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navigation: initial commit 

This commit includes all navigation packages except robot_pose_ekf.
The robot_pose_ekf requires bfl, which we could not provide yet.
This commit is contained in:
Lukas Bulwahn 2013-10-14 09:54:42 +02:00
parent ecdd9194cc
commit c899084193
21 changed files with 392 additions and 0 deletions
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8
recipes-ros/navigation/amcl_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "amcl is a probabilistic localization system for a robot moving in 2D."
SECTION = "devel"
LICENSE = "LGPL"
LIC_FILES_CHKSUM = "file://package.xml;beginline=20;endline=20;md5=58d727014cda5ed405b7fb52666a1f97"
DEPENDS = "dynamic-reconfigure message-filters nav-msgs roscpp rostest std-srvs tf"
require navigation.inc

64
recipes-ros/navigation/base-local-planner/0001-check-for-CATKIN_ENABLE_TESTING.patch Normal file
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@ -0,0 +1,64 @@
From 3d0a814884fdf638f8f8f11078113c0568e120bb Mon Sep 17 00:00:00 2001
From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
Date: Sun, 13 Oct 2013 18:13:01 +0200
Subject: [PATCH] check for CATKIN_ENABLE_TESTING
---
base_local_planner/CMakeLists.txt | 30 ++++++++++++++++--------------
base_local_planner/package.xml | 2 +-
2 files changed, 17 insertions(+), 15 deletions(-)
diff --git a/base_local_planner/CMakeLists.txt b/base_local_planner/CMakeLists.txt
index a924092..6637ee7 100644
--- a/base_local_planner/CMakeLists.txt
+++ b/base_local_planner/CMakeLists.txt
@@ -125,17 +125,19 @@ install(DIRECTORY include/${PROJECT_NAME}/
PATTERN ".svn" EXCLUDE
)
-catkin_add_gtest(base_local_planner_utest
- test/gtest_main.cpp
- test/utest.cpp
- test/velocity_iterator_test.cpp
- test/footprint_helper_test.cpp
- test/trajectory_generator_test.cpp
- test/map_grid_test.cpp)
-target_link_libraries(base_local_planner_utest
- base_local_planner trajectory_planner_ros
- )
-
-
-catkin_add_gtest(line_iterator
- test/line_iterator_test.cpp)
+if(CATKIN_ENABLE_TESTING)
+ catkin_add_gtest(base_local_planner_utest
+ test/gtest_main.cpp
+ test/utest.cpp
+ test/velocity_iterator_test.cpp
+ test/footprint_helper_test.cpp
+ test/trajectory_generator_test.cpp
+ test/map_grid_test.cpp)
+ target_link_libraries(base_local_planner_utest
+ base_local_planner trajectory_planner_ros
+ )
+
+
+ catkin_add_gtest(line_iterator
+ test/line_iterator_test.cpp)
+endif()
diff --git a/base_local_planner/package.xml b/base_local_planner/package.xml
index d9f1de2..3420396 100644
--- a/base_local_planner/package.xml
+++ b/base_local_planner/package.xml
@@ -13,7 +13,7 @@
<license>BSD</license>
<url>http://wiki.ros.org/base_local_planner</url>
- <buildtool_depend>catkin</buildtool_depend>
+ <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>std_msgs</build_depend>
<build_depend>nav_msgs</build_depend>
--
1.8.1.2

12
recipes-ros/navigation/base-local-planner_1.11.4.bb Normal file
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@ -0,0 +1,12 @@
DESCRIPTION = "This package provides implementations of the Trajectory Rollout and Dynamic Window approaches to local robot navigation on a plane."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "angles costmap-2d dynamic-reconfigure geometry-msgs libeigen message-generation \
nav-core nav-msgs pcl-conversions pcl-ros pluginlib rosconsole roscpp rospy std-msgs tf \
voxel-grid visualization-msgs"
require navigation.inc
SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"

8
recipes-ros/navigation/carrot-planner_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "This planner attempts to find a legal place to put a carrot for the robot to follow."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "base-local-planner costmap-2d libeigen nav-core pluginlib roscpp tf"
require navigation.inc

10
recipes-ros/navigation/clear-costmap-recovery_1.11.4.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = "This package provides a recovery behavior for the navigation stack that \
attempts to clear space by reverting the costmaps used by the navigation stack to \
the static map outside of a given area."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "costmap-2d libeigen nav-core pluginlib roscpp tf"
require navigation.inc

13
recipes-ros/navigation/costmap-2d_1.11.4.bb Normal file
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@ -0,0 +1,13 @@
DESCRIPTION = "This package provides an implementation of a 2D costmap that takes in sensor \
data from the world, builds a 2D or 3D occupancy grid of the data (depending \
on whether a voxel based implementation is used), and inflates costs in a \
2D costmap based on the occupancy grid and a user specified inflation radius."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=18;endline=18;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "dynamic-reconfigure geometry-msgs laser-geometry map-msgs message-filters \
message-generation nav-msgs pcl-conversions pcl-ros pluginlib roscpp rostest \
sensor-msgs std-msgs tf visualization-msgs voxel-grid"
require navigation.inc

