aliy98 · aliy98 · Mar 27, 2022 · Mar 27, 2022 · Mar 27, 2022 · Mar 27, 2022
diff --git a/Makefile b/Makefile
@@ -0,0 +1,20 @@
+# Minimal makefile for Sphinx documentation
+#
+
+# You can set these variables from the command line, and also
+# from the environment for the first two.
+SPHINXOPTS    ?=
+SPHINXBUILD   ?= sphinx-build
+SOURCEDIR     = .
+BUILDDIR      = _build
+
+# Put it first so that "make" without argument is like "make help".
+help:
+	@$(SPHINXBUILD) -M help "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
+
+.PHONY: help Makefile
+
+# Catch-all target: route all unknown targets to Sphinx using the new
+# "make mode" option.  $(O) is meant as a shortcut for $(SPHINXOPTS).
+%: Makefile
+	@$(SPHINXBUILD) -M $@ "$(SOURCEDIR)" "$(BUILDDIR)" $(SPHINXOPTS) $(O)
diff --git a/README.md b/README.md
@@ -1,26 +1,48 @@
 # ros_gmapping_movebase
 This ROS package provides three behaviors for controlling  a simulated mobile robot using gmapping and movebase rospackages.
+You can get to know more about the detatils of the source code using the [documentation](https://aliy98.github.io/ros-gmapping-movebase/) provided for this rospackage.
+
 ## Installing and runnning 
 Here is the instruction for using the package:
 ```bashscript
 $ mkdir -p catkin_ws/src
+```
+```bashscript
 $ cd catkin_ws/src
-$ git clone https://github.com/aliy98/ros_gmapping_movebase
+```
+```bashscript
+$ git clone -b documentation https://github.com/aliy98/ros_gmapping_movebase
+```
+```bashscript
 $ cd ..
+```
+```bashscript
 $ source /opt/ros/<distro>/setup.bash
+```
+```bashscript
 $ catkin_make
+```
+```bashscript
 $ source devel/setup.bash
+```
+```bashscript
 $ sudo apt install konsole
+```
+```bashscript
 $ roslaunch final_assignment simulation_gmapping.launch
 ```
 in order to run the movebase node, open a new terminal in the same directory and run the following commands:
 ```bashscript
 $ source devel/setup.bash
+```
+```bashscript
 $ roslaunch final_assignment move_base.launch
 ```
 For initializing the master node also, in a new terminal run the following commands:
 ```bashscript
 $ source devel/setup.bash
+```
+```bashscript
 $ roslaunch final_assignment master.launch
 ```
 then you can choose robot's behaviour by inputing the corresponding number

diff --git a/_build/doctrees/environment.pickle b/_build/doctrees/environment.pickle
diff --git a/_build/doctrees/index.doctree b/_build/doctrees/index.doctree
diff --git a/_build/doctrees/master.doctree b/_build/doctrees/master.doctree
diff --git a/_build/doctrees/movebase_client.doctree b/_build/doctrees/movebase_client.doctree
diff --git a/_build/doctrees/nodes.doctree b/_build/doctrees/nodes.doctree
diff --git a/_build/doctrees/scripts.doctree b/_build/doctrees/scripts.doctree
diff --git a/_build/doctrees/teleop.doctree b/_build/doctrees/teleop.doctree
diff --git a/_build/doctrees/usage.doctree b/_build/doctrees/usage.doctree
diff --git a/_build/html/.buildinfo b/_build/html/.buildinfo
@@ -0,0 +1,4 @@
+# Sphinx build info version 1
+# This file hashes the configuration used when building these files. When it is not found, a full rebuild will be done.
