Merge pull request #6 from i-am-neet/master

v1.3.0

.gitignore

@@ -1,2 +1,7 @@
 *.swp
 node_modules/
+
+*.tfw
+*.tif
+timda_configs/maps/*.pgm
+timda_configs/maps/*.yaml

timda_bringup/launch/amcl.launch

@@ -0,0 +1,41 @@
+<?xml version="1.0"?>
+
+<launch>
+
+  <node pkg="amcl" type="amcl" name="amcl" output="screen">
+    <remap from="scan" to="scan_multi"/>
+
+    <param name="odom_model_type" value="omni"/>
+    <param name="odom_alpha5" value="0.1"/>
+    <param name="transform_tolerance" value="0.2" />
+    <param name="gui_publish_rate" value="1.0"/>
+    <param name="laser_max_beams" value="30"/>
+    <param name="min_particles" value="500"/>
+    <param name="max_particles" value="5000"/>
+    <param name="kld_err" value="0.05"/>
+    <param name="kld_z" value="0.99"/>
+    <param name="odom_alpha1" value="0.2"/>
+    <param name="odom_alpha2" value="0.2"/>
+    <param name="odom_alpha3" value="0.8"/>
+    <param name="odom_alpha4" value="0.2"/>
+    <param name="laser_z_hit" value="0.5"/>
+    <param name="laser_z_short" value="0.05"/>
+    <param name="laser_z_max" value="0.05"/>
+    <param name="laser_z_rand" value="0.5"/>
+    <param name="laser_sigma_hit" value="0.2"/>
+    <param name="laser_lambda_short" value="0.1"/>
+    <param name="laser_lambda_short" value="0.1"/>
+    <param name="laser_model_type" value="likelihood_field"/>
+    <param name="laser_likelihood_max_dist" value="2.0"/>
+    <param name="update_min_d" value="0.2"/>
+    <param name="update_min_a" value="0.5"/>
+    <param name="global_frame_id" value="/map"/>
+    <param name="base_frame_id" value="/base_link"/>
+    <param name="odom_frame_id" value="odom"/>
+    <param name="resample_interval" value="1"/>
+    <param name="transform_tolerance" value="0.1"/>
+    <param name="recovery_alpha_slow" value="0.0"/>
+    <param name="recovery_alpha_fast" value="0.0"/>
+  </node>
+
+</launch>

timda_bringup/launch/hector_slam.launch

@@ -56,20 +56,21 @@
     <param name="tf_map_scanmatch_transform_frame_name" value="$(arg tf_map_scanmatch_transform_frame_name)" />
   </node>
 
-  <!-- <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
+  <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
     <param name="target_frame_name" type="string" value="/map" />
     <param name="source_frame_name" type="string" value="/base_link" />
     <param name="trajectory_update_rate" type="double" value="4" />
     <param name="trajectory_publish_rate" type="double" value="0.25" />
-  </node> -->
+  </node>
 
-  <!-- <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
+  <node pkg="hector_geotiff" type="geotiff_node" name="hector_geotiff_node" output="screen" launch-prefix="nice -n 15">
     <remap from="map" to="/dynamic_map" />
-    <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" />
+    <!-- <param name="map_file_path" type="string" value="$(find hector_geotiff)/maps" /> -->
+    <param name="map_file_path" type="string" value="$(find timda_configs)/maps" />
     <param name="map_file_base_name" type="string" value="hector_slam_map" />
-    <param name="geotiff_save_period" type="double" value="10" />
+    <param name="geotiff_save_period" type="double" value="0.0" />
     <param name="draw_background_checkerboard" type="bool" value="true" />
     <param name="draw_free_space_grid" type="bool" value="true" />
-  </node> -->
+  </node>
 
 </launch>

timda_configs/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(timda_configs)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES timda_configs
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/timda_configs.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/timda_configs_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_timda_configs.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)

timda_configs/package.xml

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>timda_configs</name>
+  <version>0.0.0</version>
+  <description>The timda_configs package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="bionicwheel@todo.todo">bionicwheel</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/timda_configs</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

webserver/pages/index.html

@@ -208,7 +208,7 @@
                 cmdVel.publish(twist);
             }else if (Joy3.GetPressed() ==2) {
                 // console.log("Rotation");
-                var maxPowerLimit = 20;
+                var maxPowerLimit = 50;
                 var minPowerLimit = 0;
                 var powerR = Math.sqrt(Math.pow(Joy3.GetX(), 2) + Math.pow(Joy3.GetY(), 2));
                 var percent = (powerR - 0) / (100 - 0);
@@ -217,7 +217,7 @@
                 if (power < minPowerLimit) {power=minPowerLimit;}
                 twist.linear.x = 0.0;
                 twist.linear.y = 0.0;
-                twist.angular.z = Math.sign(Joy3.GetAng()) * power.toFixed();
+                twist.angular.z = Number(Math.sign(Joy3.GetAng()) * power.toFixed()) / 100 * $('#powerRange').val();
                 cmdVel.publish(twist);
             }else {
                 twist.linear.x = 0.0;