Renamed stretch_rtab -> stretch_rtabmap

stretch_rtab/launch/move_base.launch

@@ -1,29 +0,0 @@
-<launch>
-  <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
-
-  <arg name="config"/>
-  
-  <arg name="cmd_vel_topic"/>
-  <arg name="odom_topic"/>
-
-  <!-- Use global costmap-->
-  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
-    <!-- Include robot specific parameters from the robot config folder -->
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find stretch_rtab)/config/costmap_height.yaml" command="load" ns="global_costmap" />
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/global_costmap_params.yaml" command="load" />
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find stretch_rtab)/config/costmap_height.yaml" command="load" ns="local_costmap" />
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/local_costmap_params.yaml" command="load" />
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/base_local_planner_params.yaml" command="load" />
-    <rosparam file="$(find stretch_rtab)/config/$(arg config)/global_planner_params.yaml" command="load" />
-    <param name="conservative_reset_dist" type="double" value="3.0" />
-    <param name="controller_frequency" type="double" value="7.0" /> <!-- 20 -->
-    <param name="planner_patience" value="10.0" />
-    <param name="max_planning_retries" value="20" />
-
-    <remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
-    <remap from="odom" to="$(arg odom_topic)" />
-  </node>
-
-</launch>

stretch_rtab/package.xml

@@ -1,58 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>stretch_rtab</name>
-  <version>0.0.0</version>
-  <description>The stretch_rtab package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="csrobot@todo.todo">csrobot</maintainer>
-
-
-  <!-- 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 multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/stretch_rtab</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, 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 depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <exec_depend>move_base</exec_depend>
-  <exec_depend>rtabmap_ros</exec_depend>
-  <exec_depend>global_planner</exec_depend>
-  <exec_depend>dwa_local_planner</exec_depend>
-
-
-</package>

stretch_rtab/CMakeLists.txt → stretch_rtabmap/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(stretch_rtab)
+project(stretch_rtabmap)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -100,7 +100,7 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES stretch_rtab
+#  LIBRARIES stretch_rtabmap
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -118,7 +118,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/stretch_rtab.cpp
+#   src/${PROJECT_NAME}/stretch_rtabmap.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -129,7 +129,7 @@ include_directories(
 ## 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(${PROJECT_NAME}_node src/stretch_rtab_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/stretch_rtabmap_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -193,7 +193,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_stretch_rtab.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_stretch_rtabmap.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

stretch_rtab/README.md → stretch_rtabmap/README.md

@@ -2,7 +2,7 @@
 
 ## Overview
 
-*stretch_rtab* provides RTAB-MAPPiNG. This package utilizes rtab-map, move_base, and AMCL to map and drive the stretch RE1 around a space. Running this code will require the robot to be untethered.
+*stretch_rtabmap* provides RTAB-MAPPiNG. This package utilizes rtab-map, move_base, and AMCL to map and drive the stretch RE1 around a space. Running this code will require the robot to be untethered.
 
 ## Setup
 
@@ -22,15 +22,15 @@ Use `rosdep` to install the required packages.
 ### Gazebo
 
 ```bash
-    roslaunch stretch_rtab gazebo.launch
-    roslaunch stretch_rtab start_rtab.launch sim:=true localization:=false move_base_config:=2d
-    roslaunch stretch_rtab rviz_rtab.launch mapping:=true
+    roslaunch stretch_rtabmap gazebo.launch
+    roslaunch stretch_rtabmap start_rtab.launch sim:=true localization:=false move_base_config:=2d
+    roslaunch stretch_rtabmap rviz_rtab.launch mapping:=true
 ```
 
