Add support for the TurtleBot 2. (#1)

Moves TurtleBot configuration files from cartographer_ros.
Adds a ROS package and a Dockerfile to support using the TurtleBot2
with a depth camera and Cartographer ROS.

Dockerfile

@@ -0,0 +1,18 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+FROM cartographer_ros_image
+COPY . cartographer_turtlebot
+RUN cartographer_turtlebot/scripts/install.bash
+COPY scripts/ros_entrypoint.sh /

README.rst

@@ -0,0 +1,38 @@
+.. Copyright 2016 The Cartographer Authors
+
+.. Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+..      http://www.apache.org/licenses/LICENSE-2.0
+
+.. Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+================================
+Cartographer ROS for TurtleBot 2
+================================
+
+Purpose
+=======
+
+`Cartographer`_ is a system that provides real-time simultaneous localization
+and mapping `SLAM`_ across multiple platforms and sensor configurations. This
+repository provides Cartographer SLAM for `TurtleBot 2`_ via
+`Cartographer ROS`_.
+
+.. _Cartographer: https://github.com/googlecartographer/cartographer
+.. _Cartographer ROS: https://github.com/googlecartographer/cartographer_ros
+.. _SLAM: https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
+.. _TurtleBot 2: http://www.turtlebot.com/
+
+Contributing
+============
+
+You can find information about contributing to Cartographer's TurtleBot support
+at our `Contribution page`_.
+
+.. _Contribution page: https://github.com/googlecartographer/cartographer_turtlebot/blob/master/CONTRIBUTING.md

cartographer_turtlebot2/CMakeLists.txt

@@ -0,0 +1,33 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+cmake_minimum_required(VERSION 2.8.3)
+
+project(cartographer_turtlebot2)
+
+find_package(catkin)
+
+catkin_package()
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
+)
+
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf/
+)
+
+install(DIRECTORY configuration_files/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/configuration_files/
+)

cartographer_turtlebot2/configuration_files/demo_turtlebot2.rviz

@@ -0,0 +1,317 @@
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Submaps1
+        - /PointCloud21
+      Splitter Ratio: 0.600671
+    Tree Height: 821
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_link:
+          Value: true
+        caster_front_link:
+          Value: true
+        cliff_sensor_front_link:
+          Value: true
+        cliff_sensor_left_link:
+          Value: true
+        cliff_sensor_right_link:
+          Value: true
+        gyro_link:
+          Value: true
+        laser:
+          Value: true
+        laser_mount_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        plate_bottom_link:
+          Value: true
+        plate_middle_link:
+          Value: true
+        plate_top_link:
+          Value: true
+        pole_bottom_0_link:
+          Value: true
+        pole_bottom_1_link:
+          Value: true
+        pole_bottom_2_link:
+          Value: true
+        pole_bottom_3_link:
+          Value: true
+        pole_bottom_4_link:
+          Value: true
+        pole_bottom_5_link:
+          Value: true
+        pole_kinect_0_link:
+          Value: true
+        pole_kinect_1_link:
+          Value: true
+        pole_middle_0_link:
+          Value: true
+        pole_middle_1_link:
+          Value: true
+        pole_middle_2_link:
+          Value: true
+        pole_middle_3_link:
+          Value: true
+        pole_top_0_link:
+          Value: true
+        pole_top_1_link:
+          Value: true
+        pole_top_2_link:
+          Value: true
+        pole_top_3_link:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                camera_rgb_frame:
+                  camera_depth_frame:
+                    camera_depth_optical_frame:
+                      {}
+                  camera_link:
+                    {}
+                  camera_rgb_optical_frame:
+                    {}
+                caster_back_link:
+                  {}
+                caster_front_link:
+                  {}
+                cliff_sensor_front_link:
+                  {}
+                cliff_sensor_left_link:
+                  {}
+                cliff_sensor_right_link:
+                  {}
+                gyro_link:
+                  {}
+                laser_mount_link:
+                  laser:
+                    {}
+                plate_bottom_link:
+                  {}
+                plate_middle_link:
+                  {}
+                plate_top_link:
+                  {}
+                pole_bottom_0_link:
+                  {}
+                pole_bottom_1_link:
+                  {}
+                pole_bottom_2_link:
+                  {}
+                pole_bottom_3_link:
+                  {}
+                pole_bottom_4_link:
+                  {}
+                pole_bottom_5_link:
+                  {}
+                pole_kinect_0_link:
+                  {}
+                pole_kinect_1_link:
+                  {}
+                pole_middle_0_link:
+                  {}
+                pole_middle_1_link:
+                  {}
+                pole_middle_2_link:
+                  {}
+                pole_middle_3_link:
+                  {}
+                pole_top_0_link:
+                  {}
+                pole_top_1_link:
+                  {}
+                pole_top_2_link:
+                  {}
+                pole_top_3_link:
+                  {}
+                wheel_left_link:
+                  {}
+                wheel_right_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Class: Submaps
+      Enabled: true
+      Map frame: map
+      Name: Submaps
+      Submap query service: /cartographer/submap_query
+      Topic: /cartographer/submap_list
+      Tracking frame: base_link
+      Unreliable: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05
+      Style: Flat Squares
+      Topic: /scan_matched_points2
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 100; 100; 100
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Angle: 0
+      Class: rviz/TopDownOrtho
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Name: Current View
+      Near Clip Distance: 0.01
+      Scale: 10
+      Target Frame: <Fixed Frame>
+      Value: TopDownOrtho (rviz)
+      X: 0
+      Y: 0
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1123
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001c5000003c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000041000003c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000003c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000041000003c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000077e0000003efc0100000002fb0000000800540069006d006501000000000000077e000002f600fffffffb0000000800540069006d006501000000000000045000000000000000000000049e000003c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1918
+  X: 0
+  Y: 24

