base_link and laser_base are now synced with rtab pos est

1. testing shows rtabmap pose est is decently accurate at low speeds. 2. the pose est publishes pos msg. created node that publishes base_link and laser_base based on the pos est. 3. other small changes. Note: be sure to test zed_odom path planning as well. need to conduct extensive tests. Close to ready for 0.8.0 release.
sigmaai · May 4, 2019 · f23f0c0 · f23f0c0
1 parent 1678f65
commit f23f0c0
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diff --git a/ros/src/cmake-build-debug/CMakeFiles/Makefile.cmake b/ros/src/cmake-build-debug/CMakeFiles/Makefile.cmake
@@ -670,6 +670,7 @@ set(CMAKE_DEPEND_INFO_FILES
   "navigation/mapping/CMakeFiles/nav_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
   "navigation/mapping/CMakeFiles/bond_generate_messages_cpp.dir/DependInfo.cmake"
   "navigation/mapping/CMakeFiles/map_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
+  "navigation/mapping/CMakeFiles/robot_pose_publisher.dir/DependInfo.cmake"
   "navigation/mapping/CMakeFiles/nav_msgs_generate_messages_eus.dir/DependInfo.cmake"
   "navigation/mapping/CMakeFiles/nav_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "navigation/mapping/CMakeFiles/visualization_msgs_generate_messages_eus.dir/DependInfo.cmake"

diff --git a/ros/src/cmake-build-debug/CMakeFiles/Makefile2 b/ros/src/cmake-build-debug/CMakeFiles/Makefile2
diff --git a/ros/src/cmake-build-debug/CMakeFiles/TargetDirectories.txt b/ros/src/cmake-build-debug/CMakeFiles/TargetDirectories.txt
@@ -278,6 +278,7 @@
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/nav_msgs_generate_messages_nodejs.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/bond_generate_messages_cpp.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/map_msgs_generate_messages_nodejs.dir
+/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/robot_pose_publisher.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/nav_msgs_generate_messages_eus.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/nav_msgs_generate_messages_cpp.dir
 /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/navigation/mapping/CMakeFiles/visualization_msgs_generate_messages_eus.dir

diff --git a/ros/src/cmake-build-debug/CMakeFiles/clion-log.txt b/ros/src/cmake-build-debug/CMakeFiles/clion-log.txt
@@ -1,7 +1,7 @@
 /home/neil/snap/clion-2019.1/bin/cmake/linux/bin/cmake -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - Unix Makefiles" /home/neil/Workspace/self-driving-golf-cart/ros/src
 -- Using CATKIN_DEVEL_PREFIX: /home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel
--- Using CMAKE_PREFIX_PATH: /home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic
--- This workspace overlays: /home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic
+-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
+-- This workspace overlays: /opt/ros/melodic
 -- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.15", minimum required is "2") 
 -- Using PYTHON_EXECUTABLE: /usr/bin/python2
 -- Using Debian Python package layout

diff --git a/ros/src/cmake-build-debug/CMakeFiles/progress.marks b/ros/src/cmake-build-debug/CMakeFiles/progress.marks
@@ -1 +1 @@
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+90
diff --git a/ros/src/cmake-build-debug/Makefile b/ros/src/cmake-build-debug/Makefile
@@ -2273,6 +2273,19 @@ map_msgs_generate_messages_nodejs/fast:
 	$(MAKE) -f navigation/mapping/CMakeFiles/map_msgs_generate_messages_nodejs.dir/build.make navigation/mapping/CMakeFiles/map_msgs_generate_messages_nodejs.dir/build
 .PHONY : map_msgs_generate_messages_nodejs/fast
 
+#=============================================================================
+# Target rules for targets named robot_pose_publisher
+
+# Build rule for target.
+robot_pose_publisher: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 robot_pose_publisher
+.PHONY : robot_pose_publisher
+
+# fast build rule for target.
+robot_pose_publisher/fast:
+	$(MAKE) -f navigation/mapping/CMakeFiles/robot_pose_publisher.dir/build.make navigation/mapping/CMakeFiles/robot_pose_publisher.dir/build
+.PHONY : robot_pose_publisher/fast
+
 #=============================================================================
 # Target rules for targets named nav_msgs_generate_messages_eus
 
