Noetic devel

Code/chapter03/example_rviz_marker/CMakeLists.txt

@@ -201,20 +201,3 @@ include_directories(${EIGEN3_INCLUDE_DIR})
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
 
-# add_executable(example_rviz_marker src/example_rviz_marker.cpp)
-# target_link_libraries(example_rviz_marker ${catkin_LIBRARIES})
-
-# add_executable(example_rviz_line_markers src/example_rviz_line_markers.cpp)
-# target_link_libraries(example_rviz_line_markers ${catkin_LIBRARIES})
-
-# add_executable(triad_display src/triad_display.cpp)
-# target_link_libraries(triad_display ${catkin_LIBRARIES})
-
-# add_executable(lines_display src/lines_display.cpp)
-# target_link_libraries(lines_display ${catkin_LIBRARIES})
-
-# add_executable(triad_display_test_node src/triad_display_test_node.cpp)
-# target_link_libraries(triad_display_test_node ${catkin_LIBRARIES})
-
-# add_executable(linesegs_display_test_node src/linesegs_display_test_node.cpp)
-# target_link_libraries(linesegs_display_test_node ${catkin_LIBRARIES})

Code/chapter06/Readme.md

@@ -1,3 +1,5 @@
+sudo apt upgrade
+
 Install this pkgs <br>
 ****************** <br>
 sudo apt-get install ros-kinetic-kobuki-gazebo-plugins <br>

Code/chapter06/chefbot_bringup/param/global_costmap_params.yaml

@@ -1,6 +1,6 @@
 global_costmap:
-   global_frame: /map
-   robot_base_frame: /base_footprint
+   global_frame: map
+   robot_base_frame: base_footprint
    update_frequency: 1.0
    publish_frequency: 0.5
    static_map: true

Code/chapter06/chefbot_bringup/param/local_costmap_params.yaml

@@ -1,6 +1,6 @@
 local_costmap:
    global_frame: odom
-   robot_base_frame: /base_footprint
+   robot_base_frame: base_footprint
    update_frequency: 5.0
    publish_frequency: 2.0
    static_map: false

Code/chapter06/chefbot_gazebo/launch/amcl_demo.launch

@@ -1,8 +1,8 @@
 <launch>
   <!-- Map server -->
-  <arg name="map_file" default="$(find chefbot_gazebo)/maps/playground.yaml"/>
+<!--   <arg name="map_file" default="$(find chefbot_gazebo)/maps/playground.yaml"/>
 
-  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
+  <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" /> -->
 
   <!-- Localization -->
   <arg name="initial_pose_x" default="0.0"/>

Code/chapter06/chefbot_gazebo/launch/chefbot_hotel_world.launch

@@ -1,57 +1,36 @@
 <launch>
+  <arg name="gui"        default="true"/>
+  <!-- <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/> -->
 
-
-  <arg name="base"      value="$(optenv CHEFBOT_BASE chefbot_base)"/> 
-  <arg name="stacks"    value="$(optenv CHEFBOT_STACKS circles)"/>  <!-- circles --> 
-  <arg name="3d_sensor" value="$(optenv CHEFBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro --> 
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
+  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
+  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
+  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
+  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="use_sim_time" value="true"/>
     <arg name="debug" value="false"/>
      <arg name="world_name" value="$(find chefbot_gazebo)/worlds/complete_hotel.sdf"/>
-
   </include>
 
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
-
-  <include file="$(find chefbot_gazebo)/launch/includes/$(arg base).launch.xml">
+  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
     <arg name="base" value="$(arg base)"/>
     <arg name="stacks" value="$(arg stacks)"/>
     <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
   </include>
-
 
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="30.0" />
   </node>
 
-
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
-
   <!-- Fake laser -->
   <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
         args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
     <param name="scan_height" value="10"/>
-    <param name="output_frame_id" value="/camera_depth_frame"/>
+    <param name="output_frame_id" value="camera_depth_frame"/>
     <param name="range_min" value="0.45"/>
     <remap from="image" to="/camera/depth/image_raw"/>
     <remap from="scan" to="/scan"/>
   </node>
-
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
 </launch>

