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Merge pull request #7 from ROBOTIS-GIT/master
merge for sync kinetic-devel and master branch
2 parents 4536425 + 9fd9ed5 commit a037d0b

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8 files changed

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-69
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8 files changed

+72
-69
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‎footstep_planner/CMakeLists.txt‎

Lines changed: 19 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -75,17 +75,18 @@ include_directories(
7575
${SBPL_INCLUDE_DIRS}
7676
)
7777

78-
set(FOOTSTEP_PLANNER_FILES src/FootstepPlanner.cpp
78+
set(FOOTSTEP_PLANNER_FILES
79+
src/FootstepPlanner.cpp
7980
src/FootstepNavigation.cpp
80-
src/FootstepPlannerNode.cpp
81-
src/FootstepPlannerEnvironment.cpp
82-
src/Footstep.cpp
83-
src/PlanningState.cpp
84-
src/Heuristic.cpp
85-
src/helper.cpp
86-
src/PathCostHeuristic.cpp
87-
src/PlanningStateChangeQuery.cpp
88-
src/State.cpp
81+
src/FootstepPlannerNode.cpp
82+
src/FootstepPlannerEnvironment.cpp
83+
src/Footstep.cpp
84+
src/PlanningState.cpp
85+
src/Heuristic.cpp
86+
src/helper.cpp
87+
src/PathCostHeuristic.cpp
88+
src/PlanningStateChangeQuery.cpp
89+
src/State.cpp
8990
)
9091

9192
add_library(${PROJECT_NAME} ${FOOTSTEP_PLANNER_FILES})
@@ -103,16 +104,22 @@ target_link_libraries(footstep_navigation_node ${PROJECT_NAME} ${SBPL_LIBRARIES}
103104
################################################################################
104105
# Install
105106
################################################################################
106-
install(TARGETS ${PROJECT_NAME} footstep_planner_node footstep_planner_walls
107+
install(TARGETS ${PROJECT_NAME}
107108
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
108109
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
109110
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
110111
)
111112

112-
install(TARGETS footstep_navigation_node
113+
install(TARGETS footstep_planner_node footstep_planner_walls footstep_navigation_node
113114
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
114115
)
115116

117+
install(PROGRAMS
118+
scripts/corrected_initialpose.py
119+
scripts/plan_footsteps.py
120+
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
121+
)
122+
116123
install(DIRECTORY include/${PROJECT_NAME}/
117124
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
118125
)
@@ -121,12 +128,6 @@ install(DIRECTORY config launch maps
121128
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
122129
)
123130

124-
install(PROGRAMS
125-
scripts/corrected_initialpose.py
126-
scripts/plan_footsteps.py
127-
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
128-
)
129-
130131
################################################################################
131132
# Test
132133
################################################################################

‎footstep_planner/package.xml‎

Lines changed: 15 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -3,23 +3,24 @@
33
<name>footstep_planner</name>
44
<version>0.4.2</version>
55
<description>
6-
<p>A footstep planner for humanoid / biped robots. The planner builds on SBPL and has anytime as well as dynamic replanning capabilities. The supported planners are: ARA*, AD*, R*.</p>
7-
<p>Details can be found in the following publications:</p>
8-
<p><em>"Humanoid Navigation with Dynamic Footstep Plans"</em>
9-
by J. Garimort, A. Hornung, and M. Bennewitz; published in
10-
Proc. of the IEEE International Conference on Robotics &amp; Automation (ICRA), 2011</p>
11-
<p><em>Anytime Search-Based Footstep Planning with Suboptimality Bounds</em>
12-
by A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz; published in
13-
Proc. of the IEEE-RAS International Conference on Humanoid
14-
Robots (HUMANOIDS), 2012
15-
</p>
6+
<p>A footstep planner for humanoid / biped robots. The planner builds on SBPL and has anytime as well as dynamic replanning capabilities. The supported planners are: ARA*, AD*, R*.</p>
7+
<p>Details can be found in the following publications:</p>
8+
<p><em>"Humanoid Navigation with Dynamic Footstep Plans"</em>
9+
by J. Garimort, A. Hornung, and M. Bennewitz; published in
10+
Proc. of the IEEE International Conference on Robotics &amp; Automation (ICRA), 2011</p>
11+
<p><em>Anytime Search-Based Footstep Planning with Suboptimality Bounds</em>
12+
by A. Hornung, A. Dornbush, M. Likhachev, and M. Bennewitz; published in
13+
Proc. of the IEEE-RAS International Conference on Humanoid
14+
Robots (HUMANOIDS), 2012</p>
1615
</description>
17-
<license>GPL 3</license>
18-
<author>Johannes Garimort, Armin Hornung</author>
19-
<maintainer email="HornungA@informatik.uni-freiburg.de">Armin Hornung</maintainer>
16+
<license>GPLv3</license>
17+
<author>Johannes Garimort</author>
18+
<author>Armin Hornung</author>
2019
<maintainer email="aravindadp@gmail.com">Pramuditha Aravinda</maintainer>
2120
<maintainer email="pyo@robotis.com">Pyo</maintainer>
22-
<url>http://ros.org/wiki/footstep_planner</url>
21+
<url type="website">http://wiki.ros.org/footstep_planner</url>
22+
<url type="repository">https://github.com/ROBOTIS-GIT/humanoid_navigation</url>
23+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/humanoid_navigation/issues</url>
2324
<buildtool_depend>catkin</buildtool_depend>
2425
<depend>roscpp</depend>
2526
<depend>rospy</depend>

