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Jade devel #30

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b39a744
Add libopencv-dev depend
Aug 6, 2015
3ac7849
Update README.md for jade-devel
Sep 5, 2015
ef55180
Merge pull request #10 from AaronMR/update_readme_for_jade_devel
Sep 5, 2015
de9c35b
Add link and cover image to README
Dec 6, 2015
48bc80c
Add OpenCV non-free installation steps
Oct 28, 2015
454f7f8
Fix chapter 9 depends
Dec 7, 2015
a4774c7
Source setup.bash in code block + Update authors
Dec 7, 2015
e124f02
Fix args in include inside chapter9 launch
Jan 23, 2016
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32 changes: 21 additions & 11 deletions README.md
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# Learning ROS for Robotics Programming - Second Edition #

**Learning ROS for Robotics Programming - Second Edition** book tutorials source code.
[**Learning ROS for Robotics Programming - Second Edition**](https://www.packtpub.com/hardware-and-creative/learning-ros-robotics-programming-%E2%80%93-second-edition) book tutorials source code.

<a href="https://www.packtpub.com/hardware-and-creative/learning-ros-robotics-programming-%E2%80%93-second-edition"><img src=https://www.packtpub.com/sites/default/files/7580OS_Learning%20ROS%20for%20Robotics%20Programming%20-%20Second%20Edition.jpg width=200/></a>

## Authors ##

* Aaron Martínez
* Anil Mahtani
* Enrique Fernández
* Luiz Sánchez
* [Enrique Fernández](https://github.com/efernandez)
* [Luis Sánchez Crespo](https://github.com/LuisSC)
* [Anil Mahtani](https://github.com/Anilm3)
* [Aaron Martínez](https://github.com/AaronMR)

## Installation ##

Install **ROS Hydro** on a compatible **Ubuntu** distro following the official instructions provided [here](http://wiki.ros.org/hydro/Installation/Ubuntu).
Note that **ROS Indigo** might also work for most of the source code.
Install **ROS Jade** on a compatible **Ubuntu** distro following the official instructions provided [here](http://wiki.ros.org/hydro/Installation/Ubuntu).

For **ROS Hydro** use the [**hydro-devel**](https://github.com/AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition/tree/hydro-devel) branch.

For **ROS Indigo** use the [**indigo-devel**](https://github.com/AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition/tree/indigo-devel) branch.

Install the OpenCV non-free repository:
``` bash
sudo add-apt-repository --yes ppa:xqms/opencv-nonfree
sudo apt-get install libopencv-nonfree-dev libopencv-nonfree2.4
```

Create a workspace:
``` bash
Expand All @@ -23,7 +34,7 @@ wstool init

Download this repository:
``` bash
wstool set ROS_Book_Hydro --git git@github.com:AaronMR/ROS_Book_Hydro.git
wstool set ros_book --git git@github.com:AaronMR/Learning_ROS_for_Robotics_Programming_2nd_edition.git
wstool up -j8
```

Expand All @@ -33,17 +44,16 @@ cd ..
rosdep install --from-paths src -iy
```

source /opt/ros/$(rosversion -d)/setup.bash

Build the source code (alternatively, you can use `catkin build` instead of `catkin_make`):
``` bash
source /opt/ros/$(rosversion -d)/setup.bash
catkin_make -j4
source devel/setup.bash
```

## Tutorials ##

* **Chapter 1:** Getting started with ROS Hydro (no source code as it covers the installation)
* **Chapter 1:** Getting started with ROS (no source code as it covers the installation)
* **Chapter 2:** ROS Architecture and Concepts
* **Chapter 3:** Visualization and Debug Tools
* **Chapter 4:** Using Sensors and Actuators with ROS
Expand Down
4 changes: 4 additions & 0 deletions chapter5_tutorials/package.xml
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Expand Up @@ -21,6 +21,8 @@
<build_depend>camera_info_manager</build_depend>
<build_depend>tf</build_depend>