10
recipes-ros/navigation/dwa-local-planner_1.11.4.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = "This package provides an implementation of the Dynamic Window Approach to \
local robot navigation on a plane."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=19;endline=19;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "base-local-planner costmap-2d dynamic-reconfigure libeigen nav-core \
nav-msgs pluginlib pcl-conversions roscpp tf"
require navigation.inc

8
recipes-ros/navigation/fake-localization_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "A ROS node that simply forwards odometry information."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "angles roscpp rosconsole nav-msgs geometry-msgs tf message-filters rospy"
require navigation.inc

8
recipes-ros/navigation/global-planner_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "A path planner library and node."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
DEPENDS = "costmap-2d dynamic-reconfigure geometry-msgs nav-core nav-msgs navfn pluginlib roscpp tf"
require navigation.inc

85
recipes-ros/navigation/map-server/0001-check-for-CATKIN_ENABLE_TESTING.patch Normal file
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@ -0,0 +1,85 @@
From 74a2a421f3802b5bddf8be794e16af9bef4ae1fc Mon Sep 17 00:00:00 2001
From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
Date: Mon, 14 Oct 2013 08:47:46 +0200
Subject: [PATCH] check for CATKIN_ENABLE_TESTING
---
map_server/CMakeLists.txt | 39 +++++++++++++++++++++------------------
map_server/package.xml | 2 +-
2 files changed, 22 insertions(+), 19 deletions(-)
diff --git a/map_server/CMakeLists.txt b/map_server/CMakeLists.txt
index 09bef0f..3f41a21 100644
--- a/map_server/CMakeLists.txt
+++ b/map_server/CMakeLists.txt
@@ -32,6 +32,12 @@ target_link_libraries(map_server
${catkin_LIBRARIES}
)
+add_executable(map_server-map_saver src/map_saver.cpp)
+set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver)
+target_link_libraries(map_server-map_saver
+ ${catkin_LIBRARIES}
+ )
+
# copy test data to same place as tests are run
function(copy_test_data)
cmake_parse_arguments(PROJECT "" "" "FILES" ${ARGN})
@@ -40,26 +46,23 @@ function(copy_test_data)
endforeach()
endfunction()
-copy_test_data( FILES
- test/testmap.bmp
- test/testmap.png )
-catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp test/test_constants.cpp)
-target_link_libraries(${PROJECT_NAME}_utest image_loader SDL SDL_image)
-
-add_executable(rtest test/rtest.cpp test/test_constants.cpp)
-target_link_libraries( rtest
- gtest
- ${catkin_LIBRARIES}
-)
-add_dependencies(rtest nav_msgs_gencpp)
+## Tests
+if(CATKIN_ENABLE_TESTING)
+ copy_test_data( FILES
+ test/testmap.bmp
+ test/testmap.png )
+ catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp test/test_constants.cpp)
+ target_link_libraries(${PROJECT_NAME}_utest image_loader SDL SDL_image)
-add_executable(map_server-map_saver src/map_saver.cpp)
-set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver)
-target_link_libraries(map_server-map_saver
- ${catkin_LIBRARIES}
- )
+ add_executable(rtest test/rtest.cpp test/test_constants.cpp)
+ target_link_libraries( rtest
+ gtest
+ ${catkin_LIBRARIES}
+ )
+ add_dependencies(rtest nav_msgs_gencpp)
-add_rostest(test/rtest.xml)
+ add_rostest(test/rtest.xml)
+endif()
## Install executables and/or libraries
install(TARGETS map_server-map_saver map_server image_loader
diff --git a/map_server/package.xml b/map_server/package.xml
index 2b336de..811734a 100644
--- a/map_server/package.xml
+++ b/map_server/package.xml
@@ -12,7 +12,7 @@
<url>http://wiki.ros.org/map_server</url>
<license>BSD</license>
- <buildtool_depend>catkin</buildtool_depend>
+ <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rostest</build_depend>
--
1.8.1.2

10
recipes-ros/navigation/map-server_1.11.4.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = " map_server provides the map_server ROS Node, which offers map data as a ROS Service."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "libsdl-image nav-msgs roscpp rostest tf yaml-cpp"
require navigation.inc
SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"

8
recipes-ros/navigation/move-base-msgs_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "Holds the action description and relevant messages for the move_base package"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "actionlib-msgs geometry-msgs message-generation roscpp"
require navigation.inc

9
recipes-ros/navigation/move-base_1.11.4.bb Normal file
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@ -0,0 +1,9 @@
DESCRIPTION = "The move_base package provides an implementation of an action that, given a goal in the world, will attempt to reach it with a mobile base."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "actionlib costmap-2d dynamic-reconfigure geometry-msgs message-generation move-base-msgs \
nav-core nav-msgs pluginlib roscpp rospy std-msgs std-srvs tf visualization-msgs"
require navigation.inc

8
recipes-ros/navigation/move-slow-and-clear_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "move_slow_and_clear"
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "costmap-2d geometry-msgs nav-core pluginlib roscpp"
require navigation.inc

