true + Waypoint Guide: true + Zoom Factor: 1 + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: Intensity + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 210 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 1 + Size (m): 0.00999999978 + Style: Points + Topic: /points_raw + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 255 + Name: Vscan Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /vscan_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: false + Head Length: 2 + Head Radius: 2 + Name: Control Pose + Shaft Length: 2 + Shaft Radius: 1 + Shape: Arrow + Topic: /control_pose + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 170; 255 + Enabled: false + Head Length: 2 + Head Radius: 2 + Name: Current Pose + Shaft Length: 2 + Shaft Radius: 1 + Shape: Arrow + Topic: /ndt_pose + Unreliable: false + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_range + Name: Detection Range + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /next_target_mark + Name: Next Waypoint Mark + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /trajectory_circle_mark + Name: PP Trajectory Mark + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /vscan_linelist + Name: Stixel + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Name: Vehicle Model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Cluster + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.00999999978 + Style: Points + Topic: /points_cluster + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_waypoints_mark + Name: Local Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints_mark + Name: Global Waypoints + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /waypoint_guide + Name: Waypoint Guide + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /astar_sim_obstacle + Name: A* Sim Obstacle + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Occupancy Grid Map + Topic: /grid_map_visualization/distance_transform + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vector_map_center_lines_rviz + Name: Vector Map CenterLines + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints_rviz + Name: Global Path + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_trajectories + Name: Local Rollouts + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detected_polygons + Name: Tracked Contours + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /behavior_state + Name: Behavior State + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /AnimateGlobalPlan + Name: GlobalPathAnimation + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /safety_border + Name: Safety Box + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: Simulated Obstacle + Topic: /dp_planner_tracked_boxes + Unreliable: false + Value: true + alpha: 0.800000012 + color: 25; 255; 0 + coloring: Value + line width: 0.00999999978 + only edge: false + show coords: false + - Buffer length: 100 + Class: jsk_rviz_plugin/Plotter2D + Enabled: true + Name: Velocity (km/h) + Show Value: true + Topic: /linear_velocity_viz + Value: true + auto color change: false + auto scale: true + background color: 0; 0; 0 + backround alpha: 0 + border: true + foreground alpha: 0.699999988 + foreground color: 85; 255; 0 + height: 80 + left: 40 + linewidth: 1 + max color: 255; 0; 0 + max value: 1 + min value: -1 + show caption: true + text size: 8 + top: 30 + update interval: 0.0399999991 + width: 80 + - Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: OverlayText + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /ndt_monitor/ndt_info_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection/object_tracker/objects_markers + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /prediction/motion_predictor/path_markers + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 929.954834 + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: -67.4288177 + Y: -135.02388 + Z: -0.0927070975 + Focal Shape Fixed Size: false + Focal Shape Size: 0.0500000007 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Pitch: 1.56979632 + Target Frame: world + Value: Orbit (rviz) + Yaw: 5.15858078 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 1245 + Hide Left Dock: false + Hide Right Dock: false + ImageViewerPlugin: + collapsed: false + Module Panel: + collapsed: false + ModulePanel: + collapsed: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2325 + X: 137 + Y: 48 diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root.yaml new file mode 100644 index 00000000000..6f66d6177bd --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root.yaml @@ -0,0 +1,13 @@ +children: +- map +- vehicle +- sensing +- localization +- detection +- prediction +- decision +- mission +- motion +- visualization +config: {} +plugin: root/default diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/decision.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/decision.yaml new file mode 100644 index 00000000000..9e3271636bb --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/decision.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: node/decision diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection.yaml new file mode 100644 index 00000000000..500ce45416c --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection.yaml @@ -0,0 +1,5 @@ +children: +- object +- traffic_lights +config: {} +plugin: node/detection diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object.yaml new file mode 100644 index 00000000000..9df95287e69 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object.yaml @@ -0,0 +1,8 @@ +children: +- points_preproc +- points_detect +- images_detect +- fusion +- tracking +config: {} +plugin: node/detect_obj diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/fusion.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/fusion.yaml new file mode 100644 index 00000000000..568e478b6b7 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/fusion.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/range_vision_fusion diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/images_detect.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/images_detect.yaml new file mode 100644 index 00000000000..7ceae9681bf --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/images_detect.yaml @@ -0,0 +1,11 @@ +children: [] +config: + args.camera_id: '' + args.gpu_device_id: 0 + args.image_src: /image_raw + args.names_file: $(find vision_darknet_detect)/darknet/cfg/coco.names + args.network_definition_file: $(find vision_darknet_detect)/darknet/cfg/yolov3.cfg + args.nms_threshold: 0.45 + args.pretrained_model_file: $(find vision_darknet_detect)/darknet/data/yolov3.weights + args.score_threshold: 0.5 +plugin: refs/yolov3 diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_detect.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_detect.yaml new file mode 100644 index 00000000000..79052c3864c --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_detect.yaml @@ -0,0 +1,4 @@ +children: [] +config: + args.use_gpu: true +plugin: refs/euclidean_cluster diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_preproc.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_preproc.yaml new file mode 100644 index 00000000000..3fb6f7d3dd3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/points_preproc.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/ray_ground_filter diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/tracking.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/tracking.yaml new file mode 100644 index 00000000000..fa767fd118d --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/object/tracking.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/imm_ukf_pda_track diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights.yaml new file mode 100644 index 00000000000..f4f4969207f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights.yaml @@ -0,0 +1,5 @@ +children: +- projection +- recognition +config: {} +plugin: node/detect_tl diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/projection.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/projection.yaml new file mode 100644 index 00000000000..e797116bde1 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/projection.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/tl_projection diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/recognition.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/recognition.yaml new file mode 100644 index 00000000000..04b06b397aa --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/detection/traffic_lights/recognition.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/tl_recognition diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization.yaml new file mode 100644 index 00000000000..51b00e8c693 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization.yaml @@ -0,0 +1,6 @@ +children: +- downsampler +- localizer +- vel_pose_connect +config: {} +plugin: node/localization diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/downsampler.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/downsampler.yaml new file mode 100644 index 00000000000..d42eec40e3b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/downsampler.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: leaf/voxel_grid_filter diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/localizer.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/localizer.yaml new file mode 100644 index 00000000000..c4461b00342 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/localizer.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: leaf/ndt_matching diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/vel_pose_connect.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/vel_pose_connect.yaml new file mode 100644 index 00000000000..86f2fba1dd2 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/localization/vel_pose_connect.yaml @@ -0,0 +1,6 @@ +children: [] +config: + args.sim_mode: false + args.topic_pose_stamped: /ndt_pose + args.topic_twist_stamped: /estimate_twist +plugin: refs/vel_pose_connect diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/map.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/map.yaml new file mode 100644 index 00000000000..b1b55ba533b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/map.yaml @@ -0,0 +1,113 @@ +children: [] +config: + args.point_cloud_files: + - $(env HOME)/.autoware/data/pointcloud_map/bin_global_moriyama_rgb-1.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_global_moriyama_rgb-2.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_global_moriyama_rgb-3.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_global_moriyama_rgb-4.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00144_-00853.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00144_-00854.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00144_-00855.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00145_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00145_-00853.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00145_-00854.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00146_-00846.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00146_-00847.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00146_-00851.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00146_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00146_-00853.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00846.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00847.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00849.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00850.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00851.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00147_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00148_-00847.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00148_-00848.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00148_-00849.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00149_-00846.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00149_-00847.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00149_-00848.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00150_-00846.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00150_-00847.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00150_-00848.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00151_-00848.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00151_-00849.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00151_-00850.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00152_-00849.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00152_-00850.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00152_-00851.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00153_-00850.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00153_-00851.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00153_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00154_-00851.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00154_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00154_-00853.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00155_-00852.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00155_-00853.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00155_-00854.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00155_-00855.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00156_-00854.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00156_-00855.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00156_-00856.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00157_-00856.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00157_-00857.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00158_-00856.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00158_-00857.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00158_-00858.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00159_-00857.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00159_-00858.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00159_-00859.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00160_-00858.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00160_-00859.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00160_-00860.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00160_-00861.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00161_-00860.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00161_-00861.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00162_-00861.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00162_-00862.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00163_-00861.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00163_-00862.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00164_-00862.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00164_-00863.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00165_-00863.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00165_-00864.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00166_-00864.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00166_-00865.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00167_-00864.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00167_-00865.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00167_-00866.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00167_-00867.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00168_-00865.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00168_-00866.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00168_-00867.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00168_-00868.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00168_-00869.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00169_-00868.pcd + - $(env HOME)/.autoware/data/pointcloud_map/bin_Laser-00169_-00869.pcd + args.transform_file: $(env HOME)/.autoware/data/tf/tf.launch + args.vector_map_files: + - $(env HOME)/.autoware/data/vector_map/area.csv + - $(env HOME)/.autoware/data/vector_map/crosswalk.csv + - $(env HOME)/.autoware/data/vector_map/curb.csv + - $(env HOME)/.autoware/data/vector_map/dtlane.csv + - $(env HOME)/.autoware/data/vector_map/gutter.csv + - $(env HOME)/.autoware/data/vector_map/idx.csv + - $(env HOME)/.autoware/data/vector_map/lane.csv + - $(env HOME)/.autoware/data/vector_map/line.csv + - $(env HOME)/.autoware/data/vector_map/node.csv + - $(env HOME)/.autoware/data/vector_map/point.csv + - $(env HOME)/.autoware/data/vector_map/pole.csv + - $(env HOME)/.autoware/data/vector_map/poledata.csv + - $(env HOME)/.autoware/data/vector_map/road_surface_mark.csv + - $(env HOME)/.autoware/data/vector_map/roadedge.csv + - $(env HOME)/.autoware/data/vector_map/roadsign.csv + - $(env HOME)/.autoware/data/vector_map/signaldata.csv + - $(env HOME)/.autoware/data/vector_map/stopline.csv + - $(env HOME)/.autoware/data/vector_map/streetlight.csv + - $(env HOME)/.autoware/data/vector_map/utilitypole.csv + - $(env HOME)/.autoware/data/vector_map/vector.csv + - $(env HOME)/.autoware/data/vector_map/whiteline.csv + - $(env HOME)/.autoware/data/vector_map/zebrazone.csv + exts.description: Moriyama +plugin: leaf/map diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission.yaml new file mode 100644 index 00000000000..548017182b4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission.yaml @@ -0,0 +1,6 @@ +children: +- lane_rule +- lane_stop +- lane_select +config: {} +plugin: node/mission diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_rule.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_rule.yaml new file mode 100644 index 00000000000..8bd2674be71 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_rule.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: leaf/lane_rule diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_select.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_select.yaml new file mode 100644 index 00000000000..05c2e5f92bb --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_select.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/lane_select diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_stop.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_stop.yaml new file mode 100644 index 00000000000..b756bb6d981 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/mission/lane_stop.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: leaf/lane_stop diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion.yaml new file mode 100644 index 00000000000..a1e8f1e773b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion.yaml @@ -0,0 +1,8 @@ +children: +- obstacle_avoid +- velocity_set +- waypoint_loader +- pure_pursuit +- twist_filter +config: {} +plugin: node/motion diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/obstacle_avoid.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/obstacle_avoid.yaml new file mode 100644 index 00000000000..745a9d5bad7 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/obstacle_avoid.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/obstacle_avoid diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/pure_pursuit.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/pure_pursuit.yaml new file mode 100644 index 00000000000..f0fa31436ee --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/pure_pursuit.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: leaf/pure_pursuit diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/twist_filter.