<build_depend>libopencv-dev</build_depend>

<run_depend>roscpp</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>sensor_msgs</run_depend>
Expand All @@ -31,4 +33,6 @@
<run_depend>image_transport</run_depend>
<run_depend>camera_info_manager</run_depend>
<run_depend>tf</run_depend>

<run_depend>libopencv-dev</run_depend>
</package>
161 changes: 12 additions & 149 deletions chapter9_tutorials/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(chapter9_tutorials)

## 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
roscpp
rospy
move_base_msgs
actionlib
tf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
catkin_package()


## 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 and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * 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 # Or other packages containing msgs
# )

###################################
## 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 you 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 chapter9_tutorials
# CATKIN_DEPENDS roscpp rospy
# DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)

## Declare a cpp library
# add_library(chapter9_tutorials
# src/${PROJECT_NAME}/chapter9_tutorials.cpp
# )

## Declare a cpp executable
# add_executable(chapter9_tutorials_node src/chapter9_tutorials_node.cpp)
add_executable(sendGoals src/sendGoals.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(chapter9_tutorials_node chapter9_tutorials_generate_messages_cpp)

## Specify libraries to link a library or executable target against
# target_link_libraries(chapter9_tutorials_node
# ${catkin_LIBRARIES}
# )

target_link_libraries(sendGoals ${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 chapter9_tutorials chapter9_tutorials_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_chapter9_tutorials.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
install(TARGETS sendGoals
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
foreach(dir launch maps)
install(DIRECTORY ${dir}/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
34 changes: 22 additions & 12 deletions chapter9_tutorials/launch/chapter9_configuration_gazebo.launch
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<?xml version="1.0"?>
<launch>
<arg name="model" default="$(find robot1_description)/urdf/robot1_base_04.xacro"/>

<param name="/use_sim_time" value="true" />
<param name="/use_sim_time" value="true" />
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />

<remap from="robot/laser/scan" to="/scan" />
<!-- start up wg world -->
<include file="$(find gazebo_ros)/launch/willowgarage_world.launch" args="gui:=false">
</include>
<remap from="robot/laser/scan" to="/scan" />

<arg name="model" default="$(find robot1_description)/urdf/robot1_base_04.xacro"/>
<param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
<!-- start up wg world -->
<!-- We cannot call willowgarage_world.launch setting the gui arg to false
because that launch file doesn't take any arg.
Instead we call empty_world.launch with the same args that are set in
willowgarage_world.launch, expect for gui, which is changed to false. -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="worlds/willowgarage.world"/> <!-- Note: the world_name is with respect to GAZEBO_RESOURCE_PATH environmental variable -->
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="false"/>
<arg name="headless" value="false"/>
<arg name="debug" value="false"/>
</include>

<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"/>

<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" />
<!-- start robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find chapter9_tutorials)/launch/navigation.rviz" />
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen"/>

<node name="rviz" pkg="rviz" type="rviz" args="-d $(find chapter9_tutorials)/launch/navigation.rviz"/>
</launch>

67 changes: 21 additions & 46 deletions chapter9_tutorials/package.xml
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<version>0.0.0</version>
<description>The chapter9_tutorials package</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="retrorov-laptop@todo.todo">retrorov-laptop</maintainer>
<maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>
<author email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</author>

<license>BSD</license>

<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>


<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/chapter9_tutorials</url> -->


<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->


<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>


<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->

<!-- Other tools can request additional information be placed here -->
<build_depend>roscpp</build_depend>
<build_depend>move_base_msgs</build_depend>
<build_depend>actionlib</build_depend>
<build_depend>tf</build_depend>

</export>
</package>
<run_depend>roscpp</run_depend>
<run_depend>move_base_msgs</run_depend>
<run_depend>actionlib</run_depend>
<run_depend>tf</run_depend>
<run_depend>amcl</run_depend>
<run_depend>gazebo_ros</run_depend>
<run_depend>xacro</run_depend>
<run_depend>move_base</run_depend>
<run_depend>map_server</run_depend>
<run_depend>joint_state_publisher</run_depend>
<run_depend>robot_state_publisher</run_depend>
<run_depend>rviz</run_depend>
<run_depend>robot1_description</run_depend>
</package>