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Add Physical Test Launch Files #40

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Add Physical Test Launch Files #40

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39c84b7
Package to hold all static tf broadcasters.
zghera Apr 3, 2022
8bd1f67
Initial implementation of physical rosbag launch file.
zghera Apr 3, 2022
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205 changes: 205 additions & 0 deletions src/physical/CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(physical)

## 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 COMPONENTS
navigation_stack
slam_mode_goal
)

## 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 physical
# 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}/physical.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/physical_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
# catkin_install_python(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_physical.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)
77 changes: 77 additions & 0 deletions src/physical/launch/kart_rosbag.launch
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<?xml version="1.0"?>
<!-- Top-level launch file for testing with recorded ZED (zed_host pkg) bag files. -->

<launch>
<!-- Force nodes to use /clock as time source as opposed to "wall-clock".

This is important so that when using this launch file with sensor data playing
back through a rosbag (with the '- -clock' flag set on rosbag play command)
to ensure the system time corresponds to the timestamps of the recorded
sensor data. Learn more about the ROS Clock API here (http://wiki.ros.org/Clock)
-->
<param name="/use_sim_time" value="true"/>

<!-- TF SETUP -->
<!-- Include the launch file that configures all static transforms for the kart -->
<include file="$(find static_tf_config)/launch/static_transforms_config.launch" />

<!-- SENSOR DRIVER INITIALIZATION -->
<!-- Calls the launch file for our LiDAR (VLP-16) to start outputting the 3D
pointcloud data on the associated topics (we care about /velodyne_points) -->
<include file="$(find velodyne_pointcloud)/launch/VLP16_points.launch" />

<!-- LASERSCAN SLICING -->
<!-- This node is responsible for taking the 3D point cloud published by
Velodyne (/velodyne_points) and publishing messages to a new topic
(/top/scan) that contain one 2D slice of the 3D pointcloud. -->
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node"
name="pointcloud_to_laserscan">
<!-- Subscribe to topic /velodyne_points for pointcloud input. -->
<remap from="cloud_in" to="/velodyne_points" />
<!-- Publish to topic top/scan rather than default /scan so that we can
distinguish from the 2D laserscan published by this node vs the default
scan topic published by the velodyne topics. Always use top/scan because
we can modify the parameters to create the 2D scan where the Velodyne
default /scan is fixed. -->
<remap from="scan" to="/top/scan" />
<rosparam file="$(find kart_2dnav)/params/pointcloud_to_laserscan_params.yaml"
command="load" />
</node>

<!-- GOAL SETTING -->
<!-- Run the goal setting algorithm to navigate without a preliminary map (lap 1).
This node takes 2D laser scans (/top/scan) then constructs a goal message and
creates an ActionClient to sends the goal as ROS actions to SimpleActionServer
on move_base.
-->
<node pkg="slam_mode_goal" type="slam_mode_goal.py" name="slam_mode_goal"
output="screen" />

<!-- SLAM: LOCALIZATION & MAPPING -->
<!-- Run the SLAM package, Rtabmap that takes in the color image from the zed node
(/zed/zed_node/left/image_rect_color topic) and outputs various topics
related to localization (rtabmap/??? topic) and mapping (rtabmap/map topic).
-->
<include file="$(find rtabmap_manager)/launch/rtabmap_manager.launch" />

<!-- ROS NAVIGATION STACK -->
<!-- Configure and run move_base to set up the ROS Navigation Stack.
More details on inputs/outputs can be found in move_base.launch -->
<include file="$(find navigation_stack)/launch/move_base.launch" />

<!-- MICROCONTROLLER COMM -->
<!-- Run the communication script to enable and start communicating with the
microcontroller. This node subscribed to the /cmd_vel topic published by
/move_base and then then sends packets containing the velocity and steering
angle to the MCU over a serial connection. -->
<!-- TODO(Issue 7): Migrate from AMP_v1. -->
<!-- <node pkg="ti_comm" type="ti_comm_node" name="ti_comm_node" output="screen" /> -->

<!-- Launch rviz with the configuration file in order to visualize incoming data

Note: This should only be set when running the system with simulated
sensor data (rosbags).
-->
<node name="rviz" pkg="rviz" type="rviz"
args="-d $(find kart_2dnav)/params/kart_rviz.rviz" />
</launch>
61 changes: 61 additions & 0 deletions src/physical/package.xml
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<?xml version="1.0"?>
<package format="2">
<name>physical</name>
<version>0.0.0</version>
<description>The physical package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
<maintainer email="[email protected]">z</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/physical</url> -->


<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="[email protected]">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>

<depend>navigation_stack</depend>
<depend>slam_mode_goal</depend>

<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->

</export>
</package>
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