@@ -3644,6 +3657,7 @@ help:
 	@echo "... nav_msgs_generate_messages_nodejs"
 	@echo "... bond_generate_messages_cpp"
 	@echo "... map_msgs_generate_messages_nodejs"
+	@echo "... robot_pose_publisher"
 	@echo "... nav_msgs_generate_messages_eus"
 	@echo "... nav_msgs_generate_messages_cpp"
 	@echo "... visualization_msgs_generate_messages_eus"

diff --git a/ros/src/cmake-build-debug/Project.cbp b/ros/src/cmake-build-debug/Project.cbp
diff --git a/ros/src/cmake-build-debug/autopilot/catkin_generated/installspace/autopilotConfig.cmake b/ros/src/cmake-build-debug/autopilot/catkin_generated/installspace/autopilotConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/catkin_generated/generate_cached_setup.py b/ros/src/cmake-build-debug/catkin_generated/generate_cached_setup.py
@@ -12,7 +12,7 @@
     from catkin.environment_cache import generate_environment_script
 except ImportError:
     # search for catkin package in all workspaces and prepend to path
-    for workspace in "/home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic".split(';'):
+    for workspace in "/opt/ros/melodic".split(';'):
         python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
         if os.path.isdir(os.path.join(python_path, 'catkin')):
             sys.path.insert(0, python_path)

diff --git a/ros/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/ros/src/cmake-build-debug/catkin_generated/installspace/_setup_util.py
@@ -264,7 +264,7 @@ def _parse_arguments(args=None):
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = '/home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []

diff --git a/ros/src/cmake-build-debug/catkin_generated/order_packages.py b/ros/src/cmake-build-debug/catkin_generated/order_packages.py
@@ -2,4 +2,4 @@
 source_root_dir = "/home/neil/Workspace/self-driving-golf-cart/ros/src"
 whitelisted_packages = "".split(';') if "" != "" else []
 blacklisted_packages = "".split(';') if "" != "" else []
-underlay_workspaces = "/home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic".split(';') if "/home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic" != "" else []
+underlay_workspaces = "/opt/ros/melodic".split(';') if "/opt/ros/melodic" != "" else []
diff --git a/ros/src/cmake-build-debug/catkin_generated/setup_cached.sh b/ros/src/cmake-build-debug/catkin_generated/setup_cached.sh
@@ -11,5 +11,5 @@ export CMAKE_PREFIX_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src/cm
 export LD_LIBRARY_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel/lib:$LD_LIBRARY_PATH"
 export PKG_CONFIG_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
 export PYTHONPATH="/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel/lib/python2.7/dist-packages:$PYTHONPATH"
-export ROSLISP_PACKAGE_DIRECTORIES="/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
+export ROSLISP_PACKAGE_DIRECTORIES="/home/neil/Workspace/self-driving-golf-cart/ros/src/cmake-build-debug/devel/share/common-lisp"
 export ROS_PACKAGE_PATH="/home/neil/Workspace/self-driving-golf-cart/ros/src:$ROS_PACKAGE_PATH"
diff --git a/ros/src/cmake-build-debug/catkin_generated/stamps/Project/_setup_util.py.stamp b/ros/src/cmake-build-debug/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -264,7 +264,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = '/home/neil/Workspace/self-driving-golf-cart/ros/devel;/opt/ros/melodic'.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []

diff --git a/ros/src/cmake-build-debug/data_logger/catkin_generated/installspace/data_loggerConfig.cmake b/ros/src/cmake-build-debug/data_logger/catkin_generated/installspace/data_loggerConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/...d-debug/detection/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake b/...d-debug/detection/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/...tion/object_detection/CMakeFiles/object_detection_generate_messages_cpp.dir/progress.make b/...tion/object_detection/CMakeFiles/object_detection_generate_messages_cpp.dir/progress.make
@@ -1,3 +1,3 @@
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-CMAKE_PROGRESS_2 = 23
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diff --git a/...tion/object_detection/CMakeFiles/object_detection_generate_messages_eus.dir/progress.make b/...tion/object_detection/CMakeFiles/object_detection_generate_messages_eus.dir/progress.make
@@ -1,4 +1,4 @@
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 CMAKE_PROGRESS_2 = 24
 CMAKE_PROGRESS_3 = 25
 
diff --git a/...ion/object_detection/CMakeFiles/object_detection_generate_messages_lisp.dir/progress.make b/...ion/object_detection/CMakeFiles/object_detection_generate_messages_lisp.dir/progress.make
@@ -1,3 +1,3 @@
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diff --git a/...n/object_detection/CMakeFiles/object_detection_generate_messages_nodejs.dir/progress.make b/...n/object_detection/CMakeFiles/object_detection_generate_messages_nodejs.dir/progress.make
@@ -1,3 +1,3 @@
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diff --git a/...ction/object_detection/CMakeFiles/object_detection_generate_messages_py.dir/progress.make b/...ction/object_detection/CMakeFiles/object_detection_generate_messages_py.dir/progress.make
@@ -1,4 +1,4 @@
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 CMAKE_PROGRESS_3 = 31
 