 ### Stretch RE1
 ```bash
-    roslaunch stretch_rtab start_rtab.launch sim:=false localization:=false move_base_config:=2d
-    roslaunch stretch_rtab rviz_rtab.launch mapping:=true
+    roslaunch stretch_rtabmap start_rtab.launch sim:=false localization:=false move_base_config:=2d
+    roslaunch stretch_rtabmap rviz_rtab.launch mapping:=true
 ```
 ## Code Status & Development Plans
 

stretch_rtabmap/launch/move_base.launch

@@ -0,0 +1,29 @@
+<launch>
+  <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
+
+  <arg name="config"/>
+  
+  <arg name="cmd_vel_topic"/>
+  <arg name="odom_topic"/>
+
+  <!-- Use global costmap-->
+  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+    <!-- Include robot specific parameters from the robot config folder -->
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find stretch_rtabmap)/config/costmap_height.yaml" command="load" ns="global_costmap" />
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/global_costmap_params.yaml" command="load" />
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/costmap_common_params.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find stretch_rtabmap)/config/costmap_height.yaml" command="load" ns="local_costmap" />
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/local_costmap_params.yaml" command="load" />
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find stretch_rtabmap)/config/$(arg config)/global_planner_params.yaml" command="load" />
+    <param name="conservative_reset_dist" type="double" value="3.0" />
+    <param name="controller_frequency" type="double" value="7.0" /> <!-- 20 -->
+    <param name="planner_patience" value="10.0" />
+    <param name="max_planning_retries" value="20" />
+
+    <remap from="cmd_vel" to="$(arg cmd_vel_topic)" />
+    <remap from="odom" to="$(arg odom_topic)" />
+  </node>
+
+</launch>

stretch_rtab/launch/rviz_rtab.launch → stretch_rtabmap/launch/rviz_rtab.launch

@@ -1,9 +1,9 @@
 <launch>
   <arg name="mapping" />
   <group if="$(arg mapping)">
-    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtab)/rviz/rtab_mapping.rviz"/>
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtabmap)/rviz/rtab_mapping.rviz"/>
   </group>
   <group unless="$(arg mapping)">
-    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtab)/rviz/rtab_navigation.rviz"/>
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtabmap)/rviz/rtab_navigation.rviz"/>
   </group>
 </launch>

stretch_rtab/launch/start_rtab.launch → stretch_rtabmap/launch/start_rtab.launch

@@ -17,12 +17,12 @@
     <arg name="rgb_topic" default="/realsense/color/image_raw"/>
     <arg name="rgb_camera_info" default="/realsense/color/camera_info"/>
 
-    <include file="$(find stretch_rtab)/launch/move_base.launch">
+    <include file="$(find stretch_rtabmap)/launch/move_base.launch">
       <arg name="config" value="$(arg move_base_config)" />
       <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
       <arg name="odom_topic" value="$(arg odom_topic)"/>
     </include>
-    <include file="$(find stretch_rtab)/launch/rtab.launch">
+    <include file="$(find stretch_rtabmap)/launch/rtab.launch">
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>
@@ -43,13 +43,13 @@
     <arg name="rgb_topic" default="/camera/color/image_raw"/>
     <arg name="rgb_camera_info" default="/camera/color/camera_info"/>
 
-    <include file="$(find stretch_rtab)/launch/robot.launch"/>
-    <include file="$(find stretch_rtab)/launch/move_base.launch">
+    <include file="$(find stretch_rtabmap)/launch/robot.launch"/>
+    <include file="$(find stretch_rtabmap)/launch/move_base.launch">
       <arg name="config" value="$(arg move_base_config)" />
       <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)"/>
       <arg name="odom_topic" value="$(arg odom_topic)"/>
     </include>
-    <include file="$(find stretch_rtab)/launch/rtab.launch">
+    <include file="$(find stretch_rtabmap)/launch/rtab.launch">
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>

stretch_rtabmap/package.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>stretch_rtabmap</name>
+  <version>0.0.0</version>
+  <description>The stretch_rtabmap package</description>
+  <maintainer email="support@hello-robot.com">Hello Robot Inc.</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="repository">https://github.com/hello-robot/stretch_ros</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>move_base</exec_depend>
+  <exec_depend>rtabmap_ros</exec_depend>
+  <exec_depend>global_planner</exec_depend>
+  <exec_depend>dwa_local_planner</exec_depend>
+</package>