Changelog for package roch_bringup

• test/app_manager_with_capabilities.launch
  • Roch Standalone with roch_capabilities
  • • robot_name [default: $(optenv ROBOT_NAME roch)]
    • robot_type [default: $(optenv ROBOT_TYPE roch)]
    • robot_icon [default: roch_base/roch_icon.png]
    • rapp_preferred_configuration_file [default: $(find rocon_app_manager)/param/preferred_default.yaml] — pointer to a yaml file listing preferred rapps
    • capabilities_parameters [default: $(find roch_capabilities)/param/defaults_roch_capabilities.yaml]
    • capabilities_server_name [default: capability_server]
    • capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
    • capabilities_package_whitelist [default: [roch_capabilities, std_capabilities, capabilities]]
    • capabilities_blacklist [default: ['std_capabilities/MultiEchoLaserSensor', 'std_capabilities/Navigation2D']]
    • interactions [default: true] — start an interactions manager
    • interactions_list [default: $(env ROCH_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • zeroconf [default: true]
    • zeroconf_port [default: 11311]
• test/rocon_interactions.launch
  • A example that loads up a variety of interactions using either params or the external ros api loader. Usage: - Launch - Call 'rocon_interactions' to view the loaded interactions.
  • • ROSBRIDGE_ADDRESS [default: localhost]
    • ROSBRIDGE_PORT [default: 9090]
• launch/concert_minimal.launch
  • Launchers for rocon_concert and minimal with Roch. Copyright (c) 2017, SawYer Robotics All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of SawYer Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • • base [default: $(env ROCH_BASE)] — mobile base type [roch]
    • stacks [default: $(env ROCH_STACKS)] — stack type displayed in visualisation/simulation [standard]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)] — 3d sensor types [kinect, asus_xtion_pro, r200]
    • 3d_sensor_enable [default: $(env ROCH_3D_SENSOR_ENABLE)] — 3d sensor enable
    • 2d_laser [default: $(env ROCH_LASER)] — 2d laser types [ls01c, rplidar]
    • 2d_laser_enable [default: $(env ROCH_LASER_ENABLE)] — 2d laser enable
    • serialport [default: $(env ROCH_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • simulation [default: $(env ROCH_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • robot_name [default: $(optenv ROBOT_NAME roch)]
    • robot_type [default: $(optenv ROBOT_TYPE roch)]
    • robot_icon [default: roch_base/roch_icon.png]
    • rapp_preferred_configuration_file [default: $(find roch_bringup)/param/preferred_default.yaml] — pointer to a yaml file listing preferred rapps
    • capabilities_parameters [default: $(find roch_capabilities)/param/defaults_roch_capabilities.yaml]
    • capabilities_server_name [default: capability_server]
    • capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
    • capabilities_package_whitelist [default: [roch_capabilities, std_capabilities, capabilities]]
    • capabilities_blacklist [default: ['std_capabilities/MultiEchoLaserSensor', 'std_capabilities/Navigation2D']]
    • interactions [default: true] — start an interactions manager
    • interactions_list [default: $(env ROCH_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • zeroconf [default: true]
    • zeroconf_port [default: 11311]
• launch/sensor.launch
  • Roch is a bit low on horsepower... We use openni_camera here, turn everything on by default (allows the user to conveniently see everything when launching this on its own - use with turtebot_rviz_launchers/view_robot.launch to visualise) and provide args to disable them so you can optimise the horsepower for your application. For an example of disabling processing modules, check any of the turtlebot_rapps (e.g. android_make_a_map.launch only enables scan_processing for depthimage_to_laserscan and rgb_processing for the android tele-view).