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/twist_filter.yaml new file mode 100644 index 00000000000..fd6d70450a4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/twist_filter.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/twist_filter diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/velocity_set.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/velocity_set.yaml new file mode 100644 index 00000000000..c44da60247b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/velocity_set.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/velocity_set diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/waypoint_loader.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/waypoint_loader.yaml new file mode 100644 index 00000000000..234cd6c004f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/motion/waypoint_loader.yaml @@ -0,0 +1,5 @@ +children: [] +config: + args.load_csv: true + args.multi_lane_csv: $(env HOME)/.autoware/data/path/moriyama_path.txt +plugin: leaf/waypoint_loader diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction.yaml new file mode 100644 index 00000000000..5907a8c9be3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction.yaml @@ -0,0 +1,4 @@ +children: +- native_motion_predict +config: {} +plugin: node/prediction diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction/native_motion_predict.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction/native_motion_predict.yaml new file mode 100644 index 00000000000..c5f9ba7ad46 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/prediction/native_motion_predict.yaml @@ -0,0 +1,3 @@ +children: [] +config: {} +plugin: refs/native_motion_predict diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing.yaml new file mode 100644 index 00000000000..6c3ef7493b5 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing.yaml @@ -0,0 +1,7 @@ +children: +- lidar +- camera +- gnss +config: + exts.description: '' +plugin: node/sensing diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera.yaml new file mode 100644 index 00000000000..93f4664a365 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera.yaml @@ -0,0 +1,4 @@ +children: +- camera0 +config: {} +plugin: node/camera_group diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0.yaml new file mode 100644 index 00000000000..d4a1d31afcb --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0.yaml @@ -0,0 +1,4 @@ +children: +- calibration +config: {} +plugin: node/camera_node diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0/calibration.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0/calibration.yaml new file mode 100644 index 00000000000..84782308bd6 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/camera/camera0/calibration.yaml @@ -0,0 +1,4 @@ +children: [] +config: + args.calibration_file: $(env HOME)/.autoware/data/calibration/calibration.yml +plugin: leaf/calibration diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/gnss.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/gnss.yaml new file mode 100644 index 00000000000..49b9abd31c4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/gnss.yaml @@ -0,0 +1,4 @@ +children: [] +config: + args.plane: 7 +plugin: refs/nmea2tfpose diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar.yaml new file mode 100644 index 00000000000..242c5dfe259 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar.yaml @@ -0,0 +1,4 @@ +children: +- transform +config: {} +plugin: node/lidar_single diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar/transform.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar/transform.yaml new file mode 100644 index 00000000000..fd9377d01c2 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/sensing/lidar/transform.yaml @@ -0,0 +1,11 @@ +children: [] +config: + args.local_frame: velodyne + args.parent_frame: base_link + args.rx: '0' + args.ry: '0' + args.rz: '0' + args.tx: '1.2' + args.ty: '0' + args.tz: '2.0' +plugin: leaf/transform_v2b diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/vehicle.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/vehicle.yaml new file mode 100644 index 00000000000..248dfd213f1 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/vehicle.yaml @@ -0,0 +1,6 @@ +children: [] +config: + args.vehicle_info: $(find autoware_launcher)/resources/dummy.yaml + args.vehicle_model: $(find vehicle_description)/urdf/default.urdf + exts.description: Default +plugin: leaf/vehicle diff --git a/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/visualization.yaml b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/visualization.yaml new file mode 100644 index 00000000000..10dae4b8b49 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/profiles/quickstart/root/visualization.yaml @@ -0,0 +1,5 @@ +children: [] +config: + args.rviz_config_file: $(find autoware_launcher)/profiles/quickstart/files/default.rviz + exts.description: Default +plugin: leaf/rviz diff --git a/ros/src/util/packages/autoware_launcher/resources/autoware_logo.png b/ros/src/util/packages/autoware_launcher/resources/autoware_logo.png new file mode 100644 index 00000000000..3ef898f30fc Binary files /dev/null and b/ros/src/util/packages/autoware_launcher/resources/autoware_logo.png differ diff --git a/ros/src/util/packages/autoware_launcher/resources/dummy.yaml b/ros/src/util/packages/autoware_launcher/resources/dummy.yaml new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ros/src/util/packages/autoware_launcher/resources/lgsvl.yaml b/ros/src/util/packages/autoware_launcher/resources/lgsvl.yaml new file mode 100644 index 00000000000..dde9c3c53d0 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/resources/lgsvl.yaml @@ -0,0 +1,27 @@ +initial_configuration: + map: SanFrancisco + time_of_day: 12 + freeze_time_of_day: true + fog_intensity: 0 + rain_intensity: 0 + road_wetness: 0 + enable_traffic: true + enable_pedestrian: true + traffic_density: 300 +vehicles: +- type: XE_Rigged-autoware + address: 127.0.0.1 + port: 9090 + command_type: twist + enable_lidar: true + enable_gps: true + enable_main_camera: true + enable_high_quality_rendering: false + position: + n: 4140310.4 + e: 590681.5 + h: 10 + orientation: + r: 0 + p: 0 + y: 269.9 diff --git a/ros/src/util/packages/autoware_launcher/resources/rosbagplay.xml b/ros/src/util/packages/autoware_launcher/resources/rosbagplay.xml new file mode 100644 index 00000000000..91fd8cc6a9f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/resources/rosbagplay.xml @@ -0,0 +1,5 @@ + + + + + \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/resources/skins/autoware.css b/ros/src/util/packages/autoware_launcher/resources/skins/autoware.css new file mode 100644 index 00000000000..7cf5f6968fa --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/resources/skins/autoware.css @@ -0,0 +1,30 @@ +* +{ + color: #000000; + background-color: #FFFFFF; +} + +QPushButton +{ + color: #FFFFFF; + background-color: #223A70; +} + +QCheckBox::indicator +{ + width: 20px; + height: 20px; +} + +#FrameHeader +{ + border-top: 1px solid #223A70; +} + +#FrameHeader, #FrameWidget +{ + padding: 5px; + border-bottom: 1px solid #223A70; + border-left: 1px solid #223A70; + border-right: 1px solid #223A70; +} diff --git a/ros/src/util/packages/autoware_launcher/resources/skins/default.css b/ros/src/util/packages/autoware_launcher/resources/skins/default.css new file mode 100644 index 00000000000..00f8462024b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/resources/skins/default.css @@ -0,0 +1,18 @@ +QCheckBox::indicator +{ + width: 20px; + height: 20px; +} + +#FrameHeader +{ + border-top: 1px solid #223A70; +} + +#FrameHeader, #FrameWidget +{ + padding: 5px; + border-bottom: 1px solid #223A70; + border-left: 1px solid #223A70; + border-right: 1px solid #223A70; +} diff --git a/ros/src/util/packages/autoware_launcher/runner/.gitignore b/ros/src/util/packages/autoware_launcher/runner/.gitignore new file mode 100644 index 00000000000..b81c7954b78 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/runner/.gitignore @@ -0,0 +1 @@ +*.xml \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/scripts/main b/ros/src/util/packages/autoware_launcher/scripts/main new file mode 100755 index 00000000000..781b2da02a3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/scripts/main @@ -0,0 +1,13 @@ +#! /usr/bin/env python + +import logging +import sys + +from autoware_launcher.core import AwLaunchServer +from autoware_launcher.gui import AwQtGuiClient + +logging.basicConfig(level=logging.DEBUG, format="%(levelname)-5s: %(name)s: %(message)s") + +server = AwLaunchServer(sys.argv) +client = AwQtGuiClient(sys.argv, server) +sys.exit(client.start2()) \ No newline at end of file diff --git a/ros/src/system/gazebo/catvehicle/setup.py b/ros/src/util/packages/autoware_launcher/setup.py similarity index 50% rename from ros/src/system/gazebo/catvehicle/setup.py rename to ros/src/util/packages/autoware_launcher/setup.py index a2547fb3c55..ef0b1570c27 100644 --- a/ros/src/system/gazebo/catvehicle/setup.py +++ b/ros/src/util/packages/autoware_launcher/setup.py @@ -1,12 +1,12 @@ -## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD +#!/usr/bin/env python from distutils.core import setup from catkin_pkg.python_setup import generate_distutils_setup -# fetch values from package.xml setup_args = generate_distutils_setup( - packages=['catvehicle'], - package_dir={'': 'src'}, + packages=['autoware_launcher'], + package_dir={'': 'src'} ) setup(**setup_args) + diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/__init__.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/__init__.py new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/__init__.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/__init__.py new file mode 100644 index 00000000000..234472be1dc --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/__init__.py @@ -0,0 +1,3 @@ +from .server import AwLaunchServer +from .server import AwLaunchServerIF +from .server import AwLaunchClientIF \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/basetree.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/basetree.py new file mode 100644 index 00000000000..08c122fd8dc --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/basetree.py @@ -0,0 +1,36 @@ +import os +import yaml + + + +class AwBaseTree(object): + + def __init__(self): + self.nodes = {} + + def find(self, path): + return self.nodes.get(path) + + def scan(self, path): + return filter(lambda node: node.startswith(path), self.nodes.keys()) + + def dump(self): + for name in sorted(self.nodes.keys()): + print "==================================================" + self.nodes[name].dump() + + +class AwBaseNode(object): + + def __init__(self, tree, path): + self.__tree = tree + self.__path = path + + def tree(self): + return self.__tree + + def path(self): + return self.__path + + def name(self): + return os.path.basename(self.__path) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/launch.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/launch.py new file mode 100644 index 00000000000..7fe5ea68b04 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/launch.py @@ -0,0 +1,292 @@ +from logging import getLogger +logger = getLogger(__name__) + +import os +import yaml + +from . import basetree +from . import myutils + + + +class AwBaseNode(object): + + def __init__(self, name): + self.__nodename = name + self.__parent = None + self.__children = [] + self.__childmap = {} + + def dump(self, indent = 0): + print((indent * " ") + str(self)) + for child in self.children(): child.dump(indent + 2) + + def tree(self): + return self.__parent.tree() + + def nodename(self): # ToDo: remove + return self.__nodename + + def name(self): + return self.__nodename + + def nodepath(self): # ToDo: remove + return os.path.join(self.__parent.nodepath(), self.nodename()) + + def path(self): + return os.path.join(self.__parent.path(), self.name()) + + def fullpath(self): + return os.path.join(self.__parent.fullpath(), self.nodename()) + + def children(self): # ToDo: remove + return self.__children + + def childnodes(self): + return self.__children + + def childnames(self): + return [node.nodename() for node in self.__children] + + def getchild(self, name): + return self.__childmap.get(name) + + def haschild(self, name): + return name in self.__childmap + + def addchild(self, node): + self.__children.append(node) + self.__childmap[node.nodename()] = node + node.__parent = self + + def delchild(self, node): + self.__children.remove(node) + self.__childmap.pop(node.nodename()) + node.__parent = None + + def listnode(self, this = False): + result = [self] if this else [] + for child in self.children(): result.extend(child.listnode(True)) + return result + + + +class AwBaseTree(AwBaseNode): + + def __init__(self): + super(AwBaseTree, self).__init__(None) + self.treepath = "" + + def tree(self): + return self + + def nodepath(self): # ToDo: remove + return "" + + def path(self): + return "" + + def fullpath(self): + return self.treepath + + def find(self, path): + node = self + for name in path.split("/"): + node = node.getchild(name) + return node + + + +class AwLaunchTree(AwBaseTree): + + def __init__(self, server, plugins): + super(AwLaunchTree, self).__init__() + self.server = server + self.plugins = plugins + #self.treedir = None + + def __str__(self): + childnames = map(lambda child: child.nodename(), self.children()) + return "Tree:{} Children:{}".format(self.nodename(), childnames) + + def save(self, treepath): + self.treepath = treepath + with open(treepath + ".launch", mode = "w") as fp: + fp.write("dummy") + for node in self.listnode(): + fullpath = node.fullpath() + ".yaml" + myutils.makedirs(os.path.dirname(fullpath), exist_ok = True) + with open(fullpath, mode = "w") as fp: + fp.write(yaml.safe_dump(node.export_data(), default_flow_style = False)) + + def load(self, treepath, plugins): + def load_node(node): + fullpath = node.fullpath() + with open(fullpath + ".yaml") as fp: + node.import_data(yaml.safe_load(fp), plugins) + for child in node.children(): + load_node(child) + root = AwLaunchNode("root") + self.addchild(root) + self.treepath = treepath + load_node(root) + + def make(self, ppath, plugins): + plugin = plugins.find(ppath) + launch = AwLaunchNode("root") + launch.plugin = plugin + launch.config = plugin.default_config() + self.addchild(launch) + + def export(self, rootpath): + for node in self.listnode(): + xtext = node.generate_launch() + xpath = node.nodepath().replace("/", "-") + ".xml" + xpath = os.path.join(rootpath, xpath) + with open(xpath, mode="w") as fp: fp.write(xtext) + + def create(self, lpath, ppath): + logger.info("Tree Create: " + lpath + ", " + ppath) + parent = self.find(os.path.dirname(lpath)) + if not parent: + return "parent is not found" + if self.find(lpath): + return "name exists" + + plugin = self.plugins.find(ppath) + launch = AwLaunchNode(os.path.basename(lpath)) + launch.plugin = plugin + launch.config = plugin.default_config() + parent.addchild(launch) + return None + + + + +class AwLaunchNode(AwBaseNode): + + STOP, EXEC, TERM = 0x00, 0x01, 0x02 + + def __init__(self, name): + super(AwLaunchNode, self).__init__(name) + self.plugin = None + self.config = None + self.status = self.STOP + + def tostring(self): + return yaml.safe_dump(self.todict()) + + def todict(self): + return \ + { + "plugin" : self.plugin.todict(), + "config" : self.config, + "children": [child.nodename() for child in self.children()] + } + + # experimental + def remove_child(self, name): + if not name: + return "name is empty" + if not self.haschild(name): + return "name does not exist" + self.delchild(name) + self.send_config_removed(name) + return None + + def update(self, ldata): + self.config.update(ldata["config"]) + return None + + def launch(self, xmode): + if xmode: + return self.__exec() + else: + return self.__term() + + def __exec(self): + if self.plugin.isleaf(): + if self.status == self.STOP: + self.status = self.EXEC + return (True, True) + else: + status = self.STOP + for child in self.children(): + status |= child.status + if self.status != status: + self.status = status + return (True, False) + return (False, False) + + def __term(self): + if self.plugin.isleaf(): + if self.status == self.EXEC: + self.status = self.TERM + return (True, True) + else: + status = self.STOP + for child in self.children(): + status |= child.status + if self.status != status: + self.status = status + return (True, False) + return (False, False) + + def get_config(self, key, value): + return self.config.get(key, value) + + def generate_launch(self): + lines = [] + if self.plugin.isleaf(): + lines.append('') + lines.append(' '.format(self.plugin.rosxml())) + for data in self.plugin.args(): + argvalue = self.config.get("args." + data.name) + if argvalue is not None: + lines.append(' '.format(data.name, data.xmlstr(argvalue))) + lines.append(' ') + lines.append('') + else: + lines.append('') + for childname in self.childnames(): + childpath = os.path.join(self.path(), childname) + childpath = childpath.replace("/", "-") + ".xml" + lines.append(' '.format(childpath)) + lines.append('') + return "\n".join(lines) + + + + def import_data(self, data, plugins): + self.plugin = plugins.find(data["plugin"]) + self.config = data["config"] + if data["children"] is None: + self.setleaf() + else: + for childname in data["children"]: + self.addchild(AwLaunchNode(childname)) + + def export_data(self): + children = map(lambda node: node.nodename(), self.children()) + plugin = self.plugin.path() + config = self.config + return { "children": children, "plugin": plugin, "config": config } + + + # ToDo: remove function + def bind_listener(self, listener): + logger.warning("bind_listener: " + listener.__class__.__name__) + + # ToDo: remove function + def unbind_listener(self, listener): + logger.warning("unbind_listener: " + listener.__class__.__name__) + + + +if __name__ == "__main__": + from .plugin import AwPluginTree + plugin = AwPluginTree() + launch = AwLaunchTree(None) + launch.load(myutils.profile("default"), plugin) + launch.dump() + launch.save(myutils.profile("sample.bak")) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/mylog.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/mylog.py new file mode 100644 index 00000000000..87a35e9ad30 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/mylog.py @@ -0,0 +1,10 @@ + + +def error(text): + print("\033[31m" + text + "\033[0m") + +def warning(text): + print("\033[33m" + text + "\033[0m") + +def info(text): + print("\033[32m" + text + "\033[0m") \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/myutils.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/myutils.py new file mode 100644 index 00000000000..6868492f268 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/myutils.py @@ -0,0 +1,46 @@ +import os +import yaml + + + +def userhome(path = ""): + return os.path.abspath(os.path.join(os.path.expanduser("~"), path)) + +def autoware(path = ""): + return os.path.abspath(os.path.join(os.path.dirname(__file__), 8 * "../", path)) + +def package(path = ""): + return os.path.abspath(os.path.join(os.path.dirname(__file__), 3 * "../", path)) + +def plugins(): + return os.path.join(package(), "plugins") + +def profile(profile = ""): + return os.path.join(package(), "profiles", profile) + +def parentpath(path): + return os.path.dirname(path) + +def makedirs(path, mode=0777, exist_ok=False): # workaround in python2 + if not (exist_ok and os.path.exists(path)): os.makedirs(path, mode) + +def listfiles(rootpath, relative=False): + filelist = [] + for currpath, dirnames, filenames in os.walk(rootpath): + if relative: + currpath = os.path.relpath(currpath, rootpath) + if currpath == ".": + currpath = "" + for filename in filenames: + filelist.append(os.path.join(currpath, filename)) + return filelist + +def envpath(path): + patterns = \ + [ + (os.environ['HOME'], "$(env HOME)") + ] + for pattern, replace in patterns: + if path.startswith(pattern): + return replace + path[len(pattern):] + return path diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/plugin.