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add final project task1
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‎ROS_Core/src/Labs/FinalProject/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0.2)
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project(final_project)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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dynamic_reconfigure
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rospy
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std_msgs
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nav_msgs
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racecar_msgs
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racecar_routing
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)
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# Uncomment this if the package has a setup.py. This macro ensures
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# modules and global scripts declared therein get installed
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# See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options()
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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CATKIN_DEPENDS
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rospy
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std_msgs
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racecar_msgs
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nav_msgs
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dynamic_reconfigure
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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install(PROGRAMS
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# scripts/task2_world_node.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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‎ROS_Core/src/Labs/FinalProject/launch/task1_simulation.launch‎

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<launch>
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<!-- This fix the library linkage issue in RoboStack -->
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<env name="LD_PRELOAD" value="$(env CONDA_PREFIX)/lib/libyaml-cpp.so" />
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<arg name="output" default="screen" doc="display output to screen or log file"/>
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<arg name="odom_topic" default="/Simulation/Pose" doc="ROS topic for the pose"/>
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<arg name="control_topic" default="/Control" doc="ROS topic for control input"/>
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<arg name="lane_change_cost" default="1" doc="cost of lane change"/>
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<arg name="pub_rate" default="30" doc="rate at which to publish the pose"/>
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<arg name="init_x" default="3" doc="initial x position"/>
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<arg name="init_y" default="0.15" doc="initial y position"/>
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<arg name="init_yaw" default="0" doc="initial z position"/>
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<arg name="num_dyn_obs" default="0" doc="number of dynamic obsects"/>
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<arg name="num_static_obs" default="20" doc="number of static obsects"/>
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<arg name="static_obs_size" default="0.2" doc="type of static obsects"/>
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<arg name="static_obs_topic" default="/Obstacles/Static" doc="ROS topic for static obstacles"/>
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<arg name="dyn_obs_topic" default="/Obstacles/Dynamic" doc="ROS topic for dynamic obstacles"/>
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<rosparam file="$(find final_project)/task1.yaml" command="load" />
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<node pkg="racecar_interface" type="simulation_node.py" name="simulation_node" output="$(arg output)">
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<param name="odom_topic" value="$(arg odom_topic)" />
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<param name="control_topic" value="$(arg control_topic)" />
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<param name="pub_rate" value="$(arg pub_rate)" />
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<param name="init_x" value="$(arg init_x)" />
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<param name="init_y" value="$(arg init_y)" />
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<param name="init_yaw" value="$(arg init_yaw)" />
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</node>
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<node pkg="racecar_interface" type="traffic_simulation_node.py" name="traffic_simulation_node" output="$(arg output)">
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<param name="map_file" value="$(find racecar_routing)/cfg/track.pkl" />
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<param name="num_dyn_obs" value="$(arg num_dyn_obs)" />
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<param name="num_static_obs" value="$(arg num_static_obs)" />
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<param name="static_obs_size" value="$(arg static_obs_size)" />
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<param name="static_obs_topic" value="$(arg static_obs_topic)" />
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<param name="dyn_obs_topic" value="$(arg dyn_obs_topic)" />
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<param name="pub_rate" value="$(arg pub_rate)" />
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</node>
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<node pkg="racecar_interface" type="visualization_node.py" name="visualization_node" output="$(arg output)">
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<param name="odom_topic" value="$(arg odom_topic)" />
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<param name="control_topic" value="$(arg control_topic)"/>
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</node>
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<include file="$(find racecar_routing)/launch/visualize_map.launch">
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<arg name="output" value="$(arg output)"/>
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</include>
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<include file="$(find racecar_routing)/launch/routing.launch">
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<arg name="output" value="$(arg output)"/>
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<arg name="odom_topic" value="$(arg odom_topic)"/>
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<arg name="lane_change_cost" value="$(arg lane_change_cost)"/>
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<arg name="click_goal" value="false"/>
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</include>
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<node type="rviz" name="rviz" pkg="rviz"
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args="-d $(find racecar_interface)/rviz/simulation.rviz" />
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<node type="rqt_gui" name="rqt_gui" pkg="rqt_gui"
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args="--perspective-file $(find racecar_interface)/rviz/rqt_sim.perspective"/>
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</launch>

‎ROS_Core/src/Labs/FinalProject/package.xml‎

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<?xml version="1.0"?>
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<package format="2">
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<name>final_project</name>
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<version>0.1.0</version>
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<description>The final_project package</description>
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<maintainer email="[email protected]">Zixu Zhang</maintainer>
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<license>BSD</license>
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<author >Zixu Zhang</author>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>rospy</depend>
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<depend>racecar_routing</depend>
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<depend>std_msgs</depend>
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<depend>racecar_msgs</depend>
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<depend>dynamic_reconfigure</depend>
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<depend>nav_msgs</depend>
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</package>

‎ROS_Core/src/Labs/FinalProject/setup.py‎

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from distutils.core import setup
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from catkin_pkg.python_setup import generate_distutils_setup
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d = generate_distutils_setup(
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packages=['task2_world'],
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package_dir={'': 'scripts'},
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)
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setup(**d)

‎ROS_Core/src/Labs/FinalProject/task1.yaml‎

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goal_1: [3.15, 0.15]
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goal_2: [3.15, 0.47]
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goal_3: [5.9, 3.5]
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goal_4: [5.6, 3.5]
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goal_5: [0.15, 3.5]
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goal_6: [0.45, 3.5]
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goal_7: [3, 1.1]
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goal_8: [3, 0.8]
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goal_9: [3, 2.2]
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goal_10: [0.75,2.1]
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goal_11: [0.75,4.3]
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goal_12: [4.6,4.6]
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goal_order: [1, 3, 9, 8, 10, 11, 12, 6, 2, 4, 9, 7, 9, 12, 5, 1]
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static_obs_location: [
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[0.15,4.6],
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[0.55, 5.5],
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[0.2, 1.5],
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[0.85,0.85],
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[1.6, 0.15],
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[1.8, 0.15],
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[2.5, 0.45],
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[4.0, 0.15],
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[4.2, 0.15],
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[4.4, 0.15],
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[5.2, 0.6],
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[5.9, 1.3],
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[5.6, 2],
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[5.9, 2.7],
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[5.9, 4.1],
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[5.9, 4.3],
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[5.6, 5.0],
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[5.5, 5.2],
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[1.5, 0.83],
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[1.16, 1.63]
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]

‎ROS_Core/src/Utility/Interface‎

‎ROS_Core/src/Utility/Routing‎

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