+config: 6ad3ad01d5e7b17344fc4e9846b9f860
+tags: 645f666f9bcd5a90fca523b33c5a78b7
diff --git a/_build/html/.nojekyll b/_build/html/.nojekyll
diff --git a/_build/html/_images/preview.png b/_build/html/_images/preview.png
diff --git a/_build/html/_modules/index.html b/_build/html/_modules/index.html
@@ -0,0 +1,99 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Overview: module code &mdash; ros_gmapping_movebase 1.0 documentation</title>
+      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="../_static/css/theme.css" type="text/css" />
+      <link rel="stylesheet" href="../_static/graphviz.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="../_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+
+        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
+        <script src="../_static/jquery.js"></script>
+        <script src="../_static/underscore.js"></script>
+        <script src="../_static/doctools.js"></script>
+    <script src="../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../genindex.html" />
+    <link rel="search" title="Search" href="../search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
+            <a href="../index.html" class="icon icon-home"> ros_gmapping_movebase
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../usage.html">Usage</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../scripts.html">Scripts</a></li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../index.html">ros_gmapping_movebase</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
+      <li>Overview: module code</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+
+  <h1>All modules for which code is available</h1>
+<ul><li><a href="scripts/master.html">scripts.master</a></li>
+<li><a href="scripts/movebase_client.html">scripts.movebase_client</a></li>
+<li><a href="scripts/teleop_twist_keyboard.html">scripts.teleop_twist_keyboard</a></li>
+</ul>
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2022, Ali Yousefi.</p>
+  </div>
+
+  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
+    provided by <a href="https://readthedocs.org">Read the Docs</a>.
+
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+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
diff --git a/_build/html/_modules/scripts/master.html b/_build/html/_modules/scripts/master.html
@@ -0,0 +1,173 @@
+<!DOCTYPE html>
+<html class="writer-html5" lang="en" >
+<head>
+  <meta charset="utf-8" />
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>scripts.master &mdash; ros_gmapping_movebase 1.0 documentation</title>
+      <link rel="stylesheet" href="../../_static/pygments.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/css/theme.css" type="text/css" />
+      <link rel="stylesheet" href="../../_static/graphviz.css" type="text/css" />
+  <!--[if lt IE 9]>
+    <script src="../../_static/js/html5shiv.min.js"></script>
+  <![endif]-->
+
+        <script data-url_root="../../" id="documentation_options" src="../../_static/documentation_options.js"></script>
+        <script src="../../_static/jquery.js"></script>
+        <script src="../../_static/underscore.js"></script>
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+    <script src="../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../genindex.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
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+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+    <input type="text" name="q" placeholder="Search docs" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
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+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../usage.html">Usage</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../scripts.html">Scripts</a></li>
+</ul>
+
+        </div>
+      </div>
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+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../index.html" class="icon icon-home"></a> &raquo;</li>
+          <li><a href="../index.html">Module code</a> &raquo;</li>
+      <li>scripts.master</li>
+      <li class="wy-breadcrumbs-aside">
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+
+  <h1>Source code for scripts.master</h1><div class="highlight"><pre>
+<span></span><span class="ch">#!/usr/bin/env python</span>
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">.. module:: master</span>
+<span class="sd">    :platform: Unix</span>
+<span class="sd">    :synopsis: the main python script in ros_gmapping_movebase package</span>
+
+<span class="sd">.. moduleauthor:: Ali Yousefi &lt;aliyousef98@outlook.com&gt;</span>
+
+<span class="sd">Uses rosparam:</span>
+<span class="sd">    /robot_state</span>
+
+<span class="sd">This is the main python script in ros_gmapping_movebase package, it gets user request to choose robot</span>
+<span class="sd">behaviour using robot_state rosparam. Everytime you choose a behaviour for robot you should continue</span>
+<span class="sd">the process in the corresponding node shell, and then if you want to change the robot behaviour again</span>
+<span class="sd">you must come back to this shell.</span>
+
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">rospy</span>
+<span class="kn">from</span> <span class="nn">std_srvs.srv</span> <span class="kn">import</span> <span class="o">*</span>
+<span class="kn">import</span> <span class="nn">os</span>
+