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/plugin.py new file mode 100644 index 00000000000..f13399cf425 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/plugin.py @@ -0,0 +1,209 @@ +from logging import getLogger +logger = getLogger(__name__) + +import collections +import os +import xml.etree.ElementTree as xmltree +import yaml + +from . import basetree +from . import myutils + + + +class AwPluginTree(basetree.AwBaseTree): + + def __init__(self): + super(AwPluginTree, self).__init__() + + filelist = myutils.listfiles(myutils.plugins(), relative=True) + nodelist = list() + for filepath in filelist: + fkey, fext = os.path.splitext(filepath) + if fext in [".yaml", ".xml"]: + if fkey not in self.nodes: + self.nodes[fkey] = AwPluginNode(self, fkey) + else: + logger.warning("plugin ignored: unknown extension ({})".format(filepath)) + + for plugin in self.nodes.values(): + plugin.load(myutils.plugins()) + + + +class AwPluginNode(basetree.AwBaseNode): + + def __init__(self, tree, path): + super(AwPluginNode, self).__init__(tree, path) + self.__isleaf = None + self.__rosxml = None + self.__fields = None + self.__args = None + self.__exts = None + self.__rules = None + self.__panel = None + self.__frame = None + + def dump(self): + print yaml.safe_dump(self.todict()) + + def todict(self): + return \ + { + "1.name" : self.path(), + "2.type" : "Node" if self.isnode() else "Leaf", + "3.file" : self.__rosxml, + "4.exts" : [data.todict() for data in self.__exts], + "5.args" : [data.todict() for data in self.__args], + "6.rules": [data.todict() for data in self.__rules], + "7.panel": self.__panel.todict(), + "8.frame": self.__frame.todict() + } + + def isnode(self): + return not self.__isleaf + + def isleaf(self): + return self.__isleaf + + def rosxml(self): + return self.__rosxml + + def fields(self): + return self.__fields + + def exts(self): + return self.__exts + + def args(self): + return self.__args + + def rules(self): + return self.__rules + + def panel(self): + return self.__panel + + def frame(self): + return self.__frame + + def default_config(self): + values = {"str":"", "int":"0", "bool":False} + def default_value(data): + value = data.rest.get("default") + if value is None: + return values[data.type] + else: + return value + config = {} + config.update({"args." + data.name: default_value(data) for data in self.__args}) + config.update({"exts." + data.name: default_value(data) for data in self.__exts}) + return config + + def argstr(self, config): + lines = [] + for argkey, argdef in self.__args.items(): + cfgkey = "args." + argkey + lines.append(argkey + ": " + config[cfgkey]) + return "\n".join(lines) + + def load(self, rootpath): + filepath = os.path.join(rootpath, self.path()) + + if os.path.exists(filepath + ".yaml"): + with open(filepath+ ".yaml") as fp: + ydata = yaml.safe_load(fp) + + if ydata.get("format") != "Autoware Launcher Plugin Version 0.1": + raise Exception("unknown plugin format: " + filepath) + + self.__isleaf = ydata.get("rules") is None + self.__rosxml = ydata.get("rosxml", "$(find autoware_launcher)/plugins/{}.xml".format(self.path())) + self.__exts = [AwPluginDataElement(data) for data in ydata.get("exts", [])] + self.__args = [AwPluginDataElement(data) for data in ydata.get("args", [])] + self.__rules = [AwPluginRuleElement(data, self) for data in ydata.get("rules", [])] + self.__panel = AwPluginPanelElement(ydata.get("panel", {})) + self.__frame = AwPluginFrameElement(ydata.get("frame", {})) + self.__fields = {} + self.__fields.update({"exts."+data.name: data for data in self.__exts}) + self.__fields.update({"args."+data.name: data for data in self.__args}) + + + +# AwPluginArgumentDataElement +# AwPluginExtendedDataElement +class AwPluginDataElement(object): + + def __init__(self, data): + self.name = data.pop("name") + self.type = data.pop("type") + self.list = data.pop("list", None) + self.rest = data # temporary, add default field + + def todict(self): + return vars(self) + + def xmlstr(self, value): + if self.list is None: + return value + if self.list == "space": + return " ".join(value) + if self.list == "yaml": + return "[{}]".format(",".join(value)) + raise Error(__class__.__name__ + ".xmlstr") + +class AwPluginRuleElement(object): + + def __init__(self, data, node): + self.unique = not data.get("list", False) + self.name = data["name"] + self.plugins = self.__init_plugins(data["plugin"], node) + + def todict(self): + return vars(self) + + def __init_plugins(self, plist, pnode): + plugins = [] + ptree = pnode.tree() + plist = plist if type(plist) is list else [plist] + for pdata in plist: + if type(pdata) is dict: + plugins.extend(ptree.scan(pdata["scan"])) + elif type(pdata) is str: + if ptree.find(pdata): + plugins.append(pdata) + else: + logger.warning("plugin is not found: {} in {}".format(pdata, pnode.path())) + else: + logger.warning("unknown plugin rule: {} in {}".format(pdata, pnode.path())) + return plugins + +class AwPluginFrameElement(object): + + def __init__(self, data): + self.widget = data.get("widget", "node.frame") + self.target = data.get("target") + self.title = data.get("title") + + def todict(self): + return vars(self) + +class AwPluginPanelElement(object): + + def __init__(self, data): + self.widget = data.get("widget", "node.panel") + self.frames = [AwPluginFrameElement(f) for f in data.get("frames", [])] + + def todict(self): + return \ + { + "widget": self.widget, + "frames": [vars(data) for data in self.frames] + } + + + + +if __name__ == "__main__": + plugin = AwPluginTree() + plugin.dump() \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/server.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/server.py new file mode 100644 index 00000000000..ca698231a46 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/core/server.py @@ -0,0 +1,132 @@ +from logging import getLogger +logger = getLogger(__name__) + +import yaml +from . import myutils +from .plugin import AwPluginTree +from .launch import AwLaunchTree +from .launch import AwLaunchNode + + +class AwLaunchServerIF(object): + def make_profile(self, ppath): raise NotImplementedError("make_profile") + def load_profile(self, fpath): raise NotImplementedError("load_profile") + def save_profile(self, fpath): raise NotImplementedError("save_profile") + def list_node (self, lpath): raise NotImplementedError("list_node") + def find_node (self, lpath): raise NotImplementedError("find_node") + def update_node (self, lpath, ldata): raise NotImplementedError("update_node") + def create_node (self, lpath, ppath): raise NotImplementedError("create_node") + def remove_node (self, lpath): raise NotImplementedError("remove_node") + def launch_node (self, lpath): raise NotImplementedError("launch_node") + #def list_plugin + #def find_plugin + #def runner_finished + #def runner_stdouted + #def runner_stderred + +class AwLaunchClientIF(object): + def profile_updated(self): logger.error("Not implemented: profile_updated in " + self.__class__.__name__) + def node_updated (self, lpath): logger.error("Not implemented: node_updated in " + self.__class__.__name__) + def node_created (self, lpath): logger.error("Not implemented: node_created in " + self.__class__.__name__) + def node_removed (self, lpath): logger.error("Not implemented: node_removed in " + self.__class__.__name__) + def status_updated (self, lpath, state): logger.error("Not implemented: status_updated in " + self.__class__.__name__) + + +class AwLaunchServer(AwLaunchServerIF): + + def __init__(self, sysarg): + self.__plugins = AwPluginTree() + self.__profile = AwLaunchTree(self, self.__plugins) + self.__runner = None + self.__clients = [] + + def register_runner(self, runner): + self.__runner = runner + + def register_client(self, client): + self.__clients.append(client) + + def make_profile(self, ppath): + logger.info("make_profile: " + ppath) + self.__profile = AwLaunchTree(self, self.__plugins) + self.__profile.make(ppath, self.__plugins) + for client in self.__clients: client.profile_updated() + + def load_profile(self, fpath): + logger.info("load_profile: " + fpath) + self.__profile = AwLaunchTree(self, self.__plugins) + self.__profile.load(myutils.profile(fpath), self.__plugins) + for client in self.__clients: client.profile_updated() + + def save_profile(self, fpath): + logger.info("save_profile: " + fpath) + self.__profile.save(myutils.profile(fpath)) + + def export_profile(self, fpath): + logger.info("export_profile: " + fpath) + self.__profile.export(fpath) + + def list_node(self): + logger.info("list_node: ") + return map(lambda node: node.nodepath(), self.__profile.listnode(False)) + + def find_node(self, lpath): + logger.info("find_node: " + lpath) + return self.__profile.find(lpath) + + def update_node(self, lpath, ldata): + error = self.__profile.find(lpath).update(ldata) + if not error: + for client in self.__clients: client.node_updated(lpath) + return error + + def create_node(self, lpath, ppath): + error = self.__profile.create(lpath, ppath) + if not error: + for client in self.__clients: client.node_created(lpath) + return error + + def remove_node(self, lpath): + pass + + def launch_node(self, lpath, xmode): # ToDo: update ancestors status + logger.info("launch_node: " + lpath + " " + str(xmode)) + difflist = [] + execlist = [] + nodelist = self.__profile.find(lpath).listnode(True) + nodelist = sorted(nodelist, reverse = True, key = lambda x: len(x.nodepath())) + for node in nodelist: + isdiff, isexec = node.launch(xmode) + if isdiff: difflist.append(node.nodepath()) + if isexec: execlist.append(node.nodepath()) + logger.info("Update:" + str(difflist)) + logger.info("Launch:" + str(execlist)) + for lpath in difflist: + state = self.__profile.find(lpath).status + for client in self.__clients: client.status_updated(lpath, state) + for lpath in execlist: + if xmode: + xtext = self.__profile.find(lpath).generate_launch() + self.__runner.roslaunch(lpath, xtext) + else: + self.__runner.terminate(lpath) + + def runner_finished(self, lpath): # ToDo: update ancestors status + self.__profile.find(lpath).status = AwLaunchNode.STOP + for client in self.__clients: client.status_updated(lpath, AwLaunchNode.STOP) + + def request_json(self, request): + try: + request = yaml.safe_load(request) + except: + return yaml.safe_dump({"error": "failed to load json"}) + + logger.info(request) + if request["command"] == "launch": + self.launch_node(request["path"], True) + return yaml.safe_dump({"error": None}) + if request["command"] == "terminate": + self.launch_node(request["path"], False) + return yaml.safe_dump({"error": None}) + + return yaml.safe_dump({"error": "command ignored"}) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/__init__.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/__init__.py new file mode 100644 index 00000000000..79298c213a0 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/__init__.py @@ -0,0 +1 @@ +from .client import AwQtGuiClient \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/client.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/client.py new file mode 100644 index 00000000000..86fb686994b --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/client.py @@ -0,0 +1,210 @@ +from logging import getLogger +logger = getLogger(__name__) + +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets + +from ..core import myutils +from .guimgr import AwQtGuiManager +from .mirror import AwLaunchTreeMirror + +# For Gui Manager +from .window import AwMainWindow +from .treeview import AwTreeViewPanel +from .treeview import AwControlPanel +from .procmgr import AwProcessPanel +from .summary import AwSummaryPanel +from .network import AwTcpServerPanel +from .quickstart import AwQuickStartPanel +from .simulation import AwRosbagSimulatorWidget +from .simulation import AwLgsvlSimulatorWidget +from .simulation import AwGazeboSimulatorWidget + + + +class AwQtGuiClient(object): + + def __init__(self, sysarg, server): + self.__sysarg = sysarg + self.__panels = [] + self.__guimgr = AwQtGuiManager(self) + self.__mirror = AwLaunchTreeMirror(self) + + self.__server = server + self.__server.register_client(self) + + + + def guimgr(self): + return self.__guimgr + + def select_config(self, lpath): # ToDo: consider moving to guimgr + self.__treeview.select_config(lpath) + + + + def start2(self): + + application = QtWidgets.QApplication(self.__sysarg) + resolution = application.desktop().screenGeometry() + resolution = min(resolution.width(), resolution.height()) + + with open(myutils.package("resources/skins/autoware.css")) as fp: + stylesheet = fp.read() + stylesheet += "* { font-size: " + str(resolution/100) + "px; }" + application.setStyleSheet(stylesheet) + + self.__treeview = AwTreeViewPanel(self) # ToDo: consider moving to guimgr + self.__control = AwControlPanel(self) # ToDo: consider moving to guimgr + self.__summary = AwSummaryPanel(self) # ToDo: consider moving to guimgr + self.__process = AwProcessPanel(self) # ToDo: consider moving to guimgr + self.__network = AwTcpServerPanel() + self.__quickstart = AwQuickStartPanel(self.__guimgr) + self.__sim_rosbag = AwRosbagSimulatorWidget(self.__guimgr) + self.__sim_lgsvl = AwLgsvlSimulatorWidget (self.__guimgr) + self.__sim_gazebo = AwGazeboSimulatorWidget(self.__guimgr) + + tabwidget = QtWidgets.QTabWidget() + tabwidget.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding) + tabwidget.addTab(self.__summary, "Summary") + tabwidget.addTab(self.__process, "Process") + + #vsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical) + vsplitter = QtWidgets.QWidget() + vsplitter.setLayout(QtWidgets.QVBoxLayout()) + vsplitter.layout().setContentsMargins(0, 0, 0, 0) + vsplitter.layout().setSpacing(0) + vsplitter.layout().addWidget(self.__treeview) + vsplitter.layout().addWidget(self.__control) + + self.__develop = QtWidgets.QSplitter(QtCore.Qt.Horizontal) + self.__develop.addWidget(vsplitter) + self.__develop.addWidget(tabwidget) + + #mainwidget = QtWidgets.QTabWidget() + #mainwidget.addTab(hsplitter, "Profile Edit") + #mainwidget.addTab(self.__quickstart, "Quick Start") + #mainwidget.addTab(self.__network, "Server Debug") + + mainwidget = QtWidgets.QStackedWidget() + mainwidget.addWidget(self.__quickstart) + mainwidget.addWidget(self.__develop) + mainwidget.addWidget(self.__network) + + simulations = QtWidgets.QTabWidget() + simulations.addTab(self.__sim_rosbag, "Rosbag") + simulations.addTab(self.__sim_lgsvl, "LGSVL") + simulations.addTab(self.__sim_gazebo, "Gazebo") + + mainsplitter = QtWidgets.QSplitter(QtCore.Qt.Vertical) + mainsplitter.addWidget(mainwidget) + mainsplitter.addWidget(simulations) + + #dock = QtWidgets.QDockWidget() + #dock.setWidget( ) + #window.addDockWidget(QtCore.Qt.RightDockWidgetArea, dock) + + window = AwMainWindow(self) + window.setCentralWidget(mainsplitter) + window.show() + + simulations.hide() + window.addViewMenu("Simulation", simulations.setVisible) + + def switch_develop_mode(checked): + if checked: + mainwidget.setCurrentWidget(self.__develop) + else: + mainwidget.setCurrentWidget(self.__quickstart) + window.addViewMenu("Develop Mode", switch_develop_mode) + + # Debug + #mainwidget.setCurrentWidget(self.__develop) + simulations.hide() + self.__sim_rosbag.rosbag_file.path.setText(myutils.userhome(".autoware/log/20150324.bag")) + + # connect objects + self.__server.register_runner(self.__process) + self.__process.register_server(self.__server) + + self.__server.register_client(self.__network) + self.__network.register_server(self.__server) + + self.__panels.append(self.__treeview) + self.__panels.append(self.__summary) + self.__panels.append(self.__process) + self.__panels.append(self.__quickstart) + + self.__treeview.register_select_listener(self.__summary) + self.__treeview.register_select_listener(self.__process) + self.__treeview.register_select_listener(self.__control) + + if len(self.__sysarg) < 2: + self.__server.make_profile("root/default") + else: + self.__server.load_profile(self.__sysarg[1]) + + return application.exec_() + + + + def profile_updated(self): + self.__mirror.clear() + for panel in self.__panels: panel.profile_ui_cleared() + + for lpath in self.__server.list_node(): + lnode = self.__mirror.create(lpath) + for panel in self.__panels: panel.node_ui_created(lnode) + + self.__treeview.expandAll() + #self.__treeview.expandToDepth(0) + + def node_created(self, lpath): + logger.debug("node_created: " + lpath) + lnode = self.__mirror.create(lpath) + for panel in self.__panels: panel.node_ui_created(lnode) + + lpath = myutils.parentpath(lpath) + while lpath: + logger.debug("node_updated: " + lpath) + self.__mirror.clear(lpath) + lnode = self.__mirror.create(lpath) + for panel in self.__panels: panel.node_ui_updated(lnode) + lpath = myutils.parentpath(lpath) + + def node_updated(self, lpath): + while lpath: + logger.debug("node_updated: " + lpath) + self.__mirror.clear(lpath) + lnode = self.__mirror.create(lpath) + for panel in self.__panels: panel.node_ui_updated(lnode) + lpath = myutils.parentpath(lpath) + + def status_updated(self, lpath, state): + logger.debug("status_updated:" + lpath + " " + str(state)) + self.__treeview.status_ui_updated(lpath, state) + self.__quickstart.status_ui_updated(lpath, state) + + def load_profile(self, fpath): + self.__server.load_profile(fpath) + + def save_profile(self, fpath): + self.__server.save_profile(fpath) + + def export_profile(self, fpath): + self.__server.export_profile(fpath) + + def find_node(self, lpath): + return self.__server.find_node(lpath) + + def launch_node(self, lpath, xmode): + return self.__server.launch_node(lpath, xmode) + + def create_node(self, lpath, ppath): + return self.__server.create_node(lpath, ppath) + + def update_node(self, lpath, ldata): + return self.__server.update_node(lpath, ldata) + + + diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py new file mode 100644 index 00000000000..3406202e57f --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/guimgr.py @@ -0,0 +1,158 @@ +from logging import getLogger +logger = getLogger(__name__) + +import importlib +import os + +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets + +from ..core import myutils + +# ToDo: move package +# core : client, mirror +# gui : guimgr + +class AwQtGuiManager(object): + + def __init__(self, client): + self.__client = client + self.__widgets = {} + + for filepath in os.listdir(myutils.package("src/autoware_launcher/gui/plugins")): + fkey, fext = os.path.splitext(os.path.basename(filepath)) + if (fkey != "__init__") and (fext == ".py"): + logger.info("load plugin module: " + fkey) + module = importlib.import_module("autoware_launcher.gui.plugins." + fkey) + for wkey, wcls in module.plugin_widgets().items(): + self.__widgets[fkey + "." + wkey] = wcls + + def client(self): + return self.__client + + def widget(self, view): + return self.