diff --git a/ros/src/cmake-build-debug/detection/object_detection/CMakeFiles/progress.marks b/ros/src/cmake-build-debug/detection/object_detection/CMakeFiles/progress.marks
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@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/driver/catkin_generated/installspace/driverConfig.cmake b/ros/src/cmake-build-debug/driver/catkin_generated/installspace/driverConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock.dir/progress.make b/ros/src/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock.dir/progress.make
@@ -1,4 +1,4 @@
-CMAKE_PROGRESS_1 = 7
-CMAKE_PROGRESS_2 = 
+CMAKE_PROGRESS_1 = 
+CMAKE_PROGRESS_2 = 7
 CMAKE_PROGRESS_3 = 8
 
diff --git a/ros/src/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest.dir/progress.make b/ros/src/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest.dir/progress.make
@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 15
-CMAKE_PROGRESS_2 = 
+CMAKE_PROGRESS_1 = 14
+CMAKE_PROGRESS_2 = 15
 
diff --git a/ros/src/cmake-build-debug/osm/catkin_generated/installspace/osm_cartographyConfig.cmake b/ros/src/cmake-build-debug/osm/catkin_generated/installspace/osm_cartographyConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/point_cloud/CMakeFiles/planar_segmentation.dir/progress.make b/ros/src/cmake-build-debug/point_cloud/CMakeFiles/planar_segmentation.dir/progress.make
@@ -1,3 +1,3 @@
 CMAKE_PROGRESS_1 = 33
-CMAKE_PROGRESS_2 = 34
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diff --git a/ros/src/cmake-build-debug/point_cloud/CMakeFiles/point_cloud_transform.dir/progress.make b/ros/src/cmake-build-debug/point_cloud/CMakeFiles/point_cloud_transform.dir/progress.make
@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 35
-CMAKE_PROGRESS_2 = 36
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diff --git a/ros/src/cmake-build-debug/point_cloud/CMakeFiles/progress.marks b/ros/src/cmake-build-debug/point_cloud/CMakeFiles/progress.marks
@@ -1 +1 @@
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@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/...-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_cpp.dir/progress.make b/...-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_cpp.dir/progress.make
@@ -1,2 +1,2 @@
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diff --git a/...-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_eus.dir/progress.make b/...-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_eus.dir/progress.make
@@ -1,3 +1,3 @@
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-CMAKE_PROGRESS_2 = 40
+CMAKE_PROGRESS_1 = 
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diff --git a/...build-debug/segmentation/CMakeFiles/segmentation_generate_messages_lisp.dir/progress.make b/...build-debug/segmentation/CMakeFiles/segmentation_generate_messages_lisp.dir/progress.make
@@ -1,2 +1,2 @@
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diff --git a/...ild-debug/segmentation/CMakeFiles/segmentation_generate_messages_nodejs.dir/progress.make b/...ild-debug/segmentation/CMakeFiles/segmentation_generate_messages_nodejs.dir/progress.make
@@ -1,2 +1,2 @@
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diff --git a/...e-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_py.dir/progress.make b/...e-build-debug/segmentation/CMakeFiles/segmentation_generate_messages_py.dir/progress.make
@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 43
-CMAKE_PROGRESS_2 = 44
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diff --git a/...src/cmake-build-debug/segmentation/catkin_generated/installspace/segmentationConfig.cmake b/...src/cmake-build-debug/segmentation/catkin_generated/installspace/segmentationConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/sensors/camera/catkin_generated/installspace/cameraConfig.cmake b/ros/src/cmake-build-debug/sensors/camera/catkin_generated/installspace/cameraConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/sensors/gps/catkin_generated/installspace/gpsConfig.cmake b/ros/src/cmake-build-debug/sensors/gps/catkin_generated/installspace/gpsConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/ros/src/cmake-build-debug/sensors/joystick/catkin_generated/installspace/joyConfig.cmake b/ros/src/cmake-build-debug/sensors/joystick/catkin_generated/installspace/joyConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

diff --git a/...d-ros-wrapper/zed_display_rviz/catkin_generated/installspace/zed_display_rvizConfig.cmake b/...d-ros-wrapper/zed_display_rviz/catkin_generated/installspace/zed_display_rvizConfig.cmake
@@ -131,7 +131,7 @@ foreach(library ${libraries})
     set(lib_path "")
     set(lib "${library}-NOTFOUND")
     # since the path where the library is found is returned we have to iterate over the paths manually
-    foreach(path /usr/local/lib;/home/neil/Workspace/self-driving-golf-cart/ros/devel/lib;/opt/ros/melodic/lib)
+    foreach(path /usr/local/lib;/opt/ros/melodic/lib)
       find_library(lib ${library}
         PATHS ${path}
         NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)