  • • camera [default: camera]
    • publish_tf [default: false]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)]
    • 2d_laser [default: $(env ROCH_LASER)]
    • 2d_laser_enabled [default: $(env ROCH_LASER_ENABLE)]
    • 3d_sensor_enabled [default: $(env ROCH_3D_SENSOR_ENABLE)]
    • 3d_sensor_nav_enabled [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
    • scan_topic [default: scan]
• launch/concert_client.launch
  • Launchers for rocon_concert and minimal with Roch. Copyright (c) 2017, SawYer Robotics All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of SawYer Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • • base [default: $(env ROCH_BASE)] — mobile base type [roch]
    • stacks [default: $(env ROCH_STACKS)] — stack type displayed in visualisation/simulation [standard]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)] — 3d sensor types [kinect, asus_xtion_pro, r200]
    • 3d_sensor_enable [default: $(env ROCH_3D_SENSOR_ENABLE)] — 3d sensor enable
    • 2d_laser [default: $(env ROCH_LASER)] — 2d laser types [ls01c, rplidar]
    • 2d_laser_enable [default: $(env ROCH_LASER_ENABLE)] — 2d laser enable
    • serialport [default: $(env ROCH_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • simulation [default: $(env ROCH_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • robot_name [default: $(env ROCH_NAME)] — used as a unique indetifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env ROCH_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
    • rapp_package_whitelist [default: [rocon_apps, roch_rapps]]
    • rapp_package_blacklist [default: []]
    • rapp_auto_installation [default: false] — automatically install rapps from the web (not typically used)
    • screen [default: true]
    • auto_rapp_installation [default: false]
    • rapp_preferred_configuration_file [default: $(find roch_bringup)/param/preferred_rapp.yaml] — pointer to a yaml file listing preferred rapps
    • robot_icon [default: roch_base/roch_icon.png]
    • robot_description [default: Quality platform Roch] — user friendly robot description
    • capabilities [default: true]
    • capabilities_parameters [default: $(find roch_capabilities)/param/defaults_roch_capabilities.yaml]
    • capabilities_server_name [default: capability_server]
    • capabilities_nodelet_manager_name [default: capability_server_nodelet_manager]
    • capabilities_whitelist [default: [roch_capabilities, std_capabilities, capabilities]]
    • capabilities_blacklist [default: ['std_capabilities/MultiEchoLaserSensor', 'std_capabilities/Navigation2D']]
    • interactions [default: true] — start an interactions manager
    • interactions_list [default: $(env ROCH_INTERACTIONS_LIST)] — a list of filenames that provide interactions specifications.
    • robot_unique_name [default: true] — postfix a uuid to robot_name to create unique namespaces for rapps (else manully gyarantee unique names for multimaster'ing)
    • concert_whitelist [default: []] — list of multimaster hubs (concerts) to connect to
    • local_machine_only [default: false] — connect only to multimaster hubs (concerts) on local machine (testing option)
    • concert_watch_period [default: 10] — polling loop for discovering multimaster hubs (concerts)
    • firewall [default: false] — block people from flipping (registering topics) on this master.
• launch/minimal.launch
  • Copyright (c) 2014, SawYer Robotics All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of SawYer Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • • base [default: $(env ROCH_BASE)] — mobile base type [roch]
    • stacks [default: $(env ROCH_STACKS)] — stack type displayed in visualisation/simulation [standard]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)] — 3d sensor types [kinect, asus_xtion_pro, r200]
    • 3d_sensor_enable [default: $(env ROCH_3D_SENSOR_ENABLE)] — 3d sensor enable
    • 2d_laser [default: $(env ROCH_LASER)] — 2d laser types [ls01c, rplidar]
    • 2d_laser_enable [default: $(env ROCH_LASER_ENABLE)] — 2d laser enable
    • serialport [default: $(env ROCH_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • simulation [default: $(env ROCH_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • robot_name [default: $(env ROCH_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env ROCH_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
• launch/minimal_sensors.launch
  • Copyright (c) 2017, SawYer Robotics All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * Neither the name of SawYer Robotics nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  • • base [default: $(env ROCH_BASE)] — mobile base type [roch]
    • stacks [default: $(env ROCH_STACKS)] — stack type displayed in visualisation/simulation [standard]
    • 3d_sensor [default: $(env ROCH_3D_SENSOR)] — 3d sensor types [kinect, asus_xtion_pro, r200]
    • 3d_sensor_enable [default: $(env ROCH_3D_SENSOR_ENABLE)] — 3d sensor enable
    • 3d_sensor_nav_enable [default: $(env ROCH_3D_SENSOR_NAV_ENABLE)] — 3d sensor navigation enable
    • 2d_laser [default: $(env ROCH_LASER)] — 2d laser types [ls01c, rplidar]
    • 2d_laser_enable [default: $(env ROCH_LASER_ENABLE)] — 2d laser enable
    • serialport [default: $(env ROCH_SERIAL_PORT)] — used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]
    • simulation [default: $(env ROCH_SIMULATION)] — set flags to indicate this turtle is run in simulation mode.
