revert to 2371510

ackermann_cmd_mux/CMakeLists.txt

@@ -1,14 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(ackermann_cmd_mux)
-find_package(catkin REQUIRED COMPONENTS 
-	roscpp 
-	pluginlib 
-	nodelet 
-	dynamic_reconfigure 
-	ackermann_msgs
-	std_msgs
-	rospy
-)
+find_package(catkin REQUIRED COMPONENTS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs)
 
 # pkg-config support
 find_package(PkgConfig)
@@ -24,15 +16,15 @@ generate_dynamic_reconfigure_options(cfg/reload.cfg)
 catkin_package(
    INCLUDE_DIRS include
    LIBRARIES ${PROJECT_NAME}_nodelet
-   CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs rospy std_msgs
+   CATKIN_DEPENDS roscpp pluginlib nodelet dynamic_reconfigure ackermann_msgs
    DEPENDS yaml-cpp
 )
 
 include_directories(include ${catkin_INCLUDE_DIRS} ${yaml-cpp_INCLUDE_DIRS})
 
 # Nodelet library
 add_library(${PROJECT_NAME}_nodelet src/ackermann_cmd_mux_nodelet.cpp src/ackermann_cmd_subscribers.cpp)
-#add_dependencies(${PROJECT_NAME}_nodelet ackermann_msgs)
+add_dependencies(${PROJECT_NAME}_nodelet ackermann_msgs_gencpp)
 add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_gencfg)
 
 target_link_libraries(${PROJECT_NAME}_nodelet ${catkin_LIBRARIES} ${yaml-cpp_LIBRARIES})

ackermann_cmd_mux/launch/ackermann_cmd_mux.launch

@@ -10,4 +10,4 @@
         args="load ackermann_cmd_mux/AckermannCmdMuxNodelet $(arg nodelet_manager_name)">
     <param name="yaml_cfg_file" value="$(arg config_file)"/>
   </node>
-</launch>
+</launch>

ackermann_cmd_mux/package.xml

@@ -24,17 +24,13 @@
   <build_depend>pluginlib</build_depend>
   <build_depend>ackermann_msgs</build_depend>
   <build_depend>yaml-cpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>ackermann_msgs</run_depend>
   <run_depend>pluginlib</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>yaml-cpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
 
   <export>
     <nodelet plugin="${prefix}/plugins/nodelets.xml" />

racecar-vm.rosinstall

@@ -1,4 +1,4 @@
-- setup-file: {local-name: /opt/ros/kinetic/setup.sh}
+- setup-file: {local-name: /opt/ros/indigo/setup.sh}
 - git: {local-name: src/racecar,         version: master,        uri: 'https://github.com/mit-racecar/racecar.git'}
 - git: {local-name: src/vesc,            version: master,        uri: 'https://github.com/mit-racecar/vesc.git'}
 - git: {local-name: src/racecar-simulator,            version: master,        uri: 'https://github.com/mit-racecar/racecar-simulator.git'}

racecar.rosinstall

@@ -1,4 +1,3 @@
-- setup-file: {local-name: /opt/ros/kinetic/setup.sh}
+- setup-file: {local-name: /opt/ros/indigo/setup.sh}
 - git: {local-name: src/racecar,         version: master,        uri: 'https://github.com/mit-racecar/racecar.git'}
 - git: {local-name: src/vesc,            version: master,        uri: 'https://github.com/mit-racecar/vesc.git'}
-- git: {local-name: src/zed_wrapper,     version: 6c06bb0a3c32aa2dec4a539e296f6ee1d6937518,        uri: 'https://github.com/stereolabs/zed-ros-wrapper.git'}

racecar/CMakeLists.txt

@@ -85,6 +85,7 @@ catkin_package(
     urg_node
     joy
     joy_teleop
+    laser_scan_matcher
     rosbag
     rostopic
     rviz

racecar/config/racecar-v1/joy_teleop.yaml

@@ -0,0 +1,28 @@
+joy_node:
+  deadzone: 0.01
+  autorepeat_rate: 20
+  coalesce_interval: 0.01
+
+teleop:
+  throttle:
+    type: topic
+    message_type: std_msgs/Float64
+    topic_name: throttle/command
+    deadman_buttons: [4]
+    axis_mappings:
+      -
+        axis: 1
+        target: data
+        scale: 1.0
+        offset: 0.0
+  steering:
+    type: topic
+    message_type: std_msgs/Float64
+    topic_name: steering/command
+    deadman_buttons: [4]
+    axis_mappings:
+      -
+        axis: 3
+        target: data
+        scale: 1.0
+        offset: 0.0

racecar/config/racecar-v2/joy_teleop.yaml

@@ -4,13 +4,11 @@ joy_node:
   coalesce_interval: 0.01
 
 teleop:
-  # Manual control is the default mode.
-  # Holding any button enables autonomous control.
   ackermann:
     type: topic
     message_type: ackermann_msgs/AckermannDriveStamped
-    topic_name: low_level/ackermann_cmd_mux/input/teleop
-    deadman_buttons: []
+    topic_name: ackermann_cmd_mux/input/teleop
+    deadman_buttons: [4]
     axis_mappings:
       -
         axis: 1

racecar/config/racecar-v2/low_level_mux.yaml → racecar/config/racecar-v2/mux.yaml

