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Taehun Lim
authored
Merge pull request #4 from kijongGil/master
added turtlebot3 automatic_parking
2 parents b1ced4f + e4a8b7f commit 996ef31

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-64
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‎turtlebot3_automatic_parking/CMakeLists.txt‎

Lines changed: 29 additions & 18 deletions
Original file line numberDiff line numberDiff line change
@@ -1,12 +1,12 @@
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################################################################################
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# CMake
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################################################################################
14
cmake_minimum_required(VERSION 2.8.3)
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project(turtlebot3_automatic_parking)
36

4-
## Add support for C++11, supported in ROS Kinetic and newer
5-
# add_definitions(-std=c++11)
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## Find catkin macros and libraries
8-
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9-
## is used, also find other catkin packages
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################################################################################
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# Packages
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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rospy
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sensor_msgs
@@ -15,25 +15,36 @@ find_package(catkin REQUIRED COMPONENTS
1515
geometry_msgs
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)
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18-
include_directories(
19-
${catkin_INCLUDE_DIRS}
20-
)
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################################################################################
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# Declare ROS messages, services and actions
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################################################################################
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################################################################################
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# Declare ROS dynamic reconfigure parameters
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################################################################################
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################################################################################
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# Catkin specific configuration
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################################################################################
2229
catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES people_detect
25-
CATKIN_DEPENDS
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#INCLUDE_DIRS include
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CATKIN_DEPENDS rospy sensor_msgs std_msgs nav_msgs geometry_msgs
2632
)
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28-
catkin_install_python(PROGRAMS src/automatic_parking.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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###########
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## Build ##
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###########
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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################################################################################
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# Install
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################################################################################
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catkin_install_python(PROGRAMS src/automatic_parking.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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‎turtlebot3_automatic_parking/package.xml‎

Lines changed: 10 additions & 44 deletions
Original file line numberDiff line numberDiff line change
@@ -2,43 +2,16 @@
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<package>
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<name>turtlebot3_automatic_parking</name>
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<version>0.0.0</version>
5-
<description>The turtlebot3_automatic_parking package</description>
6-
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">robotis</maintainer>
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12-
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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18-
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/turtlebot3_follower</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
41-
<!-- <test_depend>gtest</test_depend> -->
5+
<description>
6+
Package for turtlebot3 automatic_parking. You need a reflective tape and real robots.
7+
You can see parking spot using this pacakge on rviz.
8+
</description>
9+
<license>Apache License 2.0</license>
10+
<author email="[email protected]">Gilbert</author>
11+
<maintainer email="[email protected]">Pyo</maintainer>
12+
<url type="bugtracker">https://github.com/ROBOTIS-GIT/turtlebot3_applications/issues</url>
13+
<url type="repository">https://github.com/ROBOTIS-GIT/turtlebot3_applications</url>
14+
<url type="website">http://turtlebot3.robotis.com</url>
4215
<buildtool_depend>catkin</buildtool_depend>
4316
<build_depend>rospy</build_depend>
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<build_depend>sensor_msgs</build_depend>
@@ -50,11 +23,4 @@
5023
<run_depend>rospy</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>std_msgs</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎turtlebot3_automatic_parking/rviz/turtlebot3_automatic_parking.rviz‎

Lines changed: 217 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,217 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
4+
Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 775
11+
- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.588679016
20+
- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: LaserScan
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.0299999993
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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base_footprint:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_scan:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_depth_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_depth_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_rgb_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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camera_rgb_optical_frame:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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caster_back_left_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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caster_back_right_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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imu_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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wheel_left_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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wheel_right_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
121+
Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz/LaserScan
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 22776
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Min Color: 0; 0; 0
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Min Intensity: 54
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Name: LaserScan
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Position Transformer: XYZ
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Queue Size: 10
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.00999999978
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Style: Flat Squares
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Topic: /scan
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Unreliable: false
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Fixed Frame: odom
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Topic: /initialpose
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 10
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.0599999987
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.0500000007
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.00999999978
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Pitch: 0.870398045
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Target Frame: <Fixed Frame>
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Value: Orbit (rviz)
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Yaw: 0.690397978
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 1056
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1855
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X: 65
217+
Y: 24

‎turtlebot3_automatic_parking/src/automatic_parking.py‎

Lines changed: 21 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,3 +1,22 @@
1+
/*******************************************************************************
2+
* Copyright 2016 ROBOTIS CO., LTD.
3+
*
4+
* Licensed under the Apache License, Version 2.0 (the "License");
5+
* you may not use this file except in compliance with the License.
6+
* You may obtain a copy of the License at
7+
*
8+
* http://www.apache.org/licenses/LICENSE-2.0
9+
*
10+
* Unless required by applicable law or agreed to in writing, software
11+
* distributed under the License is distributed on an "AS IS" BASIS,
12+
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13+
* See the License for the specific language governing permissions and
14+
* limitations under the License.
15+
*******************************************************************************/
16+
17+
/* Authors: Gilbert */
18+
19+
120
#!/usr/bin/env python
221
import rospy
322
import sys
@@ -96,7 +115,7 @@ def finding_spot_position():
96115
end_angle_distance = get_angle_distance(spot_angle.data_3)
97116

98117
if start_angle_distance[1] != 0 and center_angle_distance[1] != 0 and end_angle_distance[1] != 0:
99-
print("calibration.....")
118+
print("calibration......")
100119
start_point = get_point(start_angle_distance)
101120
center_point = get_point(center_angle_distance)
102121
end_point = get_point(end_angle_distance)
@@ -223,4 +242,4 @@ def scan_spot_filter(msg):
223242
cmd_pub.publish(twist)
224243
sys.exit()
225244
cmd_pub.publish(twist)
226-
scan_spot_filter(msg)
245+
scan_spot_filter(msg)

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