    • robot_name [default: $(env ROCH_NAME)] — used as a unique identifier and occasionally to preconfigure root namespaces, gateway/zeroconf ids etc.
    • robot_type [default: $(env ROCH_TYPE)] — just in case you are considering a 'variant' and want to make use of this.
    • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
    • scan_topic [default: scan]
• launch/includes/roch/safety_controller.launch.xml
  • Example/standalone launcher for roch's safety controller
• launch/includes/roch/sensorpc.launch.xml
  • launch the ult/psd/cliff to pointcloud . Parameter pointcloud_radius gives the ult/psd/cliff pointcloud distance to base frame; Parameter ult/psd/cliff_enable gives the ult/psd/cliff enable. should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.
• launch/includes/roch/mobile_base.launch.xml
  • roch's implementation of roch's mobile base.
  • • serialport
• launch/includes/robot.launch.xml
  • Collection of robot-centric definitions and nodes for the roch.
  • • base
    • stacks
    • 3d_sensor
    • 3d_sensor_enable
    • 2d_laser
    • 2d_laser_enable
• launch/includes/capabilities.launch.xml
  • Launchers for capability server with default providers. This file only use default launch file with capabilities package, and add some default files of Roch.
  • • base
    • 3d_sensor
    • 2d_laser
    • test_case [default: minimal]
    • debug [default: false]
• launch/includes/laser/rplidar.launch.xml
  • • 2d_laser [default: $(env ROCH_LASER)]
• launch/includes/laser/ls01c.launch.xml
  • • laserPort_ [default: $(env LS01C_SERIAL_PORT)]
    • 2d_laser [default: $(env ROCH_LASER)]
    • lsrate [default: 50.0]
• launch/includes/description.launch.xml
  • Robot description only (used in private and paired master).
  • • base
    • stacks
    • 3d_sensor
    • 3d_sensor_enable
    • 2d_laser
    • 2d_laser_enable
    • urdf_file [default: $(find xacro)/xacro.py '$(find roch_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor)_$(arg 2d_laser).urdf.xacro']
    • urdf_file [default: $(find xacro)/xacro.py '$(find roch_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor).urdf.xacro']
    • urdf_file [default: $(find xacro)/xacro.py '$(find roch_description)/robots/$(arg base)_$(arg stacks)_$(arg 3d_sensor)_$(arg 2d_laser).urdf.xacro']
    • urdf_file [default: $(find xacro)/xacro.py '$(find roch_description)/robots/$(arg base)_$(arg stacks)_$(arg 2d_laser).urdf.xacro']
    • urdf_file [default: $(find xacro)/xacro.py '$(find roch_description)/robots/$(arg base)_$(arg stacks).urdf.xacro']
• launch/includes/3dsensor/asus_xtion_pro.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/astra.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/r200.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • rgb [default: rgb]
    • ir [default: ir]
    • depth_registered [default: depth_registered]
    • projector [default: projector]
    • depth_registration [default: true]
    • respawn [default: false]
    • launch_camera [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • hw_registered_processing [default: false]
    • sw_registered_processing [default: true]
    • depth_fps [default: 30]
    • color_fps [default: 30]
    • num_worker_threads [default: 4]
    • debug [default: false]
• launch/includes/3dsensor/kinect.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/3dsensor/asus_xtion_pro_offset.launch.xml
  • • camera [default: camera]
    • publish_tf [default: false]
    • depth_registration [default: true]
    • rgb_processing [default: true]
    • ir_processing [default: true]
    • depth_processing [default: true]
    • depth_registered_processing [default: true]
    • disparity_processing [default: true]
    • disparity_registered_processing [default: true]
    • scan_processing [default: true]
    • num_worker_threads [default: 4]
• launch/includes/mobile_base.launch.xml
  • The mobile platform base. Selector for the base.
  • • base
    • serialport

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