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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
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208
Localizations/Cores/loc_core/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.0.2)
project(loc_core)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++14")
## 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
geometry_msgs
std_msgs
tf
tf2_ros
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## 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 tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_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
# geometry_msgs# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## 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 your 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 loc_core
CATKIN_DEPENDS geometry_msgs std_msgs tf tf2_ros
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/loc_core.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/loc_core_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${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
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
install(DIRECTORY include/${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_loc_core.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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Localizations/Cores/loc_core/include/loc_core/common.h Normal file
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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Locus 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 the copyright holder 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 HOLDER OR CONTRIBUTORS 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.
*/
#ifndef _LOC_CORE_COMMON_H_INCLUDED_
#define _LOC_CORE_COMMON_H_INCLUDED_
#include <tf2_ros/buffer.h>
#include <memory>
using TFListenerPtr = std::shared_ptr<tf2_ros::Buffer>;
#endif // _LOC_CORE_COMMON_H_INCLUDED_

136
Localizations/Cores/loc_core/include/loc_core/localization.h Normal file
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#ifndef _LOC_CORE_LOCALIZATION_H_INCLUDED_
#define _LOC_CORE_LOCALIZATION_H_INCLUDED_
#include <ros/ros.h>
#include <tf2_ros/buffer.h>
#include <tf/tf.h>
#include <memory>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose2D.h>
#include <loc_core/common.h>
namespace loc_core
{
enum slam_state_en
{
Mapping,
Localization,
Calibrations,
Ready,
Error
};
/**
* @class BaseLocalization
* @brief Provides an interface for locazation
* @brief All package written as plugins for the localization stack must adhere to this interface.
*/
class BaseLocalization
{
public:
using Ptr = std::shared_ptr<BaseLocalization>;
/**
* @brief Virtual destructor for the interface
*/
virtual ~BaseLocalization() {}
/**
* @brief Initialization function for loc base
* @param nh A Node handle
*
*/
virtual void initialize(ros::NodeHandle nh, TFListenerPtr tf) = 0;
/**
* @brief Loading a Activate Map File name
* @param activated_map_filename The Map File name
* @return True if activated_map_filename is exsits, else Fasle
*/
virtual bool loadActivateMapFileName(std::string& activated_map_filename) = 0;
/**
* @brief Saving a Activate Map File name
* @param activated_map_filename The Map File name
* @return True if activated_map_filename is exsits, else Fasle
*/
virtual bool saveActivateMapFileName(const std::string& activated_map_filename) = 0;
/**
* @brief Create any files to a folder of the path
* @param path The path where is be saved any files (png, yaml ...)
* @param map_name The name folder and files
*/
virtual bool createStaticMap(const std::string map_name) = 0;
/**
* @brief Load a map given a path to a yaml file
* @param filename The file name
* @return True/False If load map succesed or not done
*/
virtual bool changeStaticMap(const std::string filename) = 0;
/**
* @brief Load a virtual walls map given a path to a yaml file
* @param filename The file name
* @return True/False If load map succesed or not done
*/
virtual bool changeVirtualWallsMap(const std::string filename) = 0;
/**
* @brief Get the list of map folder in the workingdirection
* @param directories The list map name
*/
virtual void listMapFiles(std::stringstream &directories) = 0;
/**
* @brief Start the mapping process.
* When the state variable 'SlamState' is 'Ready', this function can be called.
* Upon successful invocation, the state variable 'SlamState' will change to 'Mapping'.
* @return True/False Call fucntion is successed/failed.
*/
virtual bool startMapping() = 0;
/**
* @brief Turn off the Localization mode.
* At this point, the robot's coordinate information will not be updated.
* If called successfully, the 'SlamState' variable will change to 'Ready'.
* @return True/False Call fucntion is successed/failed
*/
virtual bool stopMapping() = 0;
/**
* @brief Set the initial position of the robot on the map.
* The condition to call the function is that the 'SlamState' is 'Localization'.
* When the function is called successfully, the 'SlamState' will change to 'Calibrations'.
* When the 'Calibrations' process ends, the 'SlamState' will change back to 'Localization'.
* @return True/False Call fucntion is successed/failed
*/
virtual bool startLocalization() = 0;
/**
* @brief Turn off the Localization mode.
* At this point, the robot's coordinate information will not be updated.
* If called successfully, the 'SlamState' variable will change to 'Ready'.
* @return True/False Call fucntion is successed/failed
*/
virtual bool stopLocalization() = 0;
/**
* @brief Get State of Loc Base
*/
virtual loc_core::slam_state_en getState() = 0;
std::string activated_map_filename_;
std::string working_dir_;
std::string map_topic_;
protected:
/**
* @brief Constructor for the interface
*/
BaseLocalization() {};
}; // class BaseLocalization
} // namespace loc_core
#endif // _LOC_CORE_LOCALIZATION_H_INCLUDED_

71
Localizations/Cores/loc_core/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>loc_core</name>
<version>0.0.0</version>
<description>The loc_core package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="robotics@todo.todo">robotics</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/loc_core</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>
<build_depend>geometry_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>tf</build_depend>
<build_depend>tf2_ros</build_depend>
<build_export_depend>geometry_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>tf</build_export_depend>
<build_export_depend>tf2_ros</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>tf</exec_depend>
<exec_depend>tf2_ros</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>