‎gridmap_2d/package.xml‎

Lines changed: 5 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,14 +3,15 @@
33
<name>gridmap_2d</name>
44
<version>0.4.2</version>
55
<description>
6-
gridmap_2d - a simple 2D gridmap structure, based on OpenCV's cv::Mat
6+
gridmap_2d - a simple 2D gridmap structure, based on OpenCV's cv::Mat
77
</description>
8-
<author>Armin Hornung</author>
98
<license>BSD</license>
10-
<maintainer email="HornungA@informatik.uni-freiburg.de">Armin Hornung</maintainer>
9+
<author>Armin Hornung</author>
1110
<maintainer email="aravindadp@gmail.com">Pramuditha Aravinda</maintainer>
1211
<maintainer email="pyo@robotis.com">Pyo</maintainer>
13-
<url>http://ros.org/wiki/gridmap_2d</url>
12+
<url type="website">http://wiki.ros.org/gridmap_2d</url>
13+
<url type="repository">https://github.com/ROBOTIS-GIT/humanoid_navigation</url>
14+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/humanoid_navigation/issues</url>
1415
<buildtool_depend>catkin</buildtool_depend>
1516
<depend>roscpp</depend>
1617
<depend>rosconsole</depend>

‎humanoid_localization/CMakeLists.txt‎

Lines changed: 4 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -77,7 +77,7 @@ catkin_package(
7777
message_filters
7878
octomap_ros
7979
pcl_ros
80-
pcl_conversions
80+
pcl_conversions
8181
DEPENDS Boost EIGEN3
8282
)
8383

@@ -89,26 +89,23 @@ include_directories(
8989
${catkin_INCLUDE_DIRS}
9090
${Boost_INCLUDE_DIRS}
9191
${EIGEN3_INCLUDE_DIRS}
92-
${OCTOMAP_INCLUDE_DIRS}
93-
${OpenMP_INCLUDE_DIRS}
9492
)
9593

9694
if (${dynamicEDT3D_FOUND})
97-
add_library(endpointmodel src/EndpointModel.cpp)
95+
add_library(endpointmodel src/EndpointModel.cpp)
9896
endif (${dynamicEDT3D_FOUND})
9997

10098
add_library(mapmodel src/MapModel.cpp)
10199
add_library(motionmodel src/MotionModel.cpp)
102100
add_library(observationmodel src/ObservationModel.cpp)
103-
104101
add_library(raycastingmodel src/RaycastingModel.cpp)
105102
target_link_libraries(raycastingmodel observationmodel)
106103

107104
add_library(humanoidlocalization src/HumanoidLocalization.cpp)
108-
target_link_libraries(humanoidlocalization ${LIBRARIES} ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES})
105+
target_link_libraries(humanoidlocalization ${catkin_LIBRARIES} ${LIBRARIES})
109106

110107
add_executable(localization_node src/localization_node.cpp)
111-
target_link_libraries(localization_node humanoidlocalization ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES})
108+
target_link_libraries(localization_node humanoidlocalization ${catkin_LIBRARIES})
112109

113110
################################################################################
114111
# Install
@@ -120,8 +117,6 @@ install(TARGETS ${LIBRARIES} humanoidlocalization
120117
)
121118

122119
install(TARGETS localization_node
123-
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
124-
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
125120
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
126121
)
127122

