Merge branch 'kinetic-devel-r2-update' into melodic-devel

README.md

@@ -1,4 +1,5 @@
 # Volta
+Version:1.0.0
 ROS packages used to to run volta with hardware
 
 * volta_base - Package contains files to connect to the robot and run the sensor driver.
@@ -10,9 +11,6 @@ ROS packages used to to run volta with hardware
 * volta_teleoperation - Control the robot using keyboard or Joystick.
 * volta_rules - Contains rules that ensures the USB peripherals are binded correctly
 
-
-### For volta to use in Gazebo simulation - https://github.com/botsync/volta_simulation
-
 ## Steps to Launch Volta :
 
 ### 1. Mapping an environment with Volta

autostart.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 rossetup=/opt/ros/kinetic/setup.bash
-rossetup2=~/catkin_volta/devel/setup.bash
+rossetup2=/home/volta2/catkin_ws/devel/setup.bash
 launcher="roslaunch volta_base volta_bringup.launch"
-pathfile=/home/volta
+pathfile=/home/volta2
 pathfile2=/lib/systemd/system
 cat <<EOF >$pathfile/volta_start.sh
 #!/bin/bash

volta_base/CMakeLists.txt

@@ -11,6 +11,6 @@ catkin_package()
 set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++11;")
 
 install(
-  DIRECTORY launch
+  DIRECTORY launch config
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )

volta_base/config/scan.yaml

@@ -0,0 +1,6 @@
+scan_filter_chain:
+- name: laser_cutoff
+  type: laser_filters/LaserScanAngularBoundsFilter
+  params:
+    lower_angle: -1.57
+    upper_angle: 1.57

volta_base/launch/sensors.launch

@@ -1,49 +1,50 @@
 <?xml version="1.0"?>
 <launch>
 
-    <arg name="intel_D435_camera" default="true"/>
-    <arg name="orbbec_camera" default="false"/>
+    <arg name="chrobotics_um7_imu" default="false"/>
+    <arg name="wit_wt901c_imu" default="true"/>
+    <arg name="intel_D435i_camera" default="false"/>
+    <arg name="orbbec_astra_pro_camera" default="false"/>
+    <arg name="hokuyo_ust10lx_lidar" default="false"/>
     <arg name="rplidar_a3" default="true"/>
-    <arg name="hokuyo_lidar" default="false"/>
-    <arg name="wit_imu" default="false"/>
-    <arg name="um7_imu" default="false"/>
 
-    <!-- IMU UM7 Driver can be obtain by running sudo apt-get install ros-kinetic-um7 -->
-    <group if="$(arg um7_imu)">
-        <node pkg="um7" type="um7_driver" name="imu_driver">
-            <param name="port" value="/dev/imu"/>
-            <param name="mag_updates" value="false"/>
-            <param name="tf_ned_to_enu" value="false"/>
-            <param name="frame_id" value="imu"/>
-            <remap from="imu" to="imu"/>
-        </node>
+    <!--Download ROS package from here - https://github.com/ros-drivers/um7-->
+    <group if="$(arg chrobotics_um7_imu)">
+      <node pkg="um7" type="um7_driver" name="imu_driver">
+        <param name="port" value="/dev/imu"/>
+        <param name="mag_updates" value="false"/>
+        <param name="tf_ned_to_enu" value="false"/>
+        <param name="frame_id" value="imu"/>
+        <remap from="imu" to="imu"/>
+      </node>
     </group>
 
-    <!-- Wit IMU Driver -->
-    <group if="$(arg wit_imu)">
-        <node pkg="wit_imu_driver" type="wit_imu_driver" name="wit_imu_driver">
-            <param name="device" value="/dev/imu"/>
-            <param name="frame_id" value="imu"/>
-            <remap from="data_raw" to="imu/data"/>
-        </node>
+    <!-- Download ROS package from here - https://github.com/botsync/wit_imu_driver-->
+    <group if="$(arg wit_wt901c_imu)">
+      <node pkg="wit_imu_driver" type="wit_imu_driver" name="wit_imu_driver">
+        <param name="device" value="/dev/imu"/>
+        <param name="frame_id" value="imu"/>
+        <param name="baud" value="9600"/>
+        <remap from="data_raw" to="imu/data"/>
+      </node>
     </group>
 
-    <!-- Include Intel D435 Driver -->
-    <group if="$(arg intel_D435_camera)">
-        <include file="$(find realsense2_camera)/launch/rs_camera.launch">
-            <arg name="filters" value="colorizer,pointcloud,disparity,spatial,temporal,decimation"/>
-            <arg name="camera"  value="camera"/>
-            <arg name="tf_prefix" value="camera"/>
-        </include>
+    <!--Download ROS package from here - https://github.com/IntelRealSense/realsense-ros-->
+    <group if="$(arg intel_D435i_camera)">
+      <include file="$(find realsense2_camera)/launch/rs_camera.launch">
+        <arg name="filters" value="colorizer,pointcloud,disparity,spatial,temporal,decimation"/>
+        <arg name="camera"  value="camera"/>
+        <arg name="tf_prefix" value="camera"/>
+      </include>
     </group>
 
-    <!-- Orbbec Camera Driver can be found at https://github.com/orbbec/ros_astra_camera -->
-    <group if="$(arg orbbec_camera)">
+    <!-- Download ROS package from here - https://github.com/orbbec/ros_astra_camera-->
+    <group if="$(arg orbbec_astra_pro_camera)">
       <include file="$(find astra_camera)/launch/astrapro.launch"></include>
     </group>
 