+<span class="c1"># 1 - movebase client</span>
+<span class="c1"># 2 - teleop keyboard</span>
+<span class="c1"># 3 - assisted teleop</span>
+
+<div class="viewcode-block" id="change_state"><a class="viewcode-back" href="../../master.html#scripts.master.change_state">[docs]</a><span class="k">def</span> <span class="nf">change_state</span><span class="p">():</span>
+    <span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Function for changing robot&#39;s behaviour and sending the corresponding response to other three nodes</span>
+
+<span class="sd">    robot_state can have valuse from 0 to 3 with the following rules:</span>
+
+<span class="sd">            0: waiting for user to choose robot behaviour</span>
+
+<span class="sd">            1: movebase client </span>
+
+<span class="sd">            2: teleop twist keyboard without obstacle avoidance</span>
+
+<span class="sd">            3: teleop twist keyboard with obstacle avoidance</span>
+
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="n">os</span><span class="o">.</span><span class="n">system</span><span class="p">(</span><span class="s1">&#39;cls||clear&#39;</span><span class="p">)</span>
+    <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;** MASTER NODE **</span><span class="se">\n</span><span class="s2">&quot;</span><span class="p">)</span>
+    <span class="c1"># gets robot behaviour from user</span>
+    <span class="n">x</span> <span class="o">=</span> <span class="nb">input</span><span class="p">(</span><span class="s1">&#39;&#39;&#39;Choose robot behaviour:</span>
+<span class="s1">    1. reach point(x,y) autonomously</span>
+<span class="s1">    2. drive with keyboard</span>
+<span class="s1">    3. drive robot with collision avoidance</span><span class="se">\n</span><span class="s1"></span>
+<span class="s1">    input: &#39;&#39;&#39;</span><span class="p">)</span>
+
+    <span class="k">if</span> <span class="n">x</span> <span class="o">==</span> <span class="s1">&#39;1&#39;</span><span class="p">:</span>
+        <span class="n">rospy</span><span class="o">.</span><span class="n">set_param</span><span class="p">(</span><span class="s1">&#39;robot_state&#39;</span><span class="p">,</span> <span class="s1">&#39;1&#39;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">state changed: movebase client&quot;</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">x</span> <span class="o">==</span> <span class="s1">&#39;2&#39;</span><span class="p">:</span>
+        <span class="n">rospy</span><span class="o">.</span><span class="n">set_param</span><span class="p">(</span><span class="s1">&#39;robot_state&#39;</span><span class="p">,</span> <span class="s1">&#39;2&#39;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">state changed: teleop keyboard&quot;</span><span class="p">)</span>
+    <span class="k">elif</span> <span class="n">x</span> <span class="o">==</span> <span class="s1">&#39;3&#39;</span><span class="p">:</span>
+        <span class="n">rospy</span><span class="o">.</span><span class="n">set_param</span><span class="p">(</span><span class="s1">&#39;robot_state&#39;</span><span class="p">,</span> <span class="s1">&#39;3&#39;</span><span class="p">)</span>
+        <span class="nb">print</span><span class="p">(</span><span class="s2">&quot;</span><span class="se">\n</span><span class="s2">state changed: assisted teleop&quot;</span><span class="p">)</span></div>
+
+
+<span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
+    <span class="n">rospy</span><span class="o">.</span><span class="n">init_node</span><span class="p">(</span><span class="s1">&#39;master&#39;</span><span class="p">)</span>
+    <span class="n">rospy</span><span class="o">.</span><span class="n">set_param</span><span class="p">(</span><span class="s1">&#39;robot_state&#39;</span><span class="p">,</span> <span class="s1">&#39;0&#39;</span><span class="p">)</span>
+    <span class="n">rate</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">Rate</span><span class="p">(</span><span class="mi">20</span><span class="p">)</span>
+    <span class="k">while</span> <span class="ow">not</span> <span class="n">rospy</span><span class="o">.</span><span class="n">is_shutdown</span><span class="p">():</span>
+        <span class="k">if</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_param</span><span class="p">(</span><span class="s1">&#39;robot_state&#39;</span><span class="p">)</span><span class="o">==</span><span class="s1">&#39;0&#39;</span><span class="p">:</span>
+            <span class="n">change_state</span><span class="p">()</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">rate</span><span class="o">.</span><span class="n">sleep</span><span class="p">()</span>
+            <span class="k">continue</span>
+        <span class="n">rate</span><span class="o">.</span><span class="n">sleep</span><span class="p">()</span>
+
+<span class="c1"># If the python node is executed as main process (sourced directly)</span>
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">&#39;__main__&#39;</span><span class="p">:</span>
+    <span class="n">main</span><span class="p">()</span>
+</pre></div>
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2022, Ali Yousefi.</p>
+  </div>
+
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+    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
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