Added the stage_ros package to our catkin ws for modification.

src/stage_ros_mod_tf/.travis.yml

@@ -0,0 +1,39 @@
+
+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 python-catkin-tools
+  - 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
+  - catkin init
+  # Enable install space
+  - catkin config --install
+  # Build [and Install] packages
+  - catkin build --no-status -vi --no-notify -DCMAKE_BUILD_TYPE=Release
+  # Build tests
+  - catkin build --no-status -vi --no-notify --make-args tests
+  # Run tests
+  - catkin run_tests
+  # Assert tests all passed
+  - catkin_test_results ./build

src/stage_ros_mod_tf/CHANGELOG.rst

@@ -0,0 +1,57 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package stage_ros
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+1.8.0 (2017-04-30)
+------------------
+* Now uses Stage's native event loop properly and added reassuring startup output.
+* Added a GUI section so that the world starts in a good place.
+* Fixed issue such that ranger intensity values are no longer clipped to 256
+  See: `#31 <https://github.com/ros-simulation/stage_ros/issues/31>`_
+* Contributors: Richard Vaughan, Shane Loretz, William Woodall, gerkey
+
+1.7.5 (2015-09-16)
+------------------
+* Removed all references to FLTK/Fluid and use the upstream CMake config file instead.
+* Added ``reset_positions`` service to stage (adds dependency on ``std_srvs``).
+* Contributors: Aurélien Ballier, Daniel Claes, Scott K Logan, William Woodall
+
+1.7.4 (2015-03-04)
+------------------
+* Added missing -ldl flag on newer versions of Ubuntu
+* Contributors: William Woodall
+
+1.7.3 (2015-01-26)
+------------------
+* Split up ``fltk`` dep into ``libfltk-dev`` and ``fluid``, only ``run_depend``'ing on fluid.
+* Now supports multiple robots with multiple sensors.
+* Fixed a bug on systems that cannot populate FLTK_INCLUDE_DIRS.
+* Updated topurg model from "laser" to "ranger".
+* Added -u option to use name property of position models as its namespace instead of "robot_0", "robot_1", etc.
+* Contributors: Gustavo Velasco Hernández, Gustavo Velasco-Hernández, Pablo Urcola, Wayne Chang, William Woodall
+
+1.7.2 (2013-09-19)
+------------------
+* Changed default GUI window size to 600x400
+* Added velocity to ground truth odometry
+* Fixed tf (yaw component) for the base_link->camera transform.
+* Fixed ground truth pose coordinate system
+
+1.7.1 (2013-08-30)
+------------------
+* Fixing warnings
+* Small fixes
+* Added RGB+3D-sensor interface (Primesense/Kinect/Xtion).
+  * Publishes CameraInfo, depth image, RGBA image, tf (takes world-file pantilt paremeter into account)
+  * Supports the "old" configuration (laser+odom) as well as camera+odom, laser+camera+odom and odom-only.
+  Fixed laser transform height (previously was hardcoded at 0.15, now it takes robot height into account).
+* Introduced changes from https://github.com/rtv/Stage/issues/34 with some changes (does not require lasers to be present and works without cameras).
+
+1.7.0 (2013-06-27 18:15:07 -0700)
+---------------------------------
+- Initial move over from old repository: https://code.ros.org/svn/ros-pkg/stacks/stage
+- Catkinized
+- Stage itself is released as a third party package now
+- Had to disable velocities in the output odometry as Stage no longer implements it internally.
+- Updated rostest
+- Updated rviz configurations

src/stage_ros_mod_tf/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(stage_ros)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    geometry_msgs
+    nav_msgs
+    roscpp
+    sensor_msgs
+    std_msgs
+    std_srvs
+    tf
+)
+
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+find_package(stage REQUIRED)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${STAGE_INCLUDE_DIRS}
+)
+
+catkin_package()
+
+# Declare a cpp executable
+add_executable(stageros src/stageros.cpp)
+set(${PROJECT_NAME}_extra_libs "")
+if(UNIX AND NOT APPLE)
+  set(${PROJECT_NAME}_extra_libs dl)
+endif()
+target_link_libraries(stageros
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+  ${STAGE_LIBRARIES}
+  ${${PROJECT_NAME}_extra_libs}
+)
+if(catkin_EXPORTED_TARGETS)
+  add_dependencies(stageros ${catkin_EXPORTED_TARGETS})
+endif()
+
+## Install
+
+install(PROGRAMS scripts/upgrade-world.sh
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(TARGETS stageros
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY world
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+## Tests
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  add_rostest(test/hztest.xml)
+  add_rostest(test/intensity_test.xml)
+endif()

src/stage_ros_mod_tf/package.xml

@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<package>
+  <name>stage_ros</name>
+  <version>1.8.0</version>
+  <description>This package provides ROS specific hooks for stage</description>
+
+  <maintainer email="william@osrfoundation.org">William Woodall</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://ros.org/wiki/stage_ros</url>
+  <url type="repository">https://github.com/ros-simulation/stage_ros</url>
+  <url type="bugtracker">https://github.com/ros-simulation/stage_ros/issues</url>
+
+  <author email="gerky@osrfoundation.org">Brian Gerky</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>boost</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rostest</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>stage</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>tf</build_depend>
+
+  <run_depend>boost</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>stage</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+  <run_depend>tf</run_depend>
+</package>

src/stage_ros_mod_tf/rviz/stage.rviz

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+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 479
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        /base_footprint:
+          Value: true
+        /base_laser_link:
+          Value: true
+        /base_link:
+          Value: true
+        /odom:
+          Value: true
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        /odom:
+          /base_footprint:
+            /base_link:
+              /base_laser_link:
+                {}
+      Update Interval: 0
+      Value: 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/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Max Color: 255; 255; 255
+      Max Intensity: 1
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.01
+      Style: Flat Squares
+      Topic: /base_scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /odom
+  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: 5.68654
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.529796
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.2654
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 756
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000026dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000026d000000dc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002c0000026d000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004fc0000003efc0100000002fb0000000800540069006d00650100000000000004fc0000020b00fffffffb0000000800540069006d00650100000000000004500000000000000000000002af0000026d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1276
+  X: 60
+  Y: 22

src/stage_ros_mod_tf/scripts/upgrade-world.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+USAGE="USAGE: upgrade-world.sh in.world out.world"
+
+if [ $# != 2 ]; then
+  echo $USAGE
+  exit 1
+fi
+
+cat < $1 | sed 's/size3/size/' | sed 's/origin3/origin/' | sed 's/.*interval_real.*//' | sed 's/.*range_min.*//' | sed 's/.*center.*//' | sed 's/.*gui_movemask.*//' | sed 's/\(.*pose *\[\)\([^ ]*\) *\([^ ]*\) *\([^ ]*\) *\(\].*\)/\1 \2 \3 0 \4 \5/' > $2