-    <!-- Hokuyo Lidar Driver can be found at https://github.com/ros-drivers/urg_node.git -->
-    <group if="$(arg hokuyo_lidar)">
+    <!-- Download ROS package from here - https://github.com/ros-drivers/urg_node-->
+    <group if="$(arg hokuyo_ust10lx_lidar)">
       <node name="lidar1" pkg="urg_node" type="urg_node" output="screen" respawn="true">
         <param name="ip_address" value="192.168.1.11"/>
         <param name="serial_port" value=""/>
@@ -52,23 +53,23 @@
         <param name="calibrate_time" value="true"/>
         <param name="publish_intensity" value="true"/>
         <param name="publish_multiecho" value="false"/>
-        <param name="angle_min" value="-0.5890486"/>
-        <param name="angle_max" value="0.5890486"/>
+        <param name="angle_min" value="-1.57079"/>
+        <param name="angle_max" value="1.57079"/>
         <remap from="scan" to="scan_filtered"/>
       </node>
     </group>
 
-    <!-- Include RPLidar A3 Driver -->
+    <!-- Download ROS package from here - https://github.com/Slamtec/rplidar_ros-->
     <group if="$(arg rplidar_a3)">
-        <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
-          <param name="serial_port"         type="string" value="/dev/rplidar"/>
-          <param name="serial_baudrate"     type="int"    value="256000"/><!--A3 -->
-          <param name="frame_id"            type="string" value="lidar"/>
-          <param name="inverted"            type="bool"   value="false"/>
-          <param name="angle_compensate"    type="bool"   value="true"/>
-          <param name="scan_mode"           type="string" value="Sensitivity"/>
-          <remap from="scan" to="scan_filtered"/>
-        </node>
+      <node name="rplidarNode"          pkg="rplidar_ros"  type="rplidarNode" output="screen">
+        <param name="serial_port"         type="string" value="/dev/rplidar"/>
+        <param name="serial_baudrate"     type="int"    value="256000"/>
+        <param name="frame_id"            type="string" value="lidar"/>
+        <param name="inverted"            type="bool"   value="false"/>
+        <param name="angle_compensate"    type="bool"   value="true"/>
+        <param name="scan_mode"           type="string" value="Sensitivity"/>
+        <remap from="scan" to="scan_filtered"/>
+      </node>
     </group>
 
 </launch>

volta_base/package.xml

@@ -8,7 +8,8 @@
   <author email="[email protected]">Nikhil Venkatesh</author>
   <author email="[email protected]">Mahendra L Seervi</author>
 
-  <maintainer email="[email protected]">Mahendra L Seervi</maintainer>
+  <maintainer email="[email protected]">Nikhil Venkatesh</maintainer>
+  <maintainer email="[email protected]">Toship</maintainer>
 
   <license>BSD-3-Clause</license>
   <buildtool_depend>catkin</buildtool_depend>

volta_control/CMakeLists.txt

@@ -7,3 +7,15 @@ find_package(catkin REQUIRED COMPONENTS
   joint_state_controller
   twist_mux
 )
+
+catkin_package(
+)
+
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+)
+
+install(
+        DIRECTORY launch config
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

volta_control/config/control.yaml

@@ -9,12 +9,11 @@ volta_base_controller:
   publish_rate: 10
   pose_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
   twist_covariance_diagonal: [0.001, 0.001, 0.001, 0.001, 0.001, 0.03]
-  cmd_vel_timeout: 1000.0
+  cmd_vel_timeout: 10.0
   base_frame_id: base_link
   enable_odom_tf: false
   estimate_velocity_from_position: false
-  # Wheel_separation changes with respect to different robots 
-  wheel_separation_multiplier: 0.88
+  wheel_separation_multiplier: 1.0
   wheel_radius_multiplier    : 1.0
   linear:
     x:

volta_control/config/twist_mux.yaml

@@ -14,9 +14,14 @@ topics:
   topic   : keyboard/cmd_vel
   timeout : 0.5
   priority: 80
+-
+  name    : user
+  topic   : user/cmd_vel
+  timeout : 0.5
+  priority: 70
 locks:
 -
   name    : estop
   topic   : e_stop_status
   timeout : 0.0
-  priority: 100
+  priority: 100

volta_control/launch/control.launch

@@ -1,7 +1,8 @@
 <?xml version="1.0"?>
 <launch>
-	<rosparam command="load" file="$(find volta_control)/config/control.yaml" />
-	<node name="base_controller_spawner" pkg="controller_manager" type="spawner"
+		<rosparam command="load" file="$(find volta_control)/config/control.yaml" />
+
+		<node name="base_controller_spawner" pkg="controller_manager" type="spawner"
         args="volta_joint_publisher volta_base_controller">
     </node>
 

volta_control/package.xml

@@ -7,7 +7,8 @@
   <author email="[email protected]">Nikhil Venkatesh</author>
   <author email="[email protected]">Mahendra L Seervi</author>
 
-  <maintainer email="[email protected]">Mahendra L Seervi</maintainer>
+  <maintainer email="[email protected]">Nikhil Venkatesh</maintainer>
+  <maintainer email="[email protected]">Toship</maintainer>
 
   <license>BSD-3-Clause</license>
 

volta_description/CMakeLists.txt

@@ -5,7 +5,6 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   std_msgs
-  hector_gazebo_plugins
 )
 
 catkin_package(