diff --git a/.gitmodules b/.gitmodules index ec1743a..be292f6 100644 --- a/.gitmodules +++ b/.gitmodules @@ -1,3 +1,12 @@ [submodule "ros-mpu9250-ahrs"] path = ros-mpu9250-ahrs url = https://github.com/bjajoh/ros-mpu9250-ahrs +[submodule "nmea_msgs"] + path = nmea_msgs + url = https://github.com/ros-drivers/nmea_msgs.git +[submodule "geographic_info"] + path = geographic_info + url = https://github.com/ros-geographic-info/geographic_info +[submodule "uiid"] + path = uiid + url = https://github.com/ros-geographic-info/unique_identifier diff --git a/README.md b/README.md index 96c3cf3..ce1ac81 100644 --- a/README.md +++ b/README.md @@ -12,6 +12,8 @@ Generate Correction Data NEMA code https://nmeagen.org/ LEDs with Pi: https://learn.adafruit.com/neopixels-on-raspberry-pi/python-usage +Use catkin build instead of catkin_make: https://catkin-tools.readthedocs.io/en/latest/installing.html + ### Running the camera ``` @@ -20,7 +22,9 @@ roslaunch common perception.launch ``` roslaunch common gnss.launch ``` - +``` +roslaunch common state_estimation.launch +``` ``` roslaunch ueye mono.launch ``` diff --git a/common/launch/state_estimation.launch b/common/launch/state_estimation.launch new file mode 100644 index 0000000..77775f8 --- /dev/null +++ b/common/launch/state_estimation.launch @@ -0,0 +1,4 @@ + + + + diff --git a/geographic_info b/geographic_info new file mode 160000 index 0000000..9d6f1b2 --- /dev/null +++ b/geographic_info @@ -0,0 +1 @@ +Subproject commit 9d6f1b2715dd59525ddb6058c4b54e4a2956adf1 diff --git a/master_control/.catkin_workspace b/master_control/.catkin_workspace deleted file mode 100644 index 52fd97e..0000000 --- a/master_control/.catkin_workspace +++ /dev/null @@ -1 +0,0 @@ -# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/master_control/src/stateNode/__pycache__/ilocator_pythonLib.cpython-38.pyc b/master_control/src/stateNode/__pycache__/ilocator_pythonLib.cpython-38.pyc deleted file mode 100644 index cd0272e..0000000 Binary files a/master_control/src/stateNode/__pycache__/ilocator_pythonLib.cpython-38.pyc and /dev/null differ diff --git a/master_control/stateNode/CMakeLists.txt b/master_control/stateNode/CMakeLists.txt deleted file mode 100644 index 806f8c2..0000000 --- a/master_control/stateNode/CMakeLists.txt +++ /dev/null @@ -1,202 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(stateNode) - -## 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) - -## 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 exec_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 exec_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 # Or other packages containing 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 exec_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 stateNode -# CATKIN_DEPENDS other_catkin_pkg -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -include_directories( -# include -# ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(${PROJECT_NAME} -# src/${PROJECT_NAME}/stateNode.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(${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/stateNode_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 -# catkin_install_python(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html -# install(TARGETS ${PROJECT_NAME}_node -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark libraries for installation -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html -# install(TARGETS ${PROJECT_NAME} -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${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_stateNode.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) diff --git a/master_control/stateNode/package.xml b/master_control/stateNode/package.xml deleted file mode 100644 index f16c945..0000000 --- a/master_control/stateNode/package.xml +++ /dev/null @@ -1,59 +0,0 @@ - - - stateNode - 0.0.0 - The stateNode package - - - - - anders - - - - - - TODO - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - catkin - - - - - - - - diff --git a/nmea_msgs b/nmea_msgs new file mode 160000 index 0000000..1ccb30a --- /dev/null +++ b/nmea_msgs @@ -0,0 +1 @@ +Subproject commit 1ccb30a83895a8a727b29d558f9c85da532c71da diff --git a/ublox_f9p/ublox_gps/CMakeLists.txt b/ublox_f9p/ublox_gps/CMakeLists.txt index 06034c4..04278ea 100644 --- a/ublox_f9p/ublox_gps/CMakeLists.txt +++ b/ublox_f9p/ublox_gps/CMakeLists.txt @@ -24,7 +24,7 @@ include_directories(${PROJECT_SOURCE_DIR}/include) include_directories(${catkin_INCLUDE_DIRS}) # link pthread -SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread") +SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread") # build library add_library(ublox_gps src/gps.cpp) diff --git a/uiid b/uiid new file mode 160000 index 0000000..4ad95c8 --- /dev/null +++ b/uiid @@ -0,0 +1 @@ +Subproject commit 4ad95c865f73c325b27e791104ca13d014e91df6