__widgets[view.widget] + + def create_widget(self, node, view, parent = None, widget = None): + widget = widget or self.widget(view) + return widget(self, node, view) + + def create_frame(self, mirror, guikey = None, guicls = None): + #logger.debug("Create Frame: {:<7} Key: {} Class: {}".format(mirror.nodename(), guikey, guicls)) + if not guicls: + guikey = guikey or mirror.plugin().frame() + guicls = self.__widgets[guikey + "_frame"] + return guicls(self, mirror) + + def create_panel(self, mirror, guikey = None, guicls = None): + #logger.debug(reate Panel: {:<7} Key: {} Class: {}".format(mirror.nodename(), guikey, guicls)) + if not guicls: + guikey = guikey or mirror.plugin().panel() + guicls = self.__widgets[guikey + "_panel"] + return guicls(self, mirror) + + def create_arg_frame(self, parent, opts): + guicls = self.__widgets["args." + opts["type"]] + return guicls(self, parent, opts) + + def create_info_frame(self, parent, opts): + guicls = self.__widgets["info." + opts["type"]] + return guicls(self, parent, opts) + + def create_frame_entire_vlayout(self): + layout = QtWidgets.QVBoxLayout() + layout.setSpacing(0) + layout.setContentsMargins(0, 0, 0, 0) + return layout + + def create_frame_header_hlayout(self): + layout = QtWidgets.QHBoxLayout() + layout.setSpacing(0) + layout.setContentsMargins(5, 2, 2, 2) + return layout + + def panel_add_widget(self, panel, widget): + + index = panel.layout().count() - 2 + panel.layout().insertWidget(index, widget) + + def panel_setup(self, widget, spacer = None): + + if widget.layout() is None: + self.__panel_setup(widget, spacer) + else: + self.__panel_reset(widget) + + def __panel_setup(self, widget, spacer): + + footer_layout = QtWidgets.QHBoxLayout() + footer_layout.setContentsMargins(2, 2, 2, 2) + footer_layout.setSpacing(2) + footer_layout.addStretch() + widget.footer = QtWidgets.QWidget() + widget.footer.setLayout(footer_layout) + + widget_layout = QtWidgets.QVBoxLayout() + widget_layout.setContentsMargins(16, 16, 16, 16) + widget_layout.setSpacing(16) + if not spacer: + widget_layout.addStretch() + else: + widget_layout.addWidget(spacer) + widget_layout.addWidget(widget.footer) + widget.setLayout(widget_layout) + + def __panel_reset(self, widget): + + footer_layout = widget.footer.layout() + while 1 < footer_layout.count(): + footer_layout.takeAt(footer_layout.count() - 1).widget().deleteLater() + + widget_layout = widget.layout() + while 2 < widget_layout.count(): + widget_layout.takeAt(0).widget().deleteLater() + + def frame_add_widget(self, frame, widget): + widget.setObjectName("FrameWidget") + frame.layout().addWidget(widget) + + def frame_add_button(self, frame, button): + frame.header.layout().addWidget(button) + + def frame_add_text_widget(self, frame, text): + layout = self.create_frame_header_hlayout() + layout.addWidget(QtWidgets.QLabel(text)) + widget = QtWidgets.QWidget() + widget.setLayout(layout) + self.frame_add_widget(frame, widget) + + def frame_setup(self, widget): + + if widget.layout() is None: + self.__frame_setup(widget) + else: + self.__frame_reset(widget) + + def __frame_setup(self, widget): + + widget.title = QtWidgets.QLabel("No Title") + widget.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred) + layout = self.create_frame_header_hlayout() + layout.addWidget(widget.title) + widget.header = QtWidgets.QWidget() + widget.header.setObjectName("FrameHeader") + widget.header.setLayout(layout) + + layout = self.create_frame_entire_vlayout() + layout.addWidget(widget.header) + widget.setLayout(layout) + + def __frame_reset(self, widget): + + layout = widget.header.layout() + while 1 < layout.count(): + layout.takeAt(layout.count() - 1).widget().deleteLater() + + layout = widget.layout() + while 1 < layout.count(): + layout.takeAt(layout.count() - 1).widget().deleteLater() diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/mirror.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/mirror.py new file mode 100644 index 00000000000..61c28385e49 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/mirror.py @@ -0,0 +1,113 @@ +from ..core import myutils + + +class AwLaunchTreeMirror(object): + + def __init__(self, client): + self.nodes = {} + self.cache = {} + self.client = client + + def clear(self, lpath = None): + if lpath: + self.cache.pop(lpath, None) + else: + self.cache.clear() + + def find(self, path): + if path not in self.cache: + self.cache[path] = self.client.find_node(path) + return self.cache[path] + + def create(self, path): + if path not in self.nodes: + self.nodes[path] = AwLaunchNodeMirror(self, path) + return self.nodes[path] + + def remove(self, path, node): + self.nodes.pop(path) + + + +class AwLaunchNodeMirror(object): + + def __init__(self, tree, path): + self.__tree = tree + self.__path = path + self.__refs = [] + + def __find(self): + return self.__tree.find(self.__path) + + def tostring(self): + return self.__find().tostring() + + def status(self): + node = self.__find() + if node.status == node.STOP: return "stop" + if node.status == node.EXEC: return "exec" + if node.status == node.TERM: return "term" + return "exec/term" + + def isleaf(self): + return self.__find().plugin.isleaf() + + def path(self): + return self.__find().nodepath() + + def name(self): + return self.__find().nodename() + + def plugin(self): + return self.__find().plugin + + def config(self): + #return self.__find().config + return self.__find().config.copy() + + def update(self, ldata): + return self.__tree.client.update_node(self.__path, ldata) + + def launch(self, mode): + self.__tree.client.launch_node(self.__path, mode) + + def listnode(self, this): + return map(lambda node: node.nodepath(), self.__find().listnode(this)) + + def haschild(self, name): + return self.__find().haschild(name) + + def getchild(self, name): + return self.__tree.create(self.__path + "/" + name) + + def addchild(self, lname, ppath): + return self.__tree.client.create_node(self.__path + "/" + lname, ppath) + + def children(self): + mirrored_children = [] + for child in self.__find().children(): + mirrored_children.append(self.__tree.create(child.nodepath())) + return mirrored_children + + def childnames(self): + return map(lambda node: node.nodename(), self.__find().children()) + + def childnodes(self): + return [self.__tree.create(child.nodepath()) for child in self.__find().children()] + + def get_config(self, key, value = None): + return self.__find().config.get(key, value) + + def generate_launch(self): + return self.__find().generate_launch() + + + + +#class AwLaunchNodeMirror2(object): +# +# def __init__(self, writer): +# self.writer = writer +# +# def __getattr__(self, name): +# return getattr(self.writer, name) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/network.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/network.py new file mode 100644 index 00000000000..e192ab212f4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/network.py @@ -0,0 +1,56 @@ +from python_qt_binding import QtWidgets +from python_qt_binding import QtNetwork + +from ..core import AwLaunchClientIF + +class AwTcpServerPanel(QtWidgets.QTextEdit, AwLaunchClientIF): + + def __init__(self): + + super(AwTcpServerPanel, self).__init__() + self.server = None + self.tcpsvr = QtNetwork.QTcpServer(self) + self.connections = [] + self.setReadOnly(True) + + if self.tcpsvr.listen(QtNetwork.QHostAddress.Any, 33136): + self.append("Server started") + self.tcpsvr.newConnection.connect(self.on_new_connection) + else: + self.append("Server start error") + + def register_server(self, server): + self.server = server + + def on_new_connection(self): + + socket = self.tcpsvr.nextPendingConnection() + socket.buff = "" + self.connections.append(socket) + self.append("New connection {} {}".format(socket.localAddress().toString(), socket.localPort())) + + socket.error.connect(self.on_client_error) + #socket.disconnected.connect + socket.readyRead.connect(self.on_client_read_ready) + + def on_client_read_ready(self): + + socket = self.sender() + requests = str(socket.readAll()).split("\0") + requests[0] = socket.buff + requests[0] + socket.buff = requests.pop() + for request in requests: + self.request_json(request) + + def on_client_error(self): + + socket = self.sender() + self.append("Error " + socket.errorString()) + if socket in self.connections: + socket.close() + self.connections.remove(socket) + + def request_json(self, request): + self.append("Request " + request) + response = self.server.request_json(request) + self.append("Response " + response) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/__init__.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/__init__.py new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/args.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/args.py new file mode 100644 index 00000000000..c0c41edeaa3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/args.py @@ -0,0 +1,98 @@ +from python_qt_binding import QtCore, QtWidgets +from autoware_launcher.core import myutils +from autoware_launcher.gui import widgets + + + +def plugin_widgets(): + return {} + + +""" +class AwCameraCalibFrame(AwFileSelect): + + def __init__(self, guimgr, node, opts): + super(AwCameraCalibFrame, self).__init__(guimgr, node, opts) + + calib = QtWidgets.QPushButton("Calib") + calib.setCheckable(True) + calib.toggled.connect(self.calibrate) + self.add_button(calib) + + def refresh_image_topic(self): + from subprocess import Popen, PIPE + command = "rostopic find sensor_msgs/Image" + process = Popen(command.split(), stdout=PIPE, stderr=PIPE) + stdout, stderr = process.communicate() + self.topic_name.clear() + for topic in stdout.split("\n"): + if topic: self.topic_name.addItem(topic) + + def calibrate(self, checked): + + self.intrinsic_calibrator = QtCore.QProcess(self) + self.extrinsic_calibrator = QtCore.QProcess(self) + self.corner_size_x = QtWidgets.QLineEdit("8") + self.corner_size_y = QtWidgets.QLineEdit("6") + self.square_length = QtWidgets.QLineEdit("0.1") + self.topic_name = QtWidgets.QComboBox() + self.topic_refresh = QtWidgets.QPushButton("Refresh") + self.intrinsic_file = QtWidgets.QLineEdit() + self.intrinsic_browse = QtWidgets.QPushButton("Browse") + self.calib_intrinsic = QtWidgets.QPushButton("Calibrate Intrinsic") + self.calib_extrinsic = QtWidgets.QPushButton("Calibrate Extrinsic") + + self.refresh_image_topic() + self.topic_refresh.clicked.connect(self.refresh_image_topic) + self.intrinsic_browse.clicked.connect(self.select_intrinsic) + + self.calib_intrinsic.setCheckable(True) + self.calib_intrinsic.toggled.connect(self.calibrate_intrinsic) + self.calib_extrinsic.setCheckable(True) + self.calib_extrinsic.toggled.connect(self.calibrate_extrinsic) + + widget = QtWidgets.QWidget() + widget.setLayout(QtWidgets.QGridLayout()) + widget.layout().addWidget(QtWidgets.QLabel("Square Corners"), 0, 0) + widget.layout().addWidget(self.corner_size_x, 0, 1) + widget.layout().addWidget(QtWidgets.QLabel("x"), 0, 2) + widget.layout().addWidget(self.corner_size_y, 0, 3) + widget.layout().addWidget(QtWidgets.QLabel("Square Length"), 0, 4) + widget.layout().addWidget(self.square_length, 0, 5) + widget.layout().addWidget(QtWidgets.QLabel("Image Topic"), 1, 0) + widget.layout().addWidget(self.topic_name, 1, 1, 1, 4) + widget.layout().addWidget(self.topic_refresh, 1, 5) + widget.layout().addWidget(QtWidgets.QLabel("Intrinsic File"), 2, 0) + widget.layout().addWidget(self.intrinsic_file, 2, 1, 1, 4) + widget.layout().addWidget(self.intrinsic_browse, 2, 5) + widget.layout().addWidget(self.calib_intrinsic, 3, 0) + widget.layout().addWidget(self.calib_extrinsic, 3, 1) + + window = QtWidgets.QMainWindow(self) + window.setCentralWidget(widget) + window.setAttribute(QtCore.Qt.WA_DeleteOnClose, True) + window.setWindowModality(QtCore.Qt.ApplicationModal) + window.show() + + def select_intrinsic(self): + import os + filename, filetype = QtWidgets.QFileDialog.getOpenFileName(self, "Select File", os.path.expanduser("~")) + if filename: + self.intrinsic_file.setText(filename) + + def calibrate_intrinsic(self, checked): + if checked: + command = "rosrun autoware_camera_lidar_calibrator cameracalibrator.py --square {} --size {}x{} image:={}" + command = command.format(self.square_length.text(), self.corner_size_x.text(), self.corner_size_y.text(), self.topic_name.currentText()) + self.intrinsic_calibrator.start(command ) + else: + self.intrinsic_calibrator.terminate() + + def calibrate_extrinsic(self, checked): + if checked: + command = "roslaunch autoware_camera_lidar_calibrator camera_lidar_calibration.launch intrinsics_file:={} image_src:={}" + command = command.format(self.intrinsic_file.text(), self.topic_name.currentText()) + self.extrinsic_calibrator.start(command ) + else: + self.extrinsic_calibrator.terminate() +""" \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/basic.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/basic.py new file mode 100644 index 00000000000..d9a61f575f4 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/basic.py @@ -0,0 +1,324 @@ +from python_qt_binding import QtCore, QtWidgets +from autoware_launcher.core import myutils +from autoware_launcher.gui import widgets + + + +def plugin_widgets(): + return \ + { + "text" : AwTextFrame, + "textlist" : AwTextListFrame, + "file" : AwFileFrame, + "filelist" : AwFileListFrame, + "bool" : AwBooleanFrame, + "int" : AwIntegerFrame, + "real" : AwRealFrame, + "transform" : AwTransformFrame, + } + +def frame_title(view, text): + if view.title: + return view.title + else: + target = view.target + if type(target) is list: target = ", ".join(target) + return "{} ({})".format(text, target) + + + +class AwTextFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwTextFrame, self).__init__(guimgr, node, view) + super(AwTextFrame, self).setup_widget() + self.set_title(frame_title(self.view, "Text")) + + self.field = AwTextField(self.node.get_config(self.view.target)) + self.field.value_updated.connect(self.apply) + self.add_widget(self.field) + + def apply(self, value): + self.node.update({"config": {self.view.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + data = fields[view.target] + return (data.type == "str") and (data.list is None) + + +class AwTextListFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwTextListFrame, self).__init__(guimgr, node, view) + super(AwTextListFrame, self).setup_widget() + self.set_title(frame_title(self.view, "TextList")) + + self.field = AwTextListField(self.node.get_config(self.view.target)) + self.field.value_updated.connect(self.apply) + self.add_widget(self.field) + + def apply(self, value): + self.node.update({"config": {self.view.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + data = fields[view.target] + return (data.type == "str") and (data.list is not None) + + +class AwFileFrame(AwTextFrame): + + def __init__(self, guimgr, node, view): + super(AwFileFrame, self).__init__(guimgr, node, view) + self.add_button(AwFileBrowseButton(self.field)) + + + +class AwFileListFrame(AwTextListFrame): + + def __init__(self, guimgr, node, view): + super(AwFileListFrame, self).__init__(guimgr, node, view) + self.add_button(AwFileListBrowseButton(self.field)) + + + +class AwBooleanFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwBooleanFrame, self).__init__(guimgr, node, view) + super(AwBooleanFrame, self).setup_widget() + self.set_title(frame_title(self.view, "Boolean")) + + self.field = AwBooleanField(self.node.get_config(self.view.target)) + self.field.value_updated.connect(self.apply) + self.add_widget(self.field) + + def apply(self, value): + self.node.update({"config": {self.view.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + data = fields[view.target] + return (data.type == "bool") and (data.list is None) + + +class AwIntegerFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwIntegerFrame, self).__init__(guimgr, node, view) + super(AwIntegerFrame, self).setup_widget() + self.set_title(frame_title(self.view, "Integer")) + + self.field = AwIntegerField(self.node.get_config(self.view.target)) + self.field.value_updated.connect(self.apply) + self.add_widget(self.field) + + def apply(self, value): + self.node.update({"config": {self.view.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + data = fields[view.target] + return (data.type == "int") and (data.list is None) + + +class AwRealFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwRealFrame, self).__init__(guimgr, node, view) + super(AwRealFrame, self).setup_widget() + self.set_title(frame_title(self.view, "Float")) + + self.field = AwRealField(self.node.get_config(self.view.target)) + self.field.value_updated.connect(self.apply) + self.add_widget(self.field) + + def apply(self, value): + self.node.update({"config": {self.view.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + data = fields[view.target] + return (data.type == "real") and (data.list is None) + + +class AwTransformFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwTransformFrame, self).__init__(guimgr, node, view) + super(AwTransformFrame, self).setup_widget() + self.set_title(frame_title(self.view, "Transform")) + + widget = QtWidgets.QWidget() + widget.setLayout(QtWidgets.QHBoxLayout()) + for idx, txt in enumerate(["Tx", "Ty", "Tz", "Rx", "Ry", "Rz"]): + field = AwTextField(self.node.get_config(self.view.target[idx])) + field.target = self.view.target[idx] + field.value_updated.connect(self.apply) + widget.layout().addWidget(QtWidgets.QLabel(txt + ":")) + widget.layout().addWidget(field) + self.add_widget(widget) + + def apply(self, value): + field = self.sender() + self.node.update({"config": {field.target: value}}) + + @staticmethod + def validate_argtypes(fields, view): + if type(view.target) is not list: return False + if len(view.target) != 6: return False + targets = [fields[target] for target in view.target] + targets = [(data.type == "real") and (data.list is None) for data in targets] + return all(targets) + + + +class AwTextField(QtWidgets.QLineEdit): + + value_updated = QtCore.Signal(str) + + def __init__(self, value): + super(AwTextField, self).__init__() + self.__value = value + self.setText(self.__value) + + def update_value(self, value): + if self.__value != value: + self.__value = value + self.value_updated.emit(value) + + def focusOutEvent(self, event): + self.update_value(self.text()) + super(AwTextField, self).focusOutEvent(event) + + + +class AwTextListField(QtWidgets.QPlainTextEdit): + + value_updated = QtCore.Signal(list) + + def __init__(self, value): + super(AwTextListField, self).__init__() + self.__value = [v for v in value if v] + self.setPlainText("\n".join(self.__value)) + + def update_value(self, value): + value = [v for v in value if v] + if self.__value != value: + self.__value = value + self.value_updated.emit(value) + + def focusOutEvent(self, event): + self.update_value(self.toPlainText().split("\n")) + super(AwTextListField, self).focusOutEvent(event) + + + +class AwBooleanField(QtWidgets.QCheckBox): + + value_updated = QtCore.Signal(bool) + + def __init__(self, value): + super(AwBooleanField, self).__init__() + self.__value = value + self.setText(str(value)) + self.setCheckState(QtCore.Qt.Checked if value is True else QtCore.Qt.Unchecked) + self.stateChanged.connect(self.update_event) + self.setStyleSheet("width: 20px; height: 20px;") + + def update_value(self, value): + if self.__value != value: + self.__value = value + self.value_updated.emit(value) + + def update_event(self, state): + value = True if state == QtCore.Qt.Checked else False; + self.setText(str(value)) + self.update_value(value) + + + +class AwIntegerField(QtWidgets.QLineEdit): + + value_updated = QtCore.Signal(int) + + def __init__(self, value): + super(AwIntegerField, self).