8
recipes-ros/navigation/nav-core_1.11.4.bb Normal file
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@ -0,0 +1,8 @@
DESCRIPTION = "This package provides common interfaces for navigation specific robot actions."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "costmap-2d geometry-msgs std-msgs tf"
require navigation.inc

38
recipes-ros/navigation/navfn/0001-check-for-CATKIN_ENABLE_TESTING.patch Normal file
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@ -0,0 +1,38 @@
From be3ed623e765267ad3a64088295bdb63781c535b Mon Sep 17 00:00:00 2001
From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
Date: Sun, 13 Oct 2013 19:52:14 +0200
Subject: [PATCH] check for CATKIN_ENABLE_TESTING
---
navfn/CMakeLists.txt | 4 +++-
navfn/package.xml | 2 +-
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/navfn/CMakeLists.txt b/navfn/CMakeLists.txt
index 005d7eb..2a29409 100644
--- a/navfn/CMakeLists.txt
+++ b/navfn/CMakeLists.txt
@@ -121,4 +121,6 @@ endif (NAVFN_HAVE_FLTK AND NAVFN_HAVE_NETPBM AND NOT APPLE)
# message (STATUS "pgm.h not found (optional)")
# endif (NAVFN_HAVE_NETPBM)
-add_subdirectory(test)
+if(CATKIN_ENABLE_TESTING)
+ add_subdirectory(test)
+endif()
diff --git a/navfn/package.xml b/navfn/package.xml
index bf44445..99e6589 100644
--- a/navfn/package.xml
+++ b/navfn/package.xml
@@ -13,7 +13,7 @@
<license>BSD</license>
<url>http://wiki.ros.org/navfn</url>
- <buildtool_depend>catkin</buildtool_depend>
+ <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>costmap_2d</build_depend>
<build_depend>geometry_msgs</build_depend>
--
1.8.1.2

11
recipes-ros/navigation/navfn_1.11.4.bb Normal file
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@ -0,0 +1,11 @@
DESCRIPTION = "navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "costmap-2d geometry-msgs nav-core nav-msgs pcl-conversions pcl-ros \
pluginlib rosconsole roscpp tf visualization-msgs"
require navigation.inc
SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"

9
recipes-ros/navigation/navigation.inc Normal file
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@ -0,0 +1,9 @@
SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
SRC_URI[md5sum] = "cddadf97a28ccffe93c0d662639801d5"
SRC_URI[sha256sum] = "402f1800577d22a168882aa99754d99cfd0a54e9a02a1ec804c351cd327d7540"
S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
inherit catkin
ROS_SPN = "navigation"

9
recipes-ros/navigation/rotate-recovery_1.11.4.bb Normal file
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@ -0,0 +1,9 @@
DESCRIPTION = "This package provides a recovery behavior for the navigation stack that attempts \
to clear space by performing a 360 degree rotation of the robot."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "base-local-planner costmap-2d libeigen nav-core pluginlib roscpp tf"
require navigation.inc

46
recipes-ros/navigation/voxel-grid/0001-check-for-CATKIN_ENABLE_TESTING.patch Normal file
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@ -0,0 +1,46 @@
From 72fbc995dd302f356b891fb93e9d0cdc6416cdb8 Mon Sep 17 00:00:00 2001
From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
Date: Sun, 13 Oct 2013 14:11:47 +0200
Subject: [PATCH] check for CATKIN_ENABLE_TESTING
---
voxel_grid/CMakeLists.txt | 12 +++++++-----
voxel_grid/package.xml | 2 +-
2 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/voxel_grid/CMakeLists.txt b/voxel_grid/CMakeLists.txt
index d8e0f54..767dd2e 100644
--- a/voxel_grid/CMakeLists.txt
+++ b/voxel_grid/CMakeLists.txt
@@ -35,8 +35,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
PATTERN ".svn" EXCLUDE
)
-catkin_add_gtest(voxel_grid_tests test/voxel_grid_tests.cpp)
-target_link_libraries(voxel_grid_tests
- voxel_grid
- ${catkin_LIBRARIES}
- )
+if(CATKIN_ENABLE_TESTING)
+ catkin_add_gtest(voxel_grid_tests test/voxel_grid_tests.cpp)
+ target_link_libraries(voxel_grid_tests
+ voxel_grid
+ ${catkin_LIBRARIES}
+ )
+endif()
diff --git a/voxel_grid/package.xml b/voxel_grid/package.xml
index 8a4ec86..459bcb3 100644
--- a/voxel_grid/package.xml
+++ b/voxel_grid/package.xml
@@ -12,7 +12,7 @@
<license>BSD</license>
<url>http://wiki.ros.org/voxel_grid</url>
- <buildtool_depend>catkin</buildtool_depend>
+ <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
--
1.8.1.2

10
recipes-ros/navigation/voxel-grid_1.11.4.bb Normal file
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@ -0,0 +1,10 @@
DESCRIPTION = "voxel_grid provides an implementation of an efficient 3D voxel grid."
SECTION = "devel"
LICENSE = "BSD"
LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=01c2bc31767ccb3a68e12f02612b2a97"
DEPENDS = "roscpp"
require navigation.inc
SRC_URI += "file://0001-check-for-CATKIN_ENABLE_TESTING.patch;striplevel=2"