Code/chapter06/chefbot_gazebo/launch/chefbot_playground.launch

@@ -1,58 +1,36 @@
 <launch>
+  <arg name="gui"        default="true"/>
+  <!-- <arg name="world_file" default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/> -->
 
-
-  <arg name="base"      value="$(optenv CHEFBOT_BASE chefbot_base)"/> 
-  <arg name="stacks"    value="$(optenv CHEFBOT_STACKS circles)"/>  <!-- circles --> 
-  <arg name="3d_sensor" value="$(optenv CHEFBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro --> 
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
+  <arg name="base"       value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
+  <arg name="battery"    value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
+  <arg name="stacks"     value="$(optenv TURTLEBOT_STACKS hexagons)"/>  <!-- circles, hexagons -->
+  <arg name="3d_sensor"  value="$(optenv TURTLEBOT_3D_SENSOR kinect)"/>  <!-- kinect, asus_xtion_pro -->
 
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="use_sim_time" value="true"/>
     <arg name="debug" value="false"/>
     <arg name="world_name" value="$(find chefbot_gazebo)/worlds/playground.world"/> 
   </include>
 
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
-
-
-  <include file="$(find chefbot_gazebo)/launch/includes/$(arg base).launch.xml">
+  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
     <arg name="base" value="$(arg base)"/>
     <arg name="stacks" value="$(arg stacks)"/>
     <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
   </include>
-
-
-
 
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
     <param name="publish_frequency" type="double" value="30.0" />
   </node>
 
-
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
-
   <!-- Fake laser -->
   <node pkg="nodelet" type="nodelet" name="laserscan_nodelet_manager" args="manager"/>
   <node pkg="nodelet" type="nodelet" name="depthimage_to_laserscan"
         args="load depthimage_to_laserscan/DepthImageToLaserScanNodelet laserscan_nodelet_manager">
     <param name="scan_height" value="10"/>
-    <param name="output_frame_id" value="/camera_depth_frame"/>
+    <param name="output_frame_id" value="camera_depth_frame"/>
     <param name="range_min" value="0.45"/>
     <remap from="image" to="/camera/depth/image_raw"/>
     <remap from="scan" to="/scan"/>
   </node>
-
-
-
-<!-- //////////////////////////////////////////////////////////////////////////////////////////////// -->
-
 </launch>

Code/chapter06/turtlebot_gazebo/.cproject

@@ -0,0 +1,53 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?>
+
+<cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="0.1155920974">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1155920974" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration buildProperties="" description="" id="0.1155920974" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
+					<folderInfo id="0.1155920974." name="/" resourcePath="">
+						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1370838257" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
+							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1370838257.1947833174" name=""/>
+							<builder id="org.eclipse.cdt.build.core.settings.default.builder.986747662" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.88371408" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1052729546" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1456068118" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.665107775" name="UPC" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.895901008" languageId="org.eclipse.cdt.core.parser.upc.upc" languageName="UPC" sourceContentType="org.eclipse.cdt.core.parser.upc.upcSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.1454360599" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.78997331" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+							<tool id="org.eclipse.cdt.build.core.settings.holder.364380332" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
+								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.118197584" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="turtlebot_gazebo.null.2073026945" name="turtlebot_gazebo"/>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="0.1155920974">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+</cproject>

Code/chapter06/turtlebot_gazebo/.project

@@ -0,0 +1,79 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>turtlebot_gazebo</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+				<dictionary>
+					<key>?name?</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.append_environment</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildArguments</key>
+					<value></value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.buildCommand</key>
+					<value>make</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+					<value>clean</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.contents</key>
+					<value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+					<value>false</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.enableFullBuild</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+					<value>all</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.stopOnError</key>
+					<value>true</value>
+				</dictionary>
+				<dictionary>
+					<key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+					<value>true</value>
+				</dictionary>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+</projectDescription>