__init__() + self.__value = value + self.setText(str(self.__value)) + + def update_value(self, value): + if self.__value != value: + self.__value = value + self.value_updated.emit(value) + + def to_int(self, value): + try: + return int(value) + except: + return None + + def focusOutEvent(self, event): + value = self.to_int(self.text()) + if value is not None: + self.update_value(value) + super(AwIntegerField, self).focusOutEvent(event) + + + +class AwRealField(QtWidgets.QLineEdit): + + value_updated = QtCore.Signal(float) + + def __init__(self, value): + super(AwRealField, self).__init__() + self.__value = value + self.setText(str(self.__value)) + + def update_value(self, value): + if self.__value != value: + self.__value = value + self.value_updated.emit(value) + + def to_real(self, value): + try: + return float(value) + except: + return None + + def focusOutEvent(self, event): + value = self.to_real(self.text()) + if value is not None: + self.update_value(value) + super(AwRealField, self).focusOutEvent(event) + + + +class AwFileBrowseButton(QtWidgets.QPushButton): + + def __init__(self, field, text = "Browse"): + super(AwFileBrowseButton, self).__init__(text) + self.__field = field + self.clicked.connect(self.browsed) + + def browsed(self): + filepath, filetype = QtWidgets.QFileDialog.getOpenFileName(self, "Select File", myutils.userhome()) + if filepath: + filepath = myutils.envpath(filepath) + self.__field.update_value(filepath) + + + +class AwFileListBrowseButton(QtWidgets.QPushButton): + + def __init__(self, field, text = "Browse"): + super(AwFileListBrowseButton, self).__init__(text) + self.__field = field + self.clicked.connect(self.browsed) + + def browsed(self): + filepaths, filetype = QtWidgets.QFileDialog.getOpenFileNames(self, "Select Files", myutils.userhome()) + if filepaths: + filepaths = [myutils.envpath(filepath) for filepath in filepaths] + self.__field.update_value(filepaths) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/info.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/info.py new file mode 100644 index 00000000000..d5f1e3e3000 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/info.py @@ -0,0 +1,33 @@ +from python_qt_binding import QtCore, QtWidgets +from autoware_launcher.gui import widgets + + + +def plugin_widgets(): + return \ + { + "node" : AwNodeInfoEdit, + } + + + +class AwNodeInfoEdit(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, opts): + super(AwNodeInfoEdit, self).__init__(guimgr, node, opts) + self.node = node + self.opts = opts + + super(AwNodeInfoEdit, self).setup_widget() + self.edit = QtWidgets.QLineEdit() + self.edit.setText(self.node.get_config("info.title", "")) + self.edit.editingFinished.connect(self.edited) + self.add_widget(self.edit) + self.set_title("Node Title") + + def edited(self): + self.node.update({"config": {"info.title": self.edit.text()}}) + + @staticmethod + def tostring(node, opts): + return "{}: {}".format("Node Title", node.get_config("info.title")) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/node.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/node.py new file mode 100644 index 00000000000..6d4366168a9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/plugins/node.py @@ -0,0 +1,233 @@ +from logging import getLogger +logger = getLogger(__name__) + +from python_qt_binding import QtCore, QtWidgets +from autoware_launcher.gui import widgets + + + +def plugin_widgets(): + return \ + { + "panel" : AwDefaultNodePanel, + "frame" : AwDefaultNodeFrame, + } + + + +class AwDefaultNodePanel(widgets.AwAbstructPanel): + + def __init__(self, guimgr, node, view): + super(AwDefaultNodePanel, self).__init__(guimgr, node, view) + self.config = self.node.config().copy() + + def setup_widget(self): + super(AwDefaultNodePanel, self).setup_widget() + + # For Debug + self.debug1 = QtWidgets.QLabel(self.node.tostring()) + self.debug1.setVisible(False) + self.add_frame(self.debug1) + self.setFocusPolicy(QtCore.Qt.ClickFocus) + + # For Debug + self.debug2 = QtWidgets.QLabel(self.node.generate_launch()) + self.debug2.setVisible(False) + self.add_frame(self.debug2) + self.setFocusPolicy(QtCore.Qt.ClickFocus) + + + # data view + for view in self.node.plugin().panel().frames: + self.add_frame(self.guimgr.create_widget(self.node, view)) + + # node view + for rule in self.node.plugin().rules(): + if rule.unique: + if self.node.haschild(rule.name): + child_node = self.node.getchild(rule.name) + child_view = child_node.plugin().frame() + self.add_frame(self.guimgr.create_widget(child_node, child_view)) + else: + self.add_frame(AwNodeCreateButton(self.node, rule, "Create " + rule.name.capitalize())) + else: + rule_names = [name for name in self.node.childnames() if name.startswith(rule.name)] + for rule_name in rule_names: + child_node = self.node.getchild(rule_name) + child_view = child_node.plugin().frame() + self.add_frame(self.guimgr.create_widget(child_node, child_view)) + self.add_frame(AwNodeCreateButton(self.node, rule, "Create " + rule.name.capitalize())) + + # Debug + def keyPressEvent(self, event): + if event.key() == QtCore.Qt.Key_D: + self.debug1.setVisible(not self.debug1.isVisible()) + event.accept() + elif event.key() == QtCore.Qt.Key_F: + self.debug2.setVisible(not self.debug2.isVisible()) + event.accept() + else: + super(AwDefaultNodePanel, self).keyPressEvent(event) + + + +class AwDefaultNodeFrame(widgets.AwAbstructFrame): + + def __init__(self, guimgr, node, view): + super(AwDefaultNodeFrame, self).__init__(guimgr, node, view) + + super(AwDefaultNodeFrame, self).setup_widget() + self.set_title(self.node.name().capitalize()) + self.add_button(AwConfigButton(self.guimgr.client(), self.node.path())) + + description = self.node.get_config("exts.description") + if description: + description = description.capitalize() + else: + config = node.config() + description = [] + #for data in self.node.plugin().info(): + # description.append(self.guimgr.widget(data).tostring(self.node, data)) + #for data in self.node.plugin().args(): + # description.append(self.guimgr.widget(data).tostring(self.node, data)) + description = "\n".join(description) if description else "No Description" + + self.add_text_widget(description) + + +class AwConfigButton(QtWidgets.QPushButton): + + def __init__(self, client, lpath): + super(AwConfigButton, self).__init__("Config") + self.clicked.connect(lambda: client.select_config(lpath)) + + + +class AwNodeCreateButton(QtWidgets.QPushButton): + + def __init__(self, node, rule, text): + + super(AwNodeCreateButton, self).__init__(text) + self.node = node + self.rule = rule + self.clicked.connect(self.onclicked) + + def newname(self): + + if self.rule.unique: + return self.rule.name + else: + index = 0 + while self.node.haschild(self.rule.name + str(index)): + index = index + 1 + return self.rule.name + str(index) + + def onclicked(self): + + if len(self.rule.plugins) == 1: + self.node.addchild(self.newname(), self.rule.plugins[0]) + else: + self.show_select_window() + + def onselected(self): + + items = self.ui_pname.selectedItems() + if not items: + self.ui_error.setText("Node type is not selected") + return + + error = self.node.addchild(self.newname(), items[0].text()) + if error: + self.ui_error.setText(error) + return + + self.ui_error.setText("") + self.ui_window.close() + + def show_select_window(self): + + # window + window = QtWidgets.QMainWindow(self) + window.setCentralWidget(QtWidgets.QWidget()) + window.setAttribute(QtCore.Qt.WA_DeleteOnClose, True) + window.setWindowModality(QtCore.Qt.ApplicationModal) + window.setGeometry(self.window().geometry()) + + # widget + window.setWindowTitle("Create Node") + widget = window.centralWidget() + widget.setLayout(QtWidgets.QVBoxLayout()) + + # plugin select + pname_select = QtWidgets.QListWidget() + for pname in self.rule.plugins: + pname_select.addItem(pname) + widget.layout().addWidget(QtWidgets.QLabel("Node Type")) + widget.layout().addWidget(pname_select) + + # footer + error_label = QtWidgets.QLabel() + error_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred) + cancel_button = QtWidgets.QPushButton("Cancel") + select_button = QtWidgets.QPushButton("Select") + cancel_button.clicked.connect(window.close) + select_button.clicked.connect(self.onselected) + footer = QtWidgets.QHBoxLayout() + footer.addWidget(error_label) + footer.addWidget(cancel_button) + footer.addWidget(select_button) + widget.layout().addLayout(footer) + + self.ui_window = window + self.ui_error = error_label + self.ui_pname = pname_select + window.show() + + + +#experimental +class AwPluginRemoveWindow(QtWidgets.QMainWindow): + + def __init__(self, guimgr, launch, parent): + super(AwPluginRemoveWindow, self).__init__(parent) + self.guimgr = guimgr + self.node = launch + + settings = QtCore.QSettings("Autoware", "AutowareLauncher") + if settings.contains("geometry"): + self.restoreGeometry(settings.value("geometry")) + + # select + self.nodelist = QtWidgets.QListWidget() + for child in self.node.children(): + self.nodelist.addItem(child.name()) + + # footer + cancel = QtWidgets.QPushButton("Cancel") + cancel.clicked.connect(self.close) + remove = QtWidgets.QPushButton("Remove") + remove.clicked.connect(self.remove_launch_node) + footer = QtWidgets.QHBoxLayout() + footer.addStretch() + footer.addWidget(cancel) + footer.addWidget(remove) + + # widget + layout = QtWidgets.QVBoxLayout() + layout.addWidget(self.nodelist) + layout.addLayout(footer) + widget = QtWidgets.QWidget() + widget.setLayout(layout) + self.setCentralWidget(widget) + self.setWindowTitle("Remove Launch Node") + + def remove_launch_node(self): + items = self.nodelist.selectedItems() + if len(items) != 1: + logger.error("node is not selected") + else: + error = self.node.remove_child(items[0].text()) + if error: + logger.error(error) + else: + self.close() \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/procmgr.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/procmgr.py new file mode 100644 index 00000000000..0e91b94b7b9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/procmgr.py @@ -0,0 +1,92 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtGui +from python_qt_binding import QtWidgets + +from ..core import myutils + + + +class AwProcessPanel(QtWidgets.QStackedWidget): + + def __init__(self, client): + super(AwProcessPanel, self).__init__() + self.__client = client + self.__items = {} + self.__server = None + + self.__dummy = QtWidgets.QLabel("This is node") + self.addWidget(self.__dummy) + + def profile_ui_cleared(self): + for key in self.__items.keys(): + self.__items.pop(key).deleteLater() + + def node_ui_updated(self, lnode): + pass + + def node_ui_created(self, lnode): + lpath = lnode.path() + if lnode.plugin().isleaf(): + item = AwProcessItem(lpath) + self.__items[lpath] = item + self.addWidget(item) + + #def config_removed(self, lpath): + + def config_selected(self, lpath): + item = self.__items.get(lpath, self.__dummy) + self.setCurrentWidget(item) + + def roslaunch(self, lpath, xtext): + xpath = myutils.package() + "/runner/" + lpath.replace("/", "-") + ".xml" + with open(xpath, mode="w") as fp: + fp.write(xtext) + self.__items[lpath].proc.start("roslaunch {}".format(xpath)) + + def terminate(self, lpath): + self.__items[lpath].proc.terminate() + + def register_server(self, server): + self.__server = server + + def runner_finished(self, lpath): + self.__server.runner_finished(lpath) + + + +class AwProcessItem(QtWidgets.QPlainTextEdit): + + def __init__(self, lpath): + super(AwProcessItem, self).__init__() + self.lpath = lpath + + #ToDo: setMaximumBlockCount + self.setReadOnly(True) + self.setLineWrapMode(QtWidgets.QPlainTextEdit.NoWrap) + + self.proc = QtCore.QProcess(self) + self.proc.finished.connect(self.proc_finished) + self.proc.readyReadStandardOutput.connect(self.proc_stdouted) + self.proc.readyReadStandardError.connect(self.proc_stderred) + + import re + self.bash_regex = re.compile("\033(\[.*?m|\].*?;)") + + def proc_finished(self): + self.parent()._AwProcessPanel__server.runner_finished(self.lpath) + + def proc_stdouted(self): + byte = self.proc.readAllStandardOutput() + text = QtCore.QTextStream(byte).readAll() + text = self.bash_regex.sub("", text) + self.moveCursor(QtGui.QTextCursor.End) + self.insertPlainText(text) + self.moveCursor(QtGui.QTextCursor.End) + + def proc_stderred(self): + byte = self.proc.readAllStandardError() + text = QtCore.QTextStream(byte).readAll() + text = self.bash_regex.sub("", text) + self.moveCursor(QtGui.QTextCursor.End) + self.insertPlainText(text) + self.moveCursor(QtGui.QTextCursor.End) diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/quickstart.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/quickstart.py new file mode 100644 index 00000000000..5c0d5f8d7b9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/quickstart.py @@ -0,0 +1,83 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtGui +from python_qt_binding import QtWidgets + +from ..core import myutils +from ..core import AwLaunchClientIF + + + +class AwQuickStartPanel(QtWidgets.QWidget): + + def __init__(self, guimgr): + super(AwQuickStartPanel, self).__init__() + self.guimgr = guimgr + self.frames = {"root/" + name: None for name in ["map", "vehicle", "sensing", "visualization"]} + self.awlogo = QtWidgets.QLabel() + + pixmap = QtGui.QPixmap(myutils.package("resources/autoware_logo.png")) + self.awlogo.setPixmap(pixmap) + self.awlogo.setAlignment(QtCore.Qt.AlignCenter) + self.awlogo.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding) + + def profile_ui_cleared(self): + self.guimgr.panel_setup(self, self.awlogo) + + def node_ui_created(self, lnode): + if lnode.path() == "root": self.setup_widget(lnode) + + def node_ui_updated(self, lnode): + if lnode.path() == "root": self.setup_widget(lnode) + + def status_ui_updated(self, lpath, state): + frame = self.frames.get(lpath) + if frame: + if state == 0x00: frame.term_completed() + if state == 0x01: frame.exec_requested() + if state == 0x02: frame.term_requested() + + def setup_widget(self, node): + self.guimgr.panel_setup(self, self.awlogo) + for child in node.childnodes(): + if child.path() in self.frames: + frame = self.guimgr.create_widget(child, child.plugin().frame(), widget = AwLaunchFrame) + self.frames[child.path()] = frame + self.guimgr.panel_add_widget(self, frame) + + + +class AwLaunchFrame(QtWidgets.QWidget): + + def __init__(self, guimgr, node, opts): + super(AwLaunchFrame, self).__init__() + self.node = node + self.states = ["Launch", "Terminate"] + + guimgr.frame_setup(self) + + self.title.setText(node.name().capitalize()) + guimgr.frame_add_text_widget(self, node.get_config("info.title", "No Description")) + + self.button = QtWidgets.QPushButton(self.states[0]) + self.button.clicked.connect(self.onclicked) + guimgr.frame_add_button(self, self.button) + + def onclicked(self): + state_text = self.button.text() + if state_text == self.states[0]: + self.node.launch(True) + self.exec_requested() + if state_text == self.states[1]: + self.node.launch(False) + self.term_requested() + + def exec_requested(self): + self.button.setText(self.states[1]) + + def term_requested(self): + self.button.setEnabled(False) + + def term_completed(self): + self.button.setText(self.states[0]) + self.button.setEnabled(True) + diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/__init__.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/__init__.py new file mode 100644 index 00000000000..25fa6521fd2 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/__init__.py @@ -0,0 +1,3 @@ +from .rosbag import AwRosbagSimulatorWidget +from .lgsvl import AwLgsvlSimulatorWidget +from .gazebo import AwGazeboSimulatorWidget \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/gazebo.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/gazebo.py new file mode 100644 index 00000000000..9a693443d00 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/gazebo.py @@ -0,0 +1,10 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets +from autoware_launcher.core import myutils + + + +class AwGazeboSimulatorWidget(QtWidgets.QWidget): + + def __init__(self, guimgr): + super(AwGazeboSimulatorWidget, self).__init__() \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/lgsvl.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/lgsvl.py new file mode 100644 index 00000000000..5a3409630e9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/lgsvl.py @@ -0,0 +1,115 @@ +from logging import getLogger +logger = getLogger(__name__) + +import requests +import yaml +from python_qt_binding import QtCore +from python_qt_binding import QtNetwork +from python_qt_binding import QtGui +from python_qt_binding import QtWidgets +from autoware_launcher.core import myutils + + + +class AwLgsvlSimulatorWidget(QtWidgets.QWidget): + + def __init__(self, guimgr): + super(AwLgsvlSimulatorWidget, self).__init__() + self.process = QtCore.QProcess(self) + self.console = AwProcessViewer(self.process) + self.button = QtWidgets.QPushButton("Launch Simulator") + self.button.setCheckable(True) + self.button.toggled.connect(self.launch_lgsvm) + + self.server_addr = QtWidgets.QLineEdit() + self.server_port = QtWidgets.QLineEdit() + self.client_addr = QtWidgets.QLineEdit() + self.client_port = QtWidgets.QLineEdit() + + self.server_addr.setText("10.100.2.1") + self.server_port.setText("5000") + for host in QtNetwork.QNetworkInterface.allAddresses(): + if not host.isLoopback(): + if host.protocol() == QtNetwork.QAbstractSocket.IPv4Protocol: + self.client_addr.setText(host.toString()) + self.client_port.setText("9090") + + layout = QtWidgets.QGridLayout() + layout.addWidget(QtWidgets.QLabel("Server Address"), 0, 0) + layout.addWidget(QtWidgets.QLabel("Server Port"), 1, 0) + layout.addWidget(QtWidgets.QLabel("Client Address"), 2, 0) + layout.addWidget(QtWidgets.QLabel("Client Port"), 3, 0) + layout.addWidget(self.server_addr, 0, 1) + layout.addWidget(self.server_port, 1, 1) + layout.addWidget(self.client_addr, 2, 1) + layout.addWidget(self.client_port, 3, 1) + layout.addWidget(self.button, 4, 0, 1, 2) + layout.addWidget(self.console, 5, 0, 1, 2) + self.setLayout(layout) + + def launch_lgsvm(self, checked): + server_address = "http://{}:{}/simulator/".format(self.server_addr.text(), self.server_port.text()) + if checked: + self.process.start("roslaunch rosbridge_server rosbridge_websocket.launch") + with open(myutils.package("resources/lgsvl.yaml")) as fp: + param = yaml.safe_load(fp) + param["bin_type"] = "tier4-develop" + param["vehicles"][0]["address"] = self.client_addr.text() + param["vehicles"][0]["port"] = self.client_port.text() + responce = requests.post(server_address + "launch", json=param) + logger.debug(responce.status_code) + logger.debug(responce.json()) + self.instance = responce.json()["instance_id"] + else: + self.process.terminate() + responce = requests.post(server_address + "terminate", json={"instance_id": self.instance}) + logger.debug(responce.status_code) + logger.debug(responce.json()) + + + +class AwProcessViewer(QtWidgets.QPlainTextEdit): + + def __init__(self, process): + super(AwProcessViewer, self).__init__() + + self.setReadOnly(True) + self.setLineWrapMode(QtWidgets.QPlainTextEdit.NoWrap) + #self.setMaximumBlockCount(100) + self.moveCursor(QtGui.QTextCursor.End) + + self.process = process + self.process.finished.connect(self.process_finished) + self.process.readyReadStandardOutput.connect(self.process_stdouted) + self.process.readyReadStandardError.connect(self.process_stderred) + + import re + self.bash_regex = re.compile("(\x1b\[.