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yowlingsyowlings
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emmerge to one respository for xbot2
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‎58-xbot.rules

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# On precise, for some reason, USER and GROUP are getting ignored.
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# So setting mode = 0666 for now.
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SUBSYSTEM=="tty", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", GROUP:="dialout", MODE:="0666", SYMLINK+="xbot"
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# Bluetooth module (currently not supported and may have problems)
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# SUBSYSTEM=="tty", ATTRS{address}=="00:00:00:41:48:22", MODE:="0666",

‎README.md

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# Overview
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Xbot is a double wheeled mobile robot which is suitable for most of common sensors and hardware such as Microsoft's Kinect and Asus' Xtion Pro and RPlidar. Users can easily integrate their own customized hardware and applications to the development platform by using ROS and the related series tutorials. For more details about xbot robot, please visit [http://robots.ros.org/xbot/](http://robots.ros.org/xbot/)
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![image](https://github.com/yowlings/xbot/blob/master/xbot.png)
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# Packages
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This git repo contains 4 ROS packages for making up a complete xbot ROS bringup. They are xbot_driver, xbot_dock_drive, xbot_ftdi, xbot_keyop, xbot_msgs,xbot_node and xbot_safety_controller.
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## xbot_driver
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xbot_driver is the basic package of xbot_bringup. It provides the serial communication with the xbot move base including get sensors data and post the command data from navigation algorithms.
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There ars some test tools such as simple_keyop for you to debug your driver program. You can test if the received data is as expected or transfer the move command to see if it is moving as what you want.
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xbot_driver is also a pure c++ program which means that you can run it as a c++ program or you can choose the ROS way to execute it.
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## xbot_keyop
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The package for teleoperate xbot in your computer. Just follow the direction info once the program launched and shown in screen.
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## xbot_msgs
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All of the message types that xbot publishes and subscribes. You can define your own message types in this package.
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## xbot_node
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xbot_node is the bridge between xbot_driver and ROS. In this package, all the related subscribed topics and published topics is defined and realised.
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# Usage
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There are three ways to launch the xbot.
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### xbot_rplidar.launch
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>roslaunch xbot_bringup xbot_rplidar.launch
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Driving xbot with only rplidar sensor.
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### xbot_asus.launch
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>roslaunch xbot_bringup xbot_asus.launch
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Driving xbot with only asus camera.
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### xbot_rplidar_asus.launch
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>roslaunch xbot_bringup xbot_rplidar_asus.launch
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Driving xbot with both rplidar sensor and asus camera.

‎docs/ISCASxlab_protocols.doc

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‎ecl.tar.gz

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‎install_dependencies.sh

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#!/bin/bash
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sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
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sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
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sudo apt-get update
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sudo apt-get install ros-indigo-desktop-full
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sudo apt-get install python-rosinstall
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sudo apt-get install cmake
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sudo apt-get install ros-indigo-ecl-core ros-indigo-ecl-eigen ros-indigo-ecl-utilities ros-indigo-ecl-tools ros-indigo-ecl-geometry ros-indigo-ecl-mobile-robot
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sudo apt-get install ros-indigo-yocs-controllers
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sudo apt-get install libftdi-dev python-ftdi ros-indigo-kobuki-ftdi
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sudo apt-get install ros-indigo-ecl-build
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echo "Done."
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‎xbot.png

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‎xbot2_description

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Subproject commit 78e7fe2949a77fcb865f91798ff98351249cfbc0

‎xbot2_tools/CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(xbot2_tools)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES xbot2_tools
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# CATKIN_DEPENDS roscpp rospy std_msg
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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# include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/xbot2_tools.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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# add_executable(${PROJECT_NAME}_node src/xbot2_tools_node.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(${PROJECT_NAME}_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_xbot2_tools.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎xbot2_tools/package.xml

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<?xml version="1.0"?>
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<package>
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<name>xbot2_tools</name>
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<version>0.0.0</version>
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<description>The xbot2_tools package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
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<maintainer email="[email protected]">roc</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but multiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/xbot2_tools</url> -->
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<!-- Author tags are optional, multiple are allowed, one per tag -->
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<!-- Authors do not have to be maintainers, but could be -->
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<!-- Example: -->
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<!-- <author email="[email protected]">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>std_msgs</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rospy</run_depend>
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<run_depend>std_msgs</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

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