cartographer_turtlebot2/configuration_files/turtlebot2.lua

@@ -0,0 +1,40 @@
+-- Copyright 2016 The Cartographer Authors
+--
+-- Licensed under the Apache License, Version 2.0 (the "License");
+-- you may not use this file except in compliance with the License.
+-- You may obtain a copy of the License at
+--
+--      http://www.apache.org/licenses/LICENSE-2.0
+--
+-- Unless required by applicable law or agreed to in writing, software
+-- distributed under the License is distributed on an "AS IS" BASIS,
+-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+-- See the License for the specific language governing permissions and
+-- limitations under the License.
+
+include "map_builder.lua"
+
+options = {
+  map_builder = MAP_BUILDER,
+  map_frame = "map",
+  tracking_frame = "base_link",
+  odom_frame = "odom",
+  provide_odom_frame = false,
+  use_odometry_data = false,
+  publish_occupancy_grid = false,
+  use_horizontal_laser = true,
+  use_horizontal_multi_echo_laser = false,
+  horizontal_laser_min_range = 0.,
+  horizontal_laser_max_range = 30.,
+  horizontal_laser_missing_echo_ray_length = 5.,
+  num_lasers_3d = 0,
+  lookup_transform_timeout_sec = 0.2,
+  submap_publish_period_sec = 0.3,
+  pose_publish_period_sec = 5e-3,
+}
+
+options.map_builder.use_trajectory_builder_2d = true
+options.map_builder.trajectory_builder_2d.use_imu_data = false
+options.map_builder.trajectory_builder_2d.use_online_correlative_scan_matching = true
+
+return options

cartographer_turtlebot2/launch/demo_turtlebot2.launch

@@ -0,0 +1,31 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="/use_sim_time" value="true" />
+
+  <node name="cartographer" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory
+              $(find cartographer_turtlebot2)/configuration_files
+          -configuration_basename turtlebot2.lua"
+      output="screen" />
+  <node name="rviz" pkg="rviz" type="rviz" required="true"
+      args="-d $(find cartographer_turtlebot2
+          )/configuration_files/demo_turtlebot2.rviz" />
+  <node name="playbag" pkg="rosbag" type="play"
+      args="--clock $(arg bag_filename)" />
+</launch>

cartographer_turtlebot2/launch/turtlebot2.launch

@@ -0,0 +1,30 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<launch>
+  <param name="robot_description"
+    textfile="$(find cartographer_turtlebot2)/urdf/turtlebot2.urdf" />
+
+  <node name="robot_state_publisher" pkg="robot_state_publisher"
+    type="robot_state_publisher" />
+
+  <node name="cartographer" pkg="cartographer_ros"
+      type="cartographer_node" args="
+          -configuration_directory
+              $(find cartographer_turtlebot2)/configuration_files
+          -configuration_basename turtlebot2.lua"
+      output="screen" />
+</launch>