*?m|\x1b\]2;|\x07)") + + def byte2text(self, byte): + #text = self.bash_regex.sub("", byte.data().decode('utf-8')) + text = QtCore.QTextStream(byte).readAll() + text = self.bash_regex.sub("", text) + #text = str(text).encode("string-escape").replace("\\n", "\n") + return text + + def process_finished(self): + pass + + def process_stdouted(self): + text = self.byte2text(self.process.readAllStandardOutput()) + self.insertPlainText(text) + self.moveCursor(QtGui.QTextCursor.End) + + def process_stderred(self): + text = self.byte2text(self.process.readAllStandardError()) + self.insertPlainText(text) + self.moveCursor(QtGui.QTextCursor.End) + + # Debug + def keyPressEvent(self, event): + if event.key() == QtCore.Qt.Key_C: + self.clear() + event.accept() + else: + super(AwProcessViewer, self).keyPressEvent(event) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/rosbag.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/rosbag.py new file mode 100644 index 00000000000..10969aafdc9 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/simulation/rosbag.py @@ -0,0 +1,108 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets +from autoware_launcher.core import myutils +from autoware_launcher.gui import widgets + + + +class AwRosbagSimulatorWidget(QtWidgets.QWidget): + + def __init__(self, guimgr): + super(AwRosbagSimulatorWidget, self).__init__() + self.rosbag_mode_proc = QtCore.QProcess(self) + self.rosbag_info_proc = QtCore.QProcess(self) + self.rosbag_play_proc = QtCore.QProcess(self) + + self.rosbag_file = widgets.AwFileSelect(self) + self.rosbag_info = QtWidgets.QPushButton("Info") + self.rosbag_text = QtWidgets.QLabel("No information") + self.rosbag_enable = QtWidgets.QCheckBox() + self.rosbag_label = QtWidgets.QLabel("Simulation Mode") + self.rosbag_play = QtWidgets.QPushButton("Play") + self.rosbag_stop = QtWidgets.QPushButton("Stop") + self.rosbag_pause = QtWidgets.QPushButton("Pause") + self.rosbag_state = QtWidgets.QLabel() + #self.rosbag_stime = QtWidgets.QLineEdit() + #start time + #repeat + #rate + + self.rosbag_enable.stateChanged.connect(self.simulation_mode_changed) + self.rosbag_info.clicked.connect(self.rosbag_info_requested) + self.rosbag_info_proc.finished.connect(self.rosbag_info_completed) + + self.rosbag_play.clicked.connect(self.rosbag_started) + self.rosbag_stop.clicked.connect(self.rosbag_stopped) + self.rosbag_play_proc.finished.connect(self.rosbag_finished) + self.rosbag_play_proc.readyReadStandardOutput.connect(self.rosbag_output) + + self.rosbag_pause.setCheckable(True) + self.rosbag_pause.toggled.connect(self.rosbag_paused) + + self.setStyleSheet("QCheckBox::indicator { width: 28px; height: 28px; }") + self.rosbag_label.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred) + self.rosbag_text.setSizePolicy(QtWidgets.QSizePolicy.Preferred, QtWidgets.QSizePolicy.Expanding) + + layout = QtWidgets.QGridLayout() + layout.addWidget(self.rosbag_enable, 0, 0) + layout.addWidget(self.rosbag_label, 0, 1) + layout.addWidget(self.rosbag_play, 0, 2) + layout.addWidget(self.rosbag_stop, 0, 3) + layout.addWidget(self.rosbag_pause, 0, 4) + layout.addWidget(self.rosbag_state, 1, 0, 1, 5) + layout.addWidget(self.rosbag_file.path, 2, 0, 1, 3) + layout.addWidget(self.rosbag_file.button, 2, 3) + layout.addWidget(self.rosbag_info, 2, 4) + layout.addWidget(self.rosbag_text, 3, 0, 1, 5) + self.setLayout(layout) + self.simulation_mode_disabled() + + def simulation_mode_changed(self, state): + if state == QtCore.Qt.Checked: self.simulation_mode_enabled() + if state == QtCore.Qt.Unchecked: self.simulation_mode_disabled() + + def simulation_mode_enabled(self): + self.rosbag_mode_proc.start("rosparam set /use_sim_time true") + self.rosbag_stopped() + + def simulation_mode_disabled(self): + self.rosbag_mode_proc.start("rosparam set /use_sim_time false") + self.rosbag_stopped() + self.rosbag_play.setEnabled(False) + + def rosbag_info_requested(self): + self.rosbag_info_proc.start("rosbag info " + self.rosbag_file.path.text()) + + def rosbag_info_completed(self): + stdout = self.rosbag_info_proc.readAllStandardOutput().data().decode('utf-8') + stderr = self.rosbag_info_proc.readAllStandardError().data().decode('utf-8') + self.rosbag_text.setText(stdout + stderr) + + def rosbag_started(self): + xml = myutils.package("resources/rosbagplay.xml") + arg = self.rosbag_file.path.text() + self.rosbag_play_proc.start('roslaunch {} options:="{}" bagfile:={}'.format(xml, "--clock --start=0", arg)) + self.rosbag_play_proc.processId() + self.rosbag_play.setEnabled(False) + self.rosbag_stop.setEnabled(True) + self.rosbag_pause.setEnabled(True) + + def rosbag_stopped(self): + self.rosbag_play_proc.terminate() + self.rosbag_finished() + + def rosbag_finished(self): + self.rosbag_play.setEnabled(True) + self.rosbag_stop.setEnabled(False) + self.rosbag_pause.setEnabled(False) + self.rosbag_pause.setChecked(False) + + def rosbag_paused(self, checked): + self.rosbag_play_proc.write(" ") + + def rosbag_output(self): + #print self.rosbag_play_proc.readAllStandardOutput().data().decode('utf-8') + stdout = str(self.rosbag_play_proc.readAllStandardOutput()).split("\r") + if 2 <= len(stdout): + self.rosbag_state.setText(stdout[-2]) + diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/summary.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/summary.py new file mode 100644 index 00000000000..82654a5a141 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/summary.py @@ -0,0 +1,39 @@ +import os + +from python_qt_binding import QtCore +from python_qt_binding import QtGui +from python_qt_binding import QtWidgets + + + +class AwSummaryPanel(QtWidgets.QStackedWidget): + + def __init__(self, client): + super(AwSummaryPanel, self).__init__() + self.__client = client + self.__panels = {} + + def profile_ui_cleared(self): + for key in self.__panels.keys(): + self.__panels.pop(key).deleteLater() + + def node_ui_created(self, lnode): + panel = self.__client.guimgr().create_widget(lnode, lnode.plugin().panel()) + panel.setup_widget() + #self.__panels[lnode.path()] = panel + #self.addWidget(panel) + scroll = QtWidgets.QScrollArea() + scroll.setWidget(panel) + scroll.setWidgetResizable(True) + self.__panels[lnode.path()] = scroll + self.addWidget(scroll) + + def node_ui_updated(self, lnode): + self.__panels[lnode.path()].widget().setup_widget() + + #def config_removed(self, lpath): + + def config_selected(self, lpath): + self.setCurrentWidget(self.__panels[lpath]) + + diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/treeview.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/treeview.py new file mode 100644 index 00000000000..801cf298c4c --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/treeview.py @@ -0,0 +1,138 @@ +import os + +from python_qt_binding import QtCore +from python_qt_binding import QtGui +from python_qt_binding import QtWidgets + + + +class AwTreeViewPanel(QtWidgets.QTreeWidget): + + def __init__(self, client): + super(AwTreeViewPanel, self).__init__() + self.__client = client + self.__items = {} + self.__panels = [] + + self.setColumnCount(2) + self.setHeaderLabels(["Node", "Run Status"]) + self.header().setStretchLastSection(False) + self.header().setSectionResizeMode(0, QtWidgets.QHeaderView.Stretch) + self.header().setSectionResizeMode(1, QtWidgets.QHeaderView.ResizeToContents) + + #self.addTopLevelItem(self.construct(launch)) + #self.expandToDepth(0) + #self.itemChanged.connect(self.on_item_changed) + self.currentItemChanged.connect(self.item_selectd) + + def keyPressEvent(self, event): + if event.key() in [QtCore.Qt.Key_Up, QtCore.Qt.Key_Down, QtCore.Qt.Key_Left, QtCore.Qt.Key_Right]: + super(AwTreeViewPanel, self).keyPressEvent(event) + elif event.key() == QtCore.Qt.Key_R: + lpath = self.currentItem().lpath + self.__client.launch_node(lpath, True) + event.accept() + elif event.key() == QtCore.Qt.Key_T: + lpath = self.currentItem().lpath + self.__client.launch_node(lpath, False) + event.accept() + else: + event.ignore() + + def select_config(self, lpath): + self.setCurrentItem(self.__items[lpath]) + + def register_select_listener(self, panel): + self.__panels.append(panel) + + def status_ui_updated(self, lpath, state): + self.__items[lpath].status_updated(state) + + def profile_ui_cleared(self): + if self.__items: + self.config_removed("root") + + def node_ui_updated(self, lnode): + pass + + def node_ui_created(self, lnode): + lpath = lnode.path() + ppath, lname = os.path.split(lpath) + if ppath: + item = AwTreeViewItem(lpath) + self.__items[lpath] = item + self.__items[ppath].addChild(item) + else: + item = AwTreeViewItem(lpath) + self.__items[lpath] = item + self.addTopLevelItem(item) + + def config_removed(self, lpath): + ppath, lname = os.path.split(lpath) + item = self.__items[lpath] + if ppath: + parent = self.__items[ppath] + parent.takeChild(parent.indexOfChild(item)) + else: + self.takeTopLevelItem(self.indexOfTopLevelItem(item)) + + for key in self.__items.keys(): + if key.startswith(lpath): + self.__items.pop(key) + + def item_selectd(self, item, prev): + if item: + for panel in self.__panels: + panel.config_selected(item.lpath) + + + +class AwTreeViewItem(QtWidgets.QTreeWidgetItem): + + def __init__(self, lpath): + super(AwTreeViewItem, self).__init__() + self.lpath = lpath + + self.setText(0, os.path.basename(lpath)) + self.setText(1, "stop") + + def status_updated(self, state): + self.setText(1, "unknown") + if state == 0: self.setText(1, "stop") + if state == 1: self.setText(1, "running") + if state == 2: self.setText(1, "terminating") + + +class AwControlPanel(QtWidgets.QWidget): + + def __init__(self, client): + super(AwControlPanel, self).__init__() + self.__client = client + + self.__exec_button = QtWidgets.QPushButton("Exec") + self.__term_button = QtWidgets.QPushButton("Term") + self.__exec_button.clicked.connect(self.exec_config) + self.__term_button.clicked.connect(self.term_config) + + self.__lpath = QtWidgets.QLabel() + self.setLayout(QtWidgets.QVBoxLayout()) + + layout = QtWidgets.QHBoxLayout() + layout.addWidget(QtWidgets.QLabel("Path: ")) + layout.addWidget(self.__lpath) + self.__lpath.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred) + self.layout().addLayout(layout) + + layout = QtWidgets.QHBoxLayout() + layout.addWidget(self.__exec_button) + layout.addWidget(self.__term_button) + self.layout().addLayout(layout) + + def exec_config(self): + self.__client.launch_node(self.__lpath.text(), True) + + def term_config(self): + self.__client.launch_node(self.__lpath.text(), False) + + def config_selected(self, lpath): + self.__lpath.setText(lpath) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/widgets.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/widgets.py new file mode 100644 index 00000000000..9678065eda3 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/widgets.py @@ -0,0 +1,134 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets + +from ..core import myutils + + +class AwAbstructPanel(QtWidgets.QWidget): + + def __init__(self, guimgr, node, view): + super(AwAbstructPanel, self).__init__() + self.guimgr = guimgr + self.node = node + self.view = view + + def setup_widget(self): + if self.layout() is None: + self.__setup_widget() + else: + self.__clear_widget() + + def __setup_widget(self): + + self.window().setWindowTitle(self.__class__.__name__) + + # Panel Footer + layout = QtWidgets.QHBoxLayout() + layout.setContentsMargins(2, 2, 2, 2) + layout.setSpacing(2) + layout.addStretch() + self.footer = QtWidgets.QWidget() + self.footer.setLayout(layout) + + # Panel Layout + layout = QtWidgets.QVBoxLayout() + layout.setContentsMargins(16, 16, 16, 16) + layout.setSpacing(16) + layout.addStretch() + layout.addWidget(self.footer) + self.setLayout(layout) + + def __clear_widget(self): + + # Panel Footer + layout = self.footer.layout() + while 1 < layout.count(): + layout.takeAt(layout.count() - 1).widget().deleteLater() + + # Panel Layout + layout = self.layout() + while 2 < layout.count(): + layout.takeAt(0).widget().deleteLater() + + def add_frame(self, frame): + index = self.layout().count() - 2 + self.layout().insertWidget(index, frame) + + def add_button(self, button): + self.footer.layout().addWidget(button) + + + +class AwAbstructFrame(QtWidgets.QWidget): + + def __init__(self, guimgr, node, view): + super(AwAbstructFrame, self).__init__() + self.guimgr = guimgr + self.node = node + self.view = view + + def setup_widget(self): + if self.layout() is None: + self.__setup_widget() + else: + self.__clear_widget() + + def __setup_widget(self): + + # Frame Header + self.title = QtWidgets.QLabel("No Title") + self.title.setSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Preferred) + layout = self.guimgr.create_frame_header_hlayout() + layout.addWidget(self.title) + self.header = QtWidgets.QWidget() + self.header.setObjectName("FrameHeader") + self.header.setLayout(layout) + + # Frame Layout + layout = self.guimgr.create_frame_entire_vlayout() + layout.addWidget(self.header) + self.setLayout(layout) + + def __clear_widget(self): + + # Frame Header + layout = self.header.layout() + while 1 < layout.count(): + layout.takeAt(layout.count() - 1).widget().deleteLater() + + # Frame Layout + layout = self.layout() + while 1 < layout.count(): + layout.takeAt(layout.count() - 1).widget().deleteLater() + + def set_title(self, title): + self.title.setText(title) + + def add_button(self, button): + self.header.layout().addWidget(button) + + def add_widget(self, widget): + widget.setObjectName("FrameWidget") + self.layout().addWidget(widget) + + def add_text_widget(self, text): + layout = self.guimgr.create_frame_header_hlayout() + layout.addWidget(QtWidgets.QLabel(text)) + widget = QtWidgets.QWidget() + widget.setLayout(layout) + self.add_widget(widget) + + + +class AwFileSelect(QtCore.QObject): + + def __init__(self, parent): + super(AwFileSelect, self).__init__(parent) + self.path = QtWidgets.QLineEdit() + self.button = QtWidgets.QPushButton("Browse") + self.button.clicked.connect(self.browse) + + def browse(self): + filepath, filetype = QtWidgets.QFileDialog.getOpenFileName(self.button, "Select File", myutils.userhome()) + if filepath: + self.path.setText(filepath) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/window.py b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/window.py new file mode 100644 index 00000000000..55497d72d07 --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/src/autoware_launcher/gui/window.py @@ -0,0 +1,96 @@ +from python_qt_binding import QtCore +from python_qt_binding import QtWidgets + +from ..core import myutils + + + +class AwAbstructWindow(QtWidgets.QMainWindow): + + def __init__(self, parent): + super(AwAbstructWindow, self).__init__(parent) + + def load_geomerty(self): + settings = QtCore.QSettings("Autoware", "AutowareLauncher") + if settings.contains("geometry"): + self.restoreGeometry(settings.value("geometry")) + + def save_geometry(self): + settings = QtCore.QSettings("Autoware", "AutowareLauncher") + settings.setValue("geometry", self.saveGeometry()) + + + +class AwMainWindow(AwAbstructWindow): + + def __init__(self, client): + + super(AwMainWindow, self).__init__(None) + self.client = client + + self.load_geomerty() + self.setWindowTitle("Autoware Launcher") + + self.__init_menu() + + def closeEvent(self, event): + + self.save_geometry() + super(AwMainWindow, self).closeEvent(event) + + def __init_menu(self): + + self.filemenu = self.menuBar().addMenu("File") + self.viewmenu = self.menuBar().addMenu("View") + + load_action = QtWidgets.QAction("Load Profile", self) + load_action.setShortcut("Ctrl+L") + load_action.triggered.connect(self.load_profile) + + save_action = QtWidgets.QAction("Save Profile", self) + save_action.setShortcut("Ctrl+S") + save_action.triggered.connect(self.save_profile) + + save_as_action = QtWidgets.QAction("Save Profile As", self) + save_as_action.setShortcut("Ctrl+A") + save_as_action.triggered.connect(self.save_profile_as) + + export_action = QtWidgets.QAction("Export Profile", self) + export_action.setShortcut("Ctrl+E") + export_action.triggered.connect(self.export_profile) + + self.filemenu.addAction(load_action) + self.filemenu.addAction(save_action) + self.filemenu.addAction(save_as_action) + self.filemenu.addAction(export_action) + + def addViewMenu(self, text, func): + action = QtWidgets.QAction(text, self) + action.setCheckable(True) + action.toggled.connect(func) + self.viewmenu.addAction(action) + + def load_profile(self): + import os + filename, filetype = QtWidgets.QFileDialog.getOpenFileName(self, "Load Profile", myutils.profile(), "Launch Profile (*.launch)") + filename, filetype = os.path.splitext(filename) + if filename: + self.client.load_profile(filename) + + def save_profile(self): + pass + + def save_profile_as(self): + import os + filename, filetype = QtWidgets.QFileDialog.getSaveFileName(self, "Save Profile As", myutils.profile(), "Launch Profile (*.launch)") + filename, filetype = os.path.splitext(filename) + if filename: + if filetype != ".launch": + filename = filename + filetype + self.client.save_profile(filename) + + def export_profile(self): + import os + dirname = QtWidgets.QFileDialog.getExistingDirectory(self, "Export Profile", myutils.package("launch")) + if dirname: + self.client.export_profile(dirname) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_launcher/tests/__init__.py b/ros/src/util/packages/autoware_launcher/tests/__init__.py new file mode 100644 index 00000000000..e69de29bb2d diff --git a/ros/src/util/packages/autoware_launcher/tests/test_plugins.py b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py new file mode 100644 index 00000000000..b45014632dc --- /dev/null +++ b/ros/src/util/packages/autoware_launcher/tests/test_plugins.py @@ -0,0 +1,14 @@ +from nose.tools import ok_ +from autoware_launcher.core.plugin import AwPluginTree +from autoware_launcher.gui.guimgr import AwQtGuiManager + +def test_plugins(): + guimgr = AwQtGuiManager(None) + plugins = AwPluginTree() + for plugin_path in plugins.scan(""): + plugin = plugins.find(plugin_path) + fields = plugin.fields() + for frame in plugin.panel().frames: + print plugin.path() + " " + str(frame.target) + yield ok_, guimgr.widget(frame).validate_argtypes(fields, frame) + print diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/CMakeLists.txt new file mode 100644 index 00000000000..5d94da5871f --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/CMakeLists.txt @@ -0,0 +1,41 @@ +cmake_minimum_required(VERSION 2.8.3) +project(autoware_launcher_rviz) + +find_package(catkin REQUIRED COMPONENTS rosconsole rviz autoware_build_flags) +find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets Network) +set(QT_LIBRARIES Qt5::Widgets Qt5::Network) +add_definitions(-DQT_NO_KEYWORDS) + +catkin_package( + CATKIN_DEPENDS rviz +) + +include_directories( + ${catkin_INCLUDE_DIRS} +) + +qt5_wrap_cpp(QT_HEADER_FILES + src/module_panel.hpp +) + +set(QT_SOURCE_FILES + src/module_panel.cpp +) + +add_library(${PROJECT_NAME} + ${QT_HEADER_FILES} + ${QT_SOURCE_FILES} +) + +target_link_libraries(${PROJECT_NAME} + ${catkin_LIBRARIES} + ${QT_LIBRARIES} +) + +install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +) + +install(DIRECTORY icons + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons +) diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/icons/classes/ModulePanel.png