‎humanoid_localization/package.xml‎

Lines changed: 13 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -3,22 +3,23 @@
33
<name>humanoid_localization</name>
44
<version>0.4.2</version>
55
<description>
6-
<p>6D localization for humanoid robots based on depth data (laser, point clouds).
7-
Two observation models are currently available based on OctoMap as 3D map:
8-
Ray casting and an end point model (lookup in the distance map).</p>
9-
<p>Details can be found in the publication <br/>
10-
<em>"Humanoid Navigation with Dynamic Footstep Plans"</em>
11-
by A. Hornung, K.M. Wurm, and M. Bennewitz; published in
12-
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010</p>
6+
<p>6D localization for humanoid robots based on depth data (laser, point clouds).
7+
Two observation models are currently available based on OctoMap as 3D map:
8+
Ray casting and an end point model (lookup in the distance map).</p>
9+
<p>Details can be found in the publication <br/>
10+
<em>"Humanoid Navigation with Dynamic Footstep Plans"</em>
11+
by A. Hornung, K.M. Wurm, and M. Bennewitz; published in
12+
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010</p>
1313
</description>
14-
<license>GPL</license>
14+
<license>GPLv3</license>
1515
<author>Armin Hornung</author>
1616
<author>Stefan Osswald</author>
1717
<author>Daniel Maier</author>
18-
<maintainer email="HornungA@informatik.uni-freiburg.de">Armin Hornung</maintainer>
1918
<maintainer email="aravindadp@gmail.com">Pramuditha Aravinda</maintainer>
2019
<maintainer email="pyo@robotis.com">Pyo</maintainer>
21-
<url>http://ros.org/wiki/humanoid_localization</url>
20+
<url type="website">http://wiki.ros.org/humanoid_localization</url>
21+
<url type="repository">https://github.com/ROBOTIS-GIT/humanoid_navigation</url>
22+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/humanoid_navigation/issues</url>
2223
<buildtool_depend>catkin</buildtool_depend>
2324
<depend>roscpp</depend>
2425
<depend>std_msgs</depend>
@@ -32,9 +33,10 @@
3233
<depend>tf</depend>
3334
<depend>message_filters</depend>
3435
<depend>octomap_ros</depend>
36+
<depend>octomap</depend>
37+
<depend>dynamic_edt_3d</depend>
3538
<depend>pcl_ros</depend>
3639
<depend>pcl_conversions</depend>
3740
<depend>boost</depend>
3841
<depend>eigen</depend>
39-
<depend>octomap</depend>
4042
</package>

‎humanoid_navigation/package.xml‎

Lines changed: 11 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -3,18 +3,21 @@
33
<name>humanoid_navigation</name>
44
<version>0.4.2</version>
55
<description>
6-
<p>
7-
This stack contains packages for humanoid (biped) navigation,
8-
developed at the <a href="http://hrl.informatik.uni-freiburg.de/">Humanoid Robots Lab</a>
9-
at the Albert-Ludwigs-Universitat in Freiburg, Germany.
10-
</p>
6+
<p>This stack contains packages for humanoid (biped) navigation,
7+
developed at the <a href="http://hrl.informatik.uni-freiburg.de/">Humanoid Robots Lab</a>
8+
at the Albert-Ludwigs-Universitat in Freiburg, Germany.</p>
119
</description>
12-
<license>BSD, GPL 3</license>
10+
<license>BSD</license>
11+
<license>GPLv3</license>
1312
<author>Armin Hornung</author>
14-
<maintainer email="HornungA@informatik.uni-freiburg.de">Armin Hornung</maintainer>
13+
<author>Johannes Garimort</author>
14+
<author>Stefan Osswald</author>
15+
<author>Daniel Maier</author>
1516
<maintainer email="aravindadp@gmail.com">Pramuditha Aravinda</maintainer>
1617
<maintainer email="pyo@robotis.com">Pyo</maintainer>
17-
<url>http://ros.org/wiki/humanoid_navigation</url>
18+
<url type="website">http://wiki.ros.org/humanoid_navigation</url>
19+
<url type="repository">https://github.com/ROBOTIS-GIT/humanoid_navigation</url>
20+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/humanoid_navigation/issues</url>
1821
<buildtool_depend>catkin</buildtool_depend>
1922
<exec_depend>footstep_planner</exec_depend>
2023
<exec_depend>gridmap_2d</exec_depend>

‎humanoid_planner_2d/CMakeLists.txt‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -55,7 +55,7 @@ add_library(${PROJECT_NAME} src/SBPLPlanner2D.cpp)
5555
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES} ${SBPL_LIBRARIES})
5656

5757
add_executable(sbpl_2d_planner_node src/humanoid_planner_2d.cpp)
58-
target_link_libraries(sbpl_2d_planner_node ${PROJECT_NAME} ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
58+
target_link_libraries(sbpl_2d_planner_node ${catkin_LIBRARIES} ${PROJECT_NAME} ${OpenCV_LIBRARIES})
5959

6060
################################################################################
6161
# Install

‎humanoid_planner_2d/package.xml‎

Lines changed: 4 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -3,15 +3,15 @@
33
<name>humanoid_planner_2d</name>
44
<version>0.4.2</version>
55
<description>
6-
humanoid_planner_2d - provides a simple 2D path planner as wrapper around
7-
SBPL (ARA*, AD*, R*).
6+
humanoid_planner_2d - provides a simple 2D path planner as wrapper around SBPL (ARA*, AD*, R*).
87
</description>
98
<license>BSD</license>
109
<author>Armin Hornung</author>
11-
<maintainer email="HornungA@informatik.uni-freiburg.de">Armin Hornung</maintainer>
1210
<maintainer email="aravindadp@gmail.com">Pramuditha Aravinda</maintainer>
1311
<maintainer email="pyo@robotis.com">Pyo</maintainer>
14-
<url>http://ros.org/wiki/humanoid_planner_2d</url>
12+
<url type="website">http://wiki.ros.org/humanoid_planner_2d</url>
13+
<url type="repository">https://github.com/ROBOTIS-GIT/humanoid_navigation</url>
14+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/humanoid_navigation/issues</url>
1515
<buildtool_depend>catkin</buildtool_depend>
1616
<depend>roscpp</depend>
1717
<depend>geometry_msgs</depend>

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