@@ -6,22 +6,24 @@
 #   short_desc:     Short description (optional)
 
 subscribers:
+  - name:        "Safety"
+    topic:       "input/safety"
+    timeout:     0.2
+    priority:    15
+    short_desc:  "Input for safety monitor, highest priority"
   - name:        "Teleoperation"
     topic:       "input/teleop"
     timeout:     0.2
     priority:    10
-    short_desc:  "Input for human teleoperation (joystick). Highest priority."
-
-  - name:        "Safety"
-    topic:       "input/safety"
-    timeout:     0.2
-    priority:    5
-    short_desc:  "Input for safety monitor."
-
+    short_desc:  "Input for human teleoperation (joystick)"
   - name:        "Navigation"
     topic:       "input/navigation"
     timeout:     0.2
-    priority:    0
+    priority:    5
     short_desc:  "Input for autonomous navigation"
-
+  - name:        "Default"
+    topic:       "input/default"
+    timeout:     1.0
+    priority:    0
+    short_desc:  "Default input, lowest priority"
 publisher:       "output"

racecar/config/racecar-v2/vesc.yaml

@@ -3,21 +3,12 @@
 speed_to_erpm_gain: 4614
 speed_to_erpm_offset: 0.0
 
-tachometer_ticks_to_meters_gain: 0.00225
-# servo smoother - limits rotation speed and smooths anything above limit
-max_servo_speed: 3.2 # radians/second
-servo_smoother_rate: 75.0 # messages/sec
-
-# servo smoother - limits acceleration and smooths anything above limit
-max_acceleration: 2.5 # meters/second^2
-throttle_smoother_rate: 75.0 # messages/sec
-
 # servo value (0 to 1) =  steering_angle_to_servo_gain * steering angle (radians) + steering_angle_to_servo_offset
 steering_angle_to_servo_gain: -1.2135
 steering_angle_to_servo_offset: 0.5304
 
 # publish odom to base link tf
-vesc_to_odom/publish_tf: false
+vesc_to_odom/publish_tf: true
 
 # car wheelbase is about 25cm 
 wheelbase: .25
@@ -27,11 +18,11 @@ vesc_driver:
   duty_cycle_min: 0.0
   duty_cycle_max: 0.0
   current_min: 0.0
-  current_max: 20.0
-  brake_min: -20000.0
-  brake_max: 200000.0
-  speed_min: -3250
-  speed_max: 3250
+  current_max: 0.0
+  brake_min: 0.0
+  brake_max: 0.0
+  speed_min: -4000
+  speed_max: 6000
   position_min: 0.0
   position_max: 0.0
   servo_min: 0.15

racecar/launch/includes/racecar-v1-teleop.launch.xml

@@ -0,0 +1,18 @@
+<!-- -*- mode: XML -*- -->
+<launch>
+  <arg name="racecar_version" default="racecar-v1" />
+  <arg name="run_camera" default="false"/>
+
+  <include file="$(find racecar)/launch/includes/common/joy_teleop.launch.xml" >
+    <arg name="racecar_version" value="$(arg racecar_version)" />
+  </include>
+  <include file="$(find racecar)/launch/includes/$(arg racecar_version)/steering.launch.xml" />
+  <include file="$(find racecar)/launch/includes/$(arg racecar_version)/throttle.launch.xml" />
+  <include file="$(find racecar)/launch/includes/common/sensors.launch.xml" >
+    <arg name="racecar_version" value="$(arg racecar_version)" />
+  </include>
+  <include file="$(find racecar)/launch/includes/$(arg racecar_version)/sensors.launch.xml">
+    <arg name="run_camera" value="$(arg run_camera)" />
+  </include>
+
+</launch>

racecar/launch/includes/racecar-v1/sensors.launch.xml

@@ -0,0 +1,20 @@
+<!-- -*- mode: XML -*- -->
+<launch>
+  <arg name="run_camera" default="true" />
+
+  <!-- camera -->
+  <group ns="front_camera" if="$(arg run_camera)">
+    <node pkg="pointgrey_camera_driver" type="camera_node" name="camera_node">
+      <param name="serial" value="0" />
+      <param name="camera_info_url" value="" />
+      <param name="frame_id" value="camera" />
+    </node>
+  </group>
+
+  <!-- optical flow -->
+  <node pkg="px4flow" type="px4flow_node" name="optical_flow_node">
+    <param name="serial_port" value="/dev/px4flow" />
+    <param name="baudrate" value="115200" />
+  </node>
+
+</launch>

racecar/launch/includes/racecar-v1/static_transforms.launch.xml

@@ -0,0 +1,19 @@
+<!-- -*- mode: XML -*- -->
+<launch>
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_imu" 
+        args="0.1 0.0 0.16    0.0 0.0 0.0 1.0 /base_link /base_imu_link" />
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_px4flow" 
+        args="0.15 0.0 0.16   0.0 0.0 -0.707107 0.707107 /base_link /px4flow" />
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser" 
+        args="0.265 0.0 0.145 0.0 0.0 0.0 1.0 /base_link /laser" />
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_camera" 
+        args="0.340 0.0 0.120 0.0 0.0 0.0 1.0 /base_link /camera" />
+
+  <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_base_footprint" 
+        args="0.0 0.0 0.0     0.0 0.0 0.0 1.0 /base_link /base_footprint" />
+
+</launch>