b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/icons/classes/ModulePanel.png new file mode 100644 index 00000000000..8ff9c809990 Binary files /dev/null and b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/icons/classes/ModulePanel.png differ diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/package.xml b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/package.xml new file mode 100644 index 00000000000..7532a2c1070 --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/package.xml @@ -0,0 +1,25 @@ + + + + autoware_launcher_rviz + 0.0.0 + The autoware_launcher_rviz package + Apache 2.0 + + Isamu Takagi + + catkin + autoware_build_flags + rosconsole + rviz + qtbase5-dev + rosconsole + rviz + libqt5-core + libqt5-widgets + + + + + + diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/plugin_description.xml new file mode 100644 index 00000000000..d0a3f4994fe --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/plugin_description.xml @@ -0,0 +1,7 @@ + + + + The panel to easy control the Autoware Launcher + + + diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.cpp b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.cpp new file mode 100644 index 00000000000..d6e497a933f --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.cpp @@ -0,0 +1,89 @@ +#include "module_panel.hpp" + +#include +#include +#include +#include +#include +#include +#include + +namespace { + +QPushButton* create_push_button(QString title) { + auto button = new QPushButton(title); + button->setEnabled(false); + button->setCheckable(true); + button->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding); + return button; +} +} + +namespace autoware_launcher_rviz { + +ModulePanel::ModulePanel(QWidget* parent) : rviz::Panel(parent) { + QRect screen = QApplication::desktop()->screenGeometry(); + int font_size = std::min(screen.width(), screen.height()) / 50; + setStyleSheet( + QString("* {font-size: %1px; background-color: #FFFFFF;} QPushButton{color: #FFFFFF; background-color: #223A70;}") + .arg(font_size)); + + auto layout = new QGridLayout(); + setLayout(layout); + + std::string rootpath = "root/"; + std::vector nodetexts = {"Localization", "Detection", "Prediction", "Decision", "Mission", "Motion"}; + std::vector nodenames = {"localization", "detection", "prediction", "decision", "mission", "motion"}; + for (size_t i = 0; i < nodenames.size(); ++i) { + auto button = create_push_button(nodetexts[i]); + buttons[button] = rootpath + nodenames[i]; + layout->addWidget(button, i / 3, i % 3); + connect(button, &QPushButton::toggled, this, &ModulePanel::launch_button_toggled); + } + + socket = new QTcpSocket(this); + connect(socket, &QTcpSocket::connected, this, &ModulePanel::server_connected); + connect(socket, &QTcpSocket::disconnected, this, &ModulePanel::server_disconnected); + connect(socket, &QTcpSocket::readyRead, this, &ModulePanel::server_ready_read); + connect(socket, static_cast(&QTcpSocket::error), this, + &ModulePanel::server_error); + socket->connectToHost("localhost", 33136); +} + +void ModulePanel::paintEvent(QPaintEvent* event) { + QStyleOption option; + option.init(this); + QPainter painter(this); + style()->drawPrimitive(QStyle::PE_Widget, &option, &painter, this); +} + +void ModulePanel::launch_button_toggled(bool checked) { + auto button = static_cast(sender()); + QString json = R"({"command":"%1", "path":"%2"})"; + json = json.arg(checked ? "launch" : "terminate").arg(QString::fromStdString(buttons[button])); + socket->write(json.toUtf8().append('\0')); +} + +void ModulePanel::server_connected() { + for (const auto& pair : buttons) { + pair.first->setEnabled(true); + } +} + +void ModulePanel::server_disconnected() { + for (const auto& pair : buttons) { + pair.first->setEnabled(false); + } +} + +void ModulePanel::server_error() { + ROS_ERROR_STREAM(socket->errorString().toStdString()); +} + +void ModulePanel::server_ready_read() { + ROS_INFO_STREAM(socket->readAll().toStdString()); +} +} + +#include +PLUGINLIB_EXPORT_CLASS(autoware_launcher_rviz::ModulePanel, rviz::Panel) diff --git a/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.hpp b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.hpp new file mode 100644 index 00000000000..224e0aaf3aa --- /dev/null +++ b/ros/src/util/packages/autoware_rviz_plugins/autoware_launcher_rviz/src/module_panel.hpp @@ -0,0 +1,36 @@ +#ifndef AUTOWARE_LAUNCHER_RVIZ_CONTROLLER_HPP +#define AUTOWARE_LAUNCHER_RVIZ_CONTROLLER_HPP + +#include +#include +#include +#include +#include + +namespace autoware_launcher_rviz { + +class ModulePanel : public rviz::Panel { + Q_OBJECT + + public: + ModulePanel(QWidget* parent = 0); + + protected: + void paintEvent(QPaintEvent* event) override; + + private Q_SLOTS: + + void launch_button_toggled(bool checked); + + void server_connected(); + void server_disconnected(); + void server_error(); + void server_ready_read(); + + private: + QTcpSocket* socket; + std::unordered_map buttons; +}; +} + +#endif diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp index 16ab1ded90c..4202aca3bf5 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp +++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.cpp @@ -1,4 +1,18 @@ /********************************************************************* +* Copyright 2015-2019 Autoware Foundation +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +********************************************************************** * Software License Agreement (BSD License) * * Copyright (c) 2008, Willow Garage, Inc. @@ -30,7 +44,7 @@ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE * POSSIBILITY OF SUCH DAMAGE. -********************************************************************/ +*********************************************************************/ #include "recorder.h" diff --git a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h index ea719db9db8..49cbb4d6509 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h +++ b/ros/src/util/packages/autoware_rviz_plugins/rosbag_controller/src/core/recorder.h @@ -1,4 +1,18 @@ /********************************************************************* +* Copyright 2015-2019 Autoware Foundation +* +* Licensed under the Apache License, Version 2.0 (the "License"); +* you may not use this file except in compliance with the License. +* You may obtain a copy of the License at +* +* http://www.apache.org/licenses/LICENSE-2.0 +* +* Unless required by applicable law or agreed to in writing, software +* distributed under the License is distributed on an "AS IS" BASIS, +* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +* See the License for the specific language governing permissions and +* limitations under the License. +********************************************************************** * Software License Agreement (BSD License) * * Copyright (c) 2008, Willow Garage, Inc. diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt index 594bb7bdb3f..b054beded6b 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/CMakeLists.txt @@ -1,7 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(autoware_rviz_plugins) - find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS rviz @@ -55,7 +54,7 @@ set(CMAKE_AUTOMOC ON) set(SOURCE_FILES src/state_panel/state_panel.cpp src/sim_object/autoware_flag_tool.cpp - ) +) add_library(autoware_rviz_plugins ${SOURCE_FILES} ${UIC_FILES}) target_link_libraries(autoware_rviz_plugins ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) @@ -74,3 +73,6 @@ install(DIRECTORY media/ install(DIRECTORY icons/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/icons) + +install(FILES plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml index 90bffe169f6..12555db046b 100644 --- a/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml +++ b/ros/src/util/packages/autoware_rviz_plugins/state_panel/plugin_description.xml @@ -1,19 +1,11 @@ - - - State Panel on rviz - - - - - - Tool for sim_obj flags on the ground plane in rviz. - + + State Panel on rviz + + + + Tool for sim_obj flags on the ground plane in rviz. diff --git a/ros/src/util/packages/data_preprocessor/CMakeLists.txt b/ros/src/util/packages/data_preprocessor/CMakeLists.txt index 7c3c34766e8..1cb6973b3fc 100644 --- a/ros/src/util/packages/data_preprocessor/CMakeLists.txt +++ b/ros/src/util/packages/data_preprocessor/CMakeLists.txt @@ -37,3 +37,8 @@ add_executable(get_Depth nodes/get_Depth/get_Depth.cpp) target_link_libraries(get_Depth ${catkin_LIBRARIES}) target_link_libraries(get_PCD ${catkin_LIBRARIES}) target_link_libraries(get_Image ${catkin_LIBRARIES}) + +install(TARGETS get_Image get_PCD get_Depth + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt b/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt index 6b00e2a56ff..e1acb7f4951 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_box_publisher/CMakeLists.txt @@ -23,4 +23,7 @@ catkin_package( include_directories( ${catkin_INCLUDE_DIRS} ${autoware_msgs_INCLUDE_DIRS} -) \ No newline at end of file +) + +catkin_install_python(PROGRAMS scripts/kitti_box_publisher.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/kitti_pkg/kitti_launch/CMakeLists.txt b/ros/src/util/packages/kitti_pkg/kitti_launch/CMakeLists.txt index 2b4f9d260ac..ac578c4d577 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_launch/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_launch/CMakeLists.txt @@ -6,3 +6,15 @@ find_package(catkin REQUIRED) catkin_package( CATKIN_DEPENDS kitti_box_publisher ) + +install(DIRECTORY launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY launch/xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/xml + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY calib + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/calib + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt b/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt index aa078f7cbb9..f58393e0229 100644 --- a/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt +++ b/ros/src/util/packages/kitti_pkg/kitti_player/CMakeLists.txt @@ -42,3 +42,17 @@ target_link_libraries(kitti_player ${OpenCV_LIBS}) add_dependencies(kitti_player ${catkin_EXPORTED_TARGETS}) + +install(TARGETS kitti_player + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) + +install(DIRECTORY cfg/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/cfg + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/util/packages/log_tools/CMakeLists.txt b/ros/src/util/packages/log_tools/CMakeLists.txt index 6d1800ae9d0..301e2f41a18 100644 --- a/ros/src/util/packages/log_tools/CMakeLists.txt +++ b/ros/src/util/packages/log_tools/CMakeLists.txt @@ -9,3 +9,10 @@ find_package(catkin REQUIRED COMPONENTS ) catkin_package() + +catkin_install_python(PROGRAMS + scripts/autologger/client.py + scripts/autologger/common.py + scripts/autologger/recorder.py + scripts/autologger/server.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/map_tf_generator/CMakeLists.txt b/ros/src/util/packages/map_tf_generator/CMakeLists.txt index 43c4a70194d..6568433e1ae 100644 --- a/ros/src/util/packages/map_tf_generator/CMakeLists.txt +++ b/ros/src/util/packages/map_tf_generator/CMakeLists.txt @@ -32,92 +32,25 @@ catkin_package( # DEPENDS system_lib ) -########### -## Build ## -########### -## Specify additional locations of header files -## Your package locations should be listed before other locations include_directories( ${catkin_INCLUDE_DIRS} ) -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/map_tf_generator.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -## With catkin_make all packages are built within a single CMake context -## The recommended prefix ensures that target names across packages don't collide add_executable( map_tf_generator nodes/map_tf_generator.cpp ) -## Rename C++ executable without prefix -## The above recommended prefix causes long target names, the following renames the -## target back to the shorter version for ease of user use -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" -# set_target_properties(${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( map_tf_generator ${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_map_tf_generator.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() +install(TARGETS map_tf_generator + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE) \ No newline at end of file diff --git a/ros/src/util/packages/map_tools/CMakeLists.txt b/ros/src/util/packages/map_tools/CMakeLists.txt index c7cf81a088a..53c5ec86d06 100644 --- a/ros/src/util/packages/map_tools/CMakeLists.txt +++ b/ros/src/util/packages/map_tools/CMakeLists.txt @@ -1,8 +1,6 @@ cmake_minimum_required(VERSION 2.8.3) project(map_tools) -#find_package(PCL REQUIRED) - find_package(autoware_build_flags REQUIRED) find_package(catkin REQUIRED COMPONENTS @@ -19,7 +17,6 @@ catkin_package( sensor_msgs pcl_ros pcl_conversions -# DEPENDS PCL ) SET(CMAKE_CXX_FLAGS "-O2 -g -Wall ${CMAKE_CXX_FLAGS}") diff --git a/ros/src/util/packages/marker_downsampler/CMakeLists.txt b/ros/src/util/packages/marker_downsampler/CMakeLists.txt index 0f485f4bec1..8a15d7df64b 100644 --- a/ros/src/util/packages/marker_downsampler/CMakeLists.txt +++ b/ros/src/util/packages/marker_downsampler/CMakeLists.txt @@ -31,4 +31,6 @@ catkin_package( include_directories( # include # ${catkin_INCLUDE_DIRS} -) \ No newline at end of file +) +catkin_install_python(PROGRAMS scripts/app.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/pc2_downsampler/CMakeLists.txt b/ros/src/util/packages/pc2_downsampler/CMakeLists.txt index d8f40fbdc11..708828537de 100644 --- a/ros/src/util/packages/pc2_downsampler/CMakeLists.txt +++ b/ros/src/util/packages/pc2_downsampler/CMakeLists.txt @@ -31,4 +31,6 @@ catkin_package( include_directories( # include # ${catkin_INCLUDE_DIRS} -) \ No newline at end of file +) +catkin_install_python(PROGRAMS scripts/app.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) \ No newline at end of file diff --git a/ros/src/util/packages/runtime_manager/CMakeLists.txt b/ros/src/util/packages/runtime_manager/CMakeLists.txt index 6b2959064e2..666088d7a9f 100644 --- a/ros/src/util/packages/runtime_manager/CMakeLists.txt +++ b/ros/src/util/packages/runtime_manager/CMakeLists.txt @@ -2,83 +2,96 @@ cmake_minimum_required(VERSION 2.8.3) project(runtime_manager) find_package(catkin REQUIRED COMPONENTS - rospy + rospy autoware_msgs autoware_config_msgs tablet_socket_msgs std_msgs ) +catkin_package( + CATKIN_DEPENDS rospy autoware_msgs autoware_config_msgs tablet_socket_msgs std_msgs +) + catkin_install_python(PROGRAMS - scripts/ftrace.py - scripts/proc_manager.py - scripts/rtmgr.py - scripts/runtime_manager_dialog.py - scripts/test_pub.py - scripts/test_srv.py - DESTINATION share/${PROJECT_NAME}) + scripts/ftrace.py + scripts/proc_manager.py + scripts/rtmgr.py + scripts/runtime_manager_dialog.py + scripts/test_pub.py + scripts/test_srv.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(FILES - scripts/3dm_gx5_15.sh - scripts/add_perm.sh - scripts/adis16470.sh - scripts/avt_camera.launch - scripts/avt_vimba.sh - scripts/computing.yaml - scripts/data.yaml - scripts/empty.yaml - scripts/ex_mat_pub.launch - scripts/gazebo.sh - scripts/interface.yaml - scripts/main.yaml - scripts/map.yaml - scripts/mqtt_socket.launch - scripts/mti300.sh - scripts/points2image.launch - scripts/qs.yaml - scripts/rtmgr_icon.xpm - scripts/rtmgr.wxg - scripts/sensing.yaml - scripts/setup_tf.launch - scripts/setup_vehicle_info.launch - scripts/setup.yaml - scripts/simulation.yaml - scripts/state.yaml - scripts/status.yaml - scripts/synchronization.launch - scripts/tablet_socket.launch - scripts/topics.yaml - scripts/traffic_light.launch - scripts/uvc_camera.launch - scripts/vector_map_files.yaml - scripts/vehicle_socket.launch - scripts/vg440.sh - scripts/viewer.yaml - scripts/vscan.launch - DESTINATION share/${PROJECT_NAME}) + scripts/3dm_gx5_15.sh + scripts/add_perm.sh + scripts/adis16470.sh + scripts/avt_vimba.sh + scripts/gazebo.sh + scripts/mti300.sh + scripts/vg440.sh + + scripts/computing.yaml + scripts/data.yaml + scripts/empty.yaml + scripts/interface.yaml + scripts/main.yaml + scripts/map.yaml + scripts/qs.yaml + scripts/rtmgr_icon.xpm + scripts/rtmgr.wxg + scripts/sensing.yaml + scripts/setup.yaml + scripts/simulation.yaml + scripts/state.yaml + scripts/status.yaml + scripts/topics.yaml + scripts/vector_map_files.yaml + scripts/viewer.yaml + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(FILES - scripts/images/autoware_logo_1.png - scripts/images/autoware_logo_2.png - scripts/images/autoware_logo_2_white.png - scripts/images/axe.png - scripts/images/database.png - scripts/images/dec.png - scripts/images/inc.png - scripts/images/mobile.png - scripts/images/nagoya_university.png - scripts/images/tablet.png - scripts/images/vehicle.png - DESTINATION share/${PROJECT_NAME}/images) + scripts/images/autoware_logo_1.png + scripts/images/autoware_logo_2.png + scripts/images/autoware_logo_2_white.png + scripts/images/axe.png + scripts/images/database.png + scripts/images/dec.png + scripts/images/inc.png + scripts/images/mobile.png + scripts/images/nagoya_university.png + scripts/images/tablet.png + scripts/images/vehicle.png + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/images + #DESTINATION share/${PROJECT_NAME}/images + ) install(FILES - scripts/launch_files/check.launch - scripts/launch_files/control.launch - scripts/launch_files/init.launch - scripts/launch_files/map.launch - scripts/launch_files/perception.launch - scripts/launch_files/planning.launch - scripts/launch_files/sensor.launch - scripts/launch_files/set.launch - DESTINATION share/${PROJECT_NAME}/launch_files) + scripts/launch_files/check.launch + scripts/launch_files/control.launch + scripts/launch_files/init.launch + scripts/launch_files/map.launch + scripts/launch_files/perception.launch + scripts/launch_files/planning.launch + scripts/launch_files/sensor.launch + scripts/launch_files/set.launch -catkin_package( - CATKIN_DEPENDS rospy std_msgs message_runtime -) + scripts/launch_files/velodyne_hdl64e_s2.launch + scripts/launch_files/velodyne_hdl64e_s3.launch + scripts/launch_files/velodyne_hdl32e.launch + scripts/launch_files/velodyne_vlp16.launch + scripts/launch_files/velodyne_vlp16_hires.launch + scripts/launch_files/velodyne_vlp32c.launch + scripts/vscan.launch + scripts/vehicle_socket.launch + scripts/uvc_camera.launch + scripts/traffic_light.launch + scripts/synchronization.launch + scripts/tablet_socket.launch + scripts/setup_tf.launch + scripts/setup_vehicle_info.launch + scripts/points2image.launch + scripts/mqtt_socket.launch + scripts/ex_mat_pub.launch + scripts/calibration_publisher.launch + scripts/avt_camera.