Отчет по курсовой работе. Канушин, Куришев, Черепанов 2303

2303/Kanushin/treasure_hunter/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(treasure_hunter)
+
+## 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
+  rospy
+  std_msgs
+  sensor_msgs
+  tf
+  laser_geometry
+  message_filters
+  visualization_msgs
+)
+
+## 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 run_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 run_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
+# )
+
+################################################
+## 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 run_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 treasure_hunter
+#  CATKIN_DEPENDS rospy std_msgs
+CATKIN_DEPENDS   
+  rospy
+  std_msgs
+  sensor_msgs
+  tf
+  laser_geometry
+  message_filters
+  visualization_msgs
+#  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}
+)
+
+
+add_executable(scan_analyzer src/scan_analyzer.cpp)
+target_link_libraries(scan_analyzer ${catkin_LIBRARIES})
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/treasure_hunter.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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/treasure_hunter_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
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_treasure_hunter.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)

2303/Kanushin/treasure_hunter/README.md

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+roslaunch treasure_hunter start_exploration.launch

2303/Kanushin/treasure_hunter/install_deps.sh

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+#!/usr/bin/env bash
+
+sudo apt update
+sudo apt install -y ros-kinetic-frontier-exploration ros-kinetic-navigation-stage

2303/Kanushin/treasure_hunter/launch/global_map.launch

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+<launch>
+
+    <!-- Set to your sensor's range -->
+    <arg name="sensor_range" default="0.25"/>
+
+    <node pkg="frontier_exploration" type="explore_client" name="explore_client" output="screen"/>
+
+    <node pkg="frontier_exploration" type="explore_server" name="explore_server" output="screen" >
+
+        <param name="frequency" type="double" value="2.0"/>
+        <param name="goal_aliasing" type="double" value="$(arg sensor_range)"/>
+
+        #All standard costmap_2d parameters as in move_base, other than BoundedExploreLayer
+        <rosparam ns="explore_costmap" subst_value="true">
+            footprint: [[0.1, 0.0], [0.0, 0.1], [-0.1, 0.0], [0.0, -0.1]]
+            robot_radius: 0.25
+
+            transform_tolerance: 0.5
+            update_frequency: 0.5
+            publish_frequency: 0.5
+
+            #must match incoming static map
+            global_frame: map
+            robot_base_frame: base_link
+            resolution: 0.05
+
+            rolling_window: true
+            track_unknown_space: true
+
+            plugins:
+
+                - {name: static,           type: "costmap_2d::StaticLayer"}
+                - {name: explore_boundary, type: "frontier_exploration::BoundedExploreLayer"}
+                #Can disable sensor layer if gmapping is fast enough to update scans
+                - {name: sensor,           type: "costmap_2d::ObstacleLayer"}
+                - {name: inflation,        type: "costmap_2d::InflationLayer"}
+
+            static:
+                #Can pull data from gmapping, map_server or a non-rolling costmap
+                map_topic: /map
+                # map_topic: move_base/global_costmap/costmap
+                subscribe_to_updates: true
+
+            explore_boundary:
+                resize_to_boundary: true
+                frontier_travel_point: middle
+                #set to false for gmapping, true if re-exploring a known area
+                explore_clear_space: false
+
+            sensor:
+                observation_sources: laser
+                laser: {data_type: LaserScan, clearing: true, marking: true, topic: scan, inf_is_valid: true, raytrace_range: $(arg sensor_range), obstacle_range: $(arg sensor_range)}
+
+            inflation:
+                inflation_radius: 0.15
+      </rosparam>
+    </node>
+
+</launch>

2303/Kanushin/treasure_hunter/launch/move_base_gmapping_5cm.launch

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+<launch>
+  <master auto="start"/>
+  <param name="/use_sim_time" value="true"/>
+  <include file="$(find navigation_stage)/move_base_config/move_base.xml"/>
+  <node pkg="stage_ros" type="stageros" name="stageros" args="$(find treasure_hunter)/level/dungeon.world" respawn="false" >
+    <param name="base_watchdog_timeout" value="0.2"/>
+  </node>
+  <include file="$(find treasure_hunter)/launch/slam_gmapping.xml"/>  
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find treasure_hunter)/single_robot.rviz" />
+</launch>

2303/Kanushin/treasure_hunter/launch/slam_gmapping.xml

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+<launch>
+    <node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
+      <remap from="scan" to="base_scan"/>
+      <param name="odom_frame" value="odom"/>
+      <param name="map_update_interval" value="1.0"/>
+      <param name="maxUrange" value="16.0"/>
+      <param name="sigma" value="0.05"/>
+      <param name="kernelSize" value="1"/>
+      <param name="lstep" value="0.05"/>
+      <param name="astep" value="0.05"/>
+      <param name="iterations" value="5"/>
+      <param name="lsigma" value="0.075"/>
+      <param name="ogain" value="3.0"/>
+      <param name="lskip" value="0"/>
+      <param name="srr" value="0.01"/>
+      <param name="srt" value="0.02"/>
+      <param name="str" value="0.01"/>
+      <param name="stt" value="0.02"/>
+      <param name="linearUpdate" value="0.5"/>
+      <param name="angularUpdate" value="0.436"/>
+      <param name="temporalUpdate" value="-1.0"/>
+      <param name="resampleThreshold" value="0.5"/>
+      <param name="particles" value="80"/>
+      <param name="xmin" value="-50.0"/>
+      <param name="ymin" value="-50.0"/>
+      <param name="xmax" value="50.0"/>
+      <param name="ymax" value="50.0"/>
+      <param name="delta" value="0.05"/>
+      <param name="llsamplerange" value="0.01"/>
+      <param name="llsamplestep" value="0.01"/>
+      <param name="lasamplerange" value="0.005"/>
+      <param name="lasamplestep" value="0.005"/>
+    </node>
+</launch>

2303/Kanushin/treasure_hunter/launch/start_exploration.launch

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+<launch>
+  <include file="$(find treasure_hunter)/launch/move_base_gmapping_5cm.launch"/>
+  <include file="$(find treasure_hunter)/launch/global_map.launch"/>
+  <include file="$(find treasure_hunter)/launch/treasure_hunter.launch"/>
+  <node name="rqt_graph" pkg="rqt_graph" type="rqt_graph" respawn="true"/>
+</launch>

2303/Kanushin/treasure_hunter/launch/treasure_hunter.launch

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+<launch>
+  <node name="trace" pkg="treasure_hunter" type="trace.py" respawn="true"/>
+  <node name="route_planner" pkg="treasure_hunter" type="route_planner.py" respawn="true"/>
+  <node name="my_scan_to_cloud" pkg="treasure_hunter" type="scan_analyzer" respawn="true"/>
+</launch>