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch_files + #DESTINATION share/${PROJECT_NAME}/launch_files + ) diff --git a/ros/src/util/packages/runtime_manager/package.xml b/ros/src/util/packages/runtime_manager/package.xml index 1cf80827db7..c7cd5347b58 100644 --- a/ros/src/util/packages/runtime_manager/package.xml +++ b/ros/src/util/packages/runtime_manager/package.xml @@ -6,13 +6,19 @@ Masao KONDOH Apache 2 catkin + rospy std_msgs autoware_msgs - message_runtime + autoware_config_msgs + tablet_socket_msgs + rospy std_msgs + autoware_msgs + autoware_config_msgs tablet_socket_msgs + velodyne diff --git a/ros/src/util/packages/runtime_manager/scripts/computing.yaml b/ros/src/util/packages/runtime_manager/scripts/computing.yaml index 71283a01a63..61a12437e33 100755 --- a/ros/src/util/packages/runtime_manager/scripts/computing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/computing.yaml @@ -188,6 +188,11 @@ subs : flags : [nl ] sync : func : self.button_synchronization.GetValue() + - name : lidar_cnn_baidu_detect + desc : lidar_cnn_segmentation_baidu_detect. Requires Caffe framework + cmd : roslaunch lidar_apollo_cnn_seg_detect lidar_apollo_cnn_seg_detect.launch + param: lidar_cnn_baidu_params + - name : lidar_naive_l_shape_detect desc : lidar_naive_l_shape_detect desc sample cmd : roslaunch lidar_naive_l_shape_detect lidar_naive_l_shape_detect.launch @@ -554,11 +559,15 @@ subs : cmd : roslaunch waypoint_maker waypoint_loader.launch param: waypoint_loader gui : - dialog_width : 700 - dialog_height : 550 + dialog_width : 600 + dialog_height : 450 multi_lane_csv : + depend : load_csv + depend_bool : 'lambda v : v == 1' prop : 1 - replanning_mode : + realtime_tuning_mode: + depend : replanning_mode + depend_bool : 'lambda v : v == 1' flags : [ nl ] resample_mode : depend : replanning_mode @@ -567,6 +576,16 @@ subs : depend : replanning_mode depend_bool : 'lambda v : v == 1' flags : [ nl ] + replan_curve_mode : + depend : replanning_mode + depend_bool : 'lambda v : v == 1' + overwrite_vmax_mode : + depend : replanning_mode + depend_bool : 'lambda v : v == 1' + replan_endpoint_mode : + depend : replanning_mode + depend_bool : 'lambda v : v == 1' + flags : [ nl ] velocity_max : depend : replanning_mode depend_bool : 'lambda v : v == 1' @@ -599,16 +618,31 @@ subs : depend : replanning_mode depend_bool : 'lambda v : v == 1' flags : [ nl ] - dialog : MyDialogWaypointLoader + braking_distance : + depend : replanning_mode + depend_bool : 'lambda v : v == 1' + flags : [ nl ] + - name : waypoint_saver desc : waypoint_saver desc sample cmd : roslaunch waypoint_maker waypoint_saver.launch param: waypoint_saver gui : + input_type : + flags : [ nl ] save_filename : - prop : 1 + prop : 1 + flags : [ nl ] save_velocity : - flags : [ nl ] + depend : input_type + depend_bool : 'lambda v : v == 0' + interval : + depend : input_type + depend_bool : 'lambda v : v == 0' + flags : [ nl ] + lane_topic : + depend : input_type + depend_bool : 'lambda v : v == 1' - name : waypoint_clicker desc : waypoint_clicker desc sample cmd : rosrun waypoint_maker waypoint_clicker @@ -3493,6 +3527,20 @@ params : var_name : save_finename dash : '' delim : ':=' + - name : input_type + desc : input type + label : Input Type + kind : radio_box + choices : + - VehicleFootprint + - LaneArrayTopic + descs : + - save vehicle footprint as waypoints.csv + - save autoware_msgs/LaneArray topic as waypoints. + v : 0 + cmd_param : + dash : '' + delim : ':=' - name : save_velocity descs : When you save the velocity in each waypoints, Please check if /current_velocity is publishing label : Save /current_velocity @@ -3508,6 +3556,15 @@ params : cmd_param : dash : '' delim : ':=' + - name : lane_topic + desc : subscribed LaneArray topic name + label : lane topic + v : /lane_waypoints_array + kind : topic + topic_type : autoware_msgs/LaneArray + cmd_param : + dash : '' + delim : ':=' - name : waypoint_clicker vars : @@ -3527,9 +3584,17 @@ params : rosparam : /waypoint_clicker/output_file - name : waypoint_loader - topic : /config/waypoint_loader - msg : ConfigWaypointLoader + topic : /config/waypoint_replanner + msg : ConfigWaypointReplanner vars : + - name : load_csv + desc : launch waypoint_loader + label : load csv + kind : checkbox + v : true + cmd_param : + dash : '' + delim : ':=' - name : multi_lane_csv desc : driving_lane_csv desc sample label : 'multi_lane' @@ -3547,6 +3612,14 @@ params : cmd_param : dash : '' delim : ':=' + - name : realtime_tuning_mode + desc : Enable realtime tuning mode + label : realtime_tuning_mode + kind : checkbox + v : false + cmd_param : + dash : '' + delim : ':=' - name : resample_mode desc : Enable resampling mode label : resample mode @@ -3562,11 +3635,35 @@ params : cmd_param : dash : '' delim : ':=' + - name : replan_curve_mode + desc : Enable replan curve mode + label : replan curve mode + kind : checkbox + v : false + cmd_param : + dash : '' + delim : ':=' + - name : overwrite_vmax_mode + desc : Enavle overwrite velocity max mode + label : overwrite velocity max mode + kind : checkbox + v : false + cmd_param : + dash : '' + delim : ':=' + - name : replan_endpoint_mode + desc : Enable replan endpoint mode + label : replan endpoint mode + kind : checkbox + v : true + cmd_param : + dash : '' + delim : ':=' - name : velocity_max desc : All velocities are limited under Vmax [km/h] label : Velocity Max Limit - Vmax [km/h] - min : 10.0 - max : 60.0 + min : 0.1 + max : 100.0 v : 20.0 cmd_param : dash : '' @@ -3603,7 +3700,7 @@ params : label : Acceleration Limit - Accel limit [m/s^2] min : 0.0 max : 5.0 - v : 0.98 + v : 0.5 cmd_param : dash : '' delim : ':=' @@ -3612,7 +3709,7 @@ params : label : Deceleration Limit - Decel limit [m/s^2] min : 0.0 max : 5.0 - v : 0.98 + v : 0.3 cmd_param : dash : '' delim : ':=' @@ -3625,20 +3722,21 @@ params : cmd_param : dash : '' delim : ':=' - - name : end_point_offset - desc : Expanded end points (v = 0) for safe stopping - label : End Point Offset + - name : braking_distance + desc : braking distance (v = vmin) for safe stopping + label : Braking Distance min : 0 - max : 30 + max : 10 v : 5 cmd_param : dash : '' delim : ':=' - - name : disable_decision_maker - desc : if you not check this, you have to run a decisionmaker node. - label : 'disable_decision_maker' - kind : checkbox - v : true + - name : end_point_offset + desc : Expanded end points (v = 0) for safe stopping + label : End Point Offset + min : 0 + max : 2 + v : 1 cmd_param : dash : '' delim : ':=' @@ -5255,3 +5353,57 @@ params : cmd_param : dash : '' delim : ':=' + + - name : lidar_cnn_baidu_params + vars : + - name : points_src + desc : PointCloud topic to be fed to the network for detection + label : image_src + kind : topic + topic_type : sensor_msgs/PointCloud2 + v : /points_raw + cmd_param : + dash : '' + delim : ':=' + - name : score_threshold + desc : Detections with a confidence value larger than this value will be displayed. + label : Score Threshold + min : 0.0 + max : 1.0 + v : 0.7 + cmd_param : + dash : '' + delim : ':=' + - name : network_definition_file + desc : Configuration file defining the network + label : 'network_definition (cfg)' + kind : path + v : '' + cmd_param: + dash : '' + delim : ':=' + - name : pretrained_model_file + desc : Pre-trained model + label : 'pre_trained_model (weights)' + kind : path + v : '' + cmd_param: + dash : '' + delim : ':=' + - name : use_gpu + desc : Whether to use GPU to process the CNN + label : use_gpu + kind : checkbox + v : True + cmd_param : + dash : '' + delim : ':=' + - name : gpu_device_id + desc : gpu_device_id + label : gpu_device_id + min : 0 + max : 10 + v : 0 + cmd_param : + dash : '' + delim : ':=' \ No newline at end of file diff --git a/ros/src/util/packages/runtime_manager/scripts/gazebo.sh b/ros/src/util/packages/runtime_manager/scripts/gazebo.sh index 6f0408cc285..2e633c4f867 100755 --- a/ros/src/util/packages/runtime_manager/scripts/gazebo.sh +++ b/ros/src/util/packages/runtime_manager/scripts/gazebo.sh @@ -1,10 +1,6 @@ #!/bin/sh -roslaunch catvehicle catvehicle_skidpan.launch & -gzclient & -roslaunch point_cloud_converter point_cloud_converter.launch & -roslaunch laser_scan_converter laser_scan_converter.launch & -roslaunch twist_cmd_converter twist_cmd_converter.launch & +roslaunch vehicle_gazebo_simulation_launcher gazebo_launcher.launch gpu:=true & while :; do sleep 10; done diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl32e.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl32e.launch similarity index 100% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl32e.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl32e.launch diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl64e_s2.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl64e_s2.launch similarity index 100% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl64e_s2.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl64e_s2.launch diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl64e_s3.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl64e_s3.launch similarity index 88% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl64e_s3.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl64e_s3.launch index 6d542d7b331..85a58e13002 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_hdl64e_s3.launch +++ b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_hdl64e_s3.launch @@ -8,10 +8,10 @@ - + - + @@ -25,6 +25,6 @@ - + diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp16.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp16.launch similarity index 100% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp16.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp16.launch diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp16_hires.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp16_hires.launch similarity index 100% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp16_hires.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp16_hires.launch diff --git a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp32c.launch b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp32c.launch similarity index 72% rename from ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp32c.launch rename to ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp32c.launch index 134c8dbbf2e..f65caa1a4b5 100644 --- a/ros/src/sensing/drivers/lidar/packages/velodyne/velodyne_pointcloud/launch/velodyne_vlp32c.launch +++ b/ros/src/util/packages/runtime_manager/scripts/launch_files/velodyne_vlp32c.launch @@ -35,19 +35,12 @@ - - - - - + + + + - - - - - - - - - + + diff --git a/ros/src/util/packages/runtime_manager/scripts/qs.yaml b/ros/src/util/packages/runtime_manager/scripts/qs.yaml index 46058db31d6..d0a000b4940 100644 --- a/ros/src/util/packages/runtime_manager/scripts/qs.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/qs.yaml @@ -70,8 +70,7 @@ buttons : rviz_qs : desc : rviz_qs desc sample - #run : rosrun rviz rviz - run : sh -c '$(rospack find runtime_manager)/../../../.config/rviz/cmd.sh' + run : rosrun rviz rviz gui : flags : [ kill_children ] diff --git a/ros/src/util/packages/runtime_manager/scripts/rtmgr.py b/ros/src/util/packages/runtime_manager/scripts/rtmgr.py index 27f625a2029..a1c1ca1aeec 100755 --- a/ros/src/util/packages/runtime_manager/scripts/rtmgr.py +++ b/ros/src/util/packages/runtime_manager/scripts/rtmgr.py @@ -1351,56 +1351,3 @@ def OnLink(self, event): # wxGlade: MyDialogCarPedestrian. event.Skip() # end of class MyDialogCarPedestrian - -class MyDialogWaypointLoader(wx.Dialog): - def __init__(self, *args, **kwds): - # begin wxGlade: MyDialogWaypointLoader.__init__ - kwds["style"] = wx.CAPTION - wx.Dialog.__init__(self, *args, **kwds) - self.panel_v = wx.ScrolledWindow(self, wx.ID_ANY, style=wx.TAB_TRAVERSAL) - self.static_line_1 = wx.StaticLine(self, wx.ID_ANY) - self.button_3 = wx.Button(self, wx.ID_ANY, _("CSV OUTPUT")) - self.static_line_2 = wx.StaticLine(self, wx.ID_ANY) - self.button_1 = wx.Button(self, wx.ID_ANY, _("Close")) - - self.__set_properties() - self.__do_layout() - - self.Bind(wx.EVT_BUTTON, self.OnCsvOutput, self.button_3) - self.Bind(wx.EVT_BUTTON, self.OnOk, self.button_1) - # end wxGlade - - def __set_properties(self): - # begin wxGlade: MyDialogWaypointLoader.__set_properties - self.SetTitle(_("waypoint_loader")) - self.SetSize((600, 500)) - self.panel_v.SetScrollRate(10, 10) - # end wxGlade - - def __do_layout(self): - # begin wxGlade: MyDialogWaypointLoader.__do_layout - sizer_30 = wx.BoxSizer(wx.VERTICAL) - sizer_48 = wx.BoxSizer(wx.VERTICAL) - sizer_49 = wx.BoxSizer(wx.HORIZONTAL) - sizer_28_copy_1 = wx.BoxSizer(wx.HORIZONTAL) - sizer_30.Add(self.panel_v, 1, wx.EXPAND, 0) - sizer_30.Add(self.static_line_1, 0, wx.EXPAND, 0) - sizer_48.Add(sizer_28_copy_1, 0, wx.ALL | wx.EXPAND, 4) - sizer_48.Add(sizer_49, 0, wx.ALL | wx.EXPAND, 4) - sizer_48.Add(self.button_3, 0, wx.ALIGN_CENTER_HORIZONTAL | wx.ALL, 4) - sizer_30.Add(sizer_48, 0, wx.EXPAND, 0) - sizer_30.Add(self.static_line_2, 0, wx.EXPAND, 0) - sizer_30.Add(self.button_1, 0, wx.ALIGN_CENTER_HORIZONTAL | wx.ALL, 4) - self.SetSizer(sizer_30) - self.Layout() - # end wxGlade - - def OnCsvOutput(self, event): # wxGlade: MyDialogNdtMapping. - print "Event handler 'OnCsvOutput' not implemented!" - event.Skip() - - def OnOk(self, event): # wxGlade: MyDialogNdtMapping. - print "Event handler 'OnOk' not implemented!" - event.Skip() - -# end of class MyDialogNdtMapping \ No newline at end of file diff --git a/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py b/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py index a7bf8948141..5431991ac40 100755 --- a/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py +++ b/ros/src/util/packages/runtime_manager/scripts/runtime_manager_dialog.py @@ -55,7 +55,7 @@ from autoware_config_msgs.msg import ConfigRandomFilter from autoware_config_msgs.msg import ConfigRingGroundFilter from autoware_config_msgs.msg import ConfigRayGroundFilter -from autoware_config_msgs.msg import ConfigWaypointLoader +from autoware_config_msgs.msg import ConfigWaypointReplanner from autoware_config_msgs.msg import ConfigWaypointFollower from autoware_config_msgs.msg import ConfigTwistFilter from autoware_config_msgs.msg import ConfigVelocitySet @@ -2717,32 +2717,6 @@ def OnOk(self, event): self.panel.detach_func() self.EndModal(0) -class MyDialogWaypointLoader(rtmgr.MyDialogWaypointLoader): - def __init__(self, *args, **kwds): - self.pdic = kwds.pop('pdic') - self.pdic_bak = self.pdic.copy() - self.gdic = kwds.pop('gdic') - self.prm = kwds.pop('prm') - rtmgr.MyDialogWaypointLoader.__init__(self, *args, **kwds) - set_size_gdic(self) - - parent = self.panel_v - frame = self.GetParent() - self.panel = ParamPanel(parent, frame=frame, pdic=self.pdic, gdic=self.gdic, prm=self.prm) - sizer_wrap((self.panel,), wx.VERTICAL, 1, wx.EXPAND, 0, parent) - - self.klass_msg = Bool - self.pub = rospy.Publisher('/config/waypoint_loader_output', self.klass_msg, queue_size=10) - - def OnCsvOutput(self, event): - msg = self.klass_msg() - msg.data = True - self.pub.publish(msg) - - def OnOk(self, event): - self.panel.detach_func() - self.EndModal(0) - class InfoBarLabel(wx.BoxSizer): def __init__(self, parent, btm_txt=None, lmt_bar_prg=90, bar_orient=wx.VERTICAL): wx.BoxSizer.__init__(self, orient=wx.VERTICAL) diff --git a/ros/src/util/packages/runtime_manager/scripts/sensing.yaml b/ros/src/util/packages/runtime_manager/scripts/sensing.yaml index 36ad92712c8..d2116e108e9 100644 --- a/ros/src/util/packages/runtime_manager/scripts/sensing.yaml +++ b/ros/src/util/packages/runtime_manager/scripts/sensing.yaml @@ -43,6 +43,12 @@ subs : probe: run : roslaunch autoware_pointgrey_drivers ladybug.launch param: ladybug_params + + - name : PointGrey Spinnaker + desc : PointGrey Spinnaker desc sample + probe: + run : roslaunch autoware_pointgrey_drivers spinnaker.launch + param: spinnaker_params - name : USB Generic desc : USB Generic desc sample @@ -140,7 +146,7 @@ subs : - name : Velodyne HDL-64E-S2 desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: 'ifconfig eth0 | grep "192.168.1.105" > /dev/null' - run : roslaunch velodyne_pointcloud velodyne_hdl64e_s2.launch + run : roslaunch runtime_manager velodyne_hdl64e_s2.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -150,7 +156,7 @@ subs : - name : Velodyne HDL-64E-S3 desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: 'ifconfig eth0 | grep "192.168.1.105" > /dev/null' - run : roslaunch velodyne_pointcloud velodyne_hdl64e_s3.launch + run : roslaunch runtime_manager velodyne_hdl64e_s3.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -160,7 +166,7 @@ subs : - name : Velodyne HDL-32E desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: 'ping -c 1 -W 1 192.168.1.201 > /dev/null' - run : roslaunch velodyne_pointcloud velodyne_hdl32e.launch + run : roslaunch runtime_manager velodyne_hdl32e.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -170,7 +176,7 @@ subs : - name : Velodyne VLP-32C desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: 'ping -c 1 -W 1 192.168.1.201 > /dev/null' - run : roslaunch velodyne_pointcloud velodyne_vlp32c.launch + run : roslaunch runtime_manager velodyne_vlp32c.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -180,7 +186,7 @@ subs : - name : Velodyne VLP-16 desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: - run : roslaunch velodyne_pointcloud velodyne_vlp16.launch + run : roslaunch runtime_manager velodyne_vlp16.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -190,7 +196,7 @@ subs : - name : Velodyne VLP-16 Hi-Res desc : Launches the driver for the selected Velodyne sensor and publishes the pointcloud in points_raw. To select a custom calibration file press the [config] button. probe: - run : roslaunch velodyne_pointcloud velodyne_vlp16_hires.launch + run : roslaunch runtime_manager velodyne_vlp16_hires.launch param: calibration_path gui : flags : [ SIGTERM, kill_children ] @@ -225,11 +231,11 @@ subs : - name : Robosense RS32 desc : Launches the driver for the selected RoboSense LiDAR sensor and publishes the pointcloud in rslidar_points. - run : roslaunch rslidar_pointcloud cloud_nodelet_32.launch + run : roslaunch rslidar_pointcloud rs_cloud_nodelet_32.launch - name : Robosense RS16 desc : Launches the driver for the selected RoboSense LiDAR sensor and publishes the pointcloud in rslidar_points. - run : roslaunch rslidar_pointcloud cloud_nodelet_16.launch + run : roslaunch rslidar_pointcloud rs_cloud_nodelet_16.launch - name : Ouster OS1 desc : Launches the driver for the Ouster OS1 LiDAR and publishes the pointcloud as points_raw. @@ -1682,6 +1688,38 @@ params : desc : Camera Frame to register in TF (Default flir_adk) kind : str v : flir_adk + cmd_param : + dash : '' + delim : ':=' + - name : spinnaker_params + vars : + - name : fps + label : fps + desc : FPS Acquisition (Default 60) + min : 1 + max : 100 + v : 60 + cmd_param : + dash : '' + delim : ':=' + - name : width + label : width + desc : Image Width (Default 1440) + v : 1440 + cmd_param : + dash : '' + delim : ':=' + - name : height + label : height + desc : Image Height (Default 1080) + v : 1080 + cmd_param : + dash : '' + delim : ':=' + - name : dltl + label : dltl + desc : DeviceLinkThroughputLimit (Default 1568000) + v : 1568000 cmd_param : dash : '' delim : ':=' \ No newline at end of file diff --git a/ros/src/util/packages/runtime_manager/scripts/setup_vehicle_info.launch b/ros/src/util/packages/runtime_manager/scripts/setup_vehicle_info.launch index 948f6e1fe4f..75f7c2a59f6 100644 --- a/ros/src/util/packages/runtime_manager/scripts/setup_vehicle_info.launch +++ b/ros/src/util/packages/runtime_manager/scripts/setup_vehicle_info.launch @@ -1,6 +1,6 @@ - + diff --git a/ros/src/util/packages/sound_player/CMakeLists.txt b/ros/src/util/packages/sound_player/CMakeLists.txt index 132d4d5007f..3d7707dc8b5 100644 --- a/ros/src/util/packages/sound_player/CMakeLists.txt +++ b/ros/src/util/packages/sound_player/CMakeLists.txt @@ -11,3 +11,11 @@ find_package(sound_play REQUIRED) catkin_package( CATKIN_DEPENDS rospy std_msgs ) + +catkin_install_python(PROGRAMS scripts/sound_player.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +install(FILES scripts/sound_player.yaml + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) + +#TODO INSTALL ALL THE WAVs, MODIFY SCRIPT \ No newline at end of file