cartographer_turtlebot2/package.xml

@@ -0,0 +1,39 @@
+<?xml version="1.0"?>
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<package format="2">
+  <name>cartographer_turtlebot2</name>
+  <version>1.0.0</version>
+  <description>
+    TurtleBot 2 configurations and launch files.
+  </description>
+  <maintainer email="google-cartographer@googlegroups.com">
+    The Cartographer Authors
+  </maintainer>
+  <license>Apache 2.0</license>
+
+  <url>https://github.com/googlecartographer/cartographer_turtlebot</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>cartographer_ros</depend>
+  <depend>depthimage_to_laserscan</depend>
+  <depend>kobuki</depend>
+  <depend>kobuki_core</depend>
+  <depend>openni2_launch</depend>
+  <depend>turtlebot_bringup</depend>
+</package>

cartographer_turtlebot2/urdf/turtlebot2.urdf

@@ -0,0 +1,68 @@
+<!--
+  Copyright 2016 The Cartographer Authors
+
+  Licensed under the Apache License, Version 2.0 (the "License");
+  you may not use this file except in compliance with the License.
+  You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+  Unless required by applicable law or agreed to in writing, software
+  distributed under the License is distributed on an "AS IS" BASIS,
+  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+  See the License for the specific language governing permissions and
+  limitations under the License.
+-->
+
+<robot name="cartographer_turtlebot2">
+  <material name="orange">
+    <color rgba="1.0 0.5 0.2 1" />
+  </material>
+  <material name="gray">
+    <color rgba="0.2 0.2 0.2 1" />
+  </material>
+  <material name="green">
+    <color rgba="0.2 0.4 0.2 1" />
+  </material>
+
+  <link name="horizontal_laser_link">
+    <visual>
+      <origin xyz="0.0 0.0 0.0" />
+      <geometry>
+        <cylinder length="0.09" radius="0.03" />
+      </geometry>
+      <material name="gray" />
+    </visual>
+  </link>
+
+  <link name="base_link">
+    <visual>
+      <origin xyz="0. 0. 0." />
+      <geometry>
+        <box size="0.03 0.4 0.8" />
+      </geometry>
+      <material name="green" />
+    </visual>
+  </link>
+
+  <link name="camera_link" />
+  <link name="base_footprint" />
+
+  <joint name="horizontal_laser_link_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="horizontal_laser_link" />
+    <origin xyz="0. 0. 0.6" />
+  </joint>
+
+  <joint name="camera_link_joint" type="fixed">
+    <parent link="base_link" />
+    <child link="camera_link" />
+    <origin xyz="0.15 0. 0.6" />
+  </joint>
+
+  <joint name="base_link_base_footprint_joint" type="fixed">
+    <parent link="base_footprint" />
+    <child link="base_link" />
+    <origin xyz="0. 0. 0." />
+  </joint>
+</robot>

scripts/install.bash

@@ -0,0 +1,50 @@
+#!/bin/bash
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -o errexit
+set -o verbose
+
+sudo apt-get update
+sudo apt-get install -y tmux
+
+source /ros_entrypoint.sh
+
+# Create a new workspace in 'catkin_ws'.
+mkdir catkin_ws
+cd catkin_ws
+catkin_init_workspace
+mkdir src
+mv ../cartographer_turtlebot src
+
+# Install rosdep dependencies.
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
+
+# Build, install, and test.
+#
+# It's necessary to use the '--install' flag for every call to
+# 'catkin_make_isolated' in order to avoid the use of 'devel_isolated' as the
+# 'CMAKE_INSTALL_PREFIX' for non-test targets. This in itself is important to
+# avoid any issues caused by using 'CMAKE_INSTALL_PREFIX' during the
+# configuration phase of the build.
+export BUILD_FLAGS="--use-ninja
+                    --install-space /opt/cartographer_turtlebot
+                    --install"
+catkin_make_isolated ${BUILD_FLAGS}
+
+# Clean up.
+cd ..
+rm -rf catkin_ws /var/lib/apt/lists/*

scripts/ros_entrypoint.sh

@@ -0,0 +1,23 @@
+#!/bin/bash
+
+# Copyright 2016 The Cartographer Authors
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set -o errexit
+set -o verbose
+
+source "/opt/ros/${ROS_DISTRO}/setup.bash"
+source "/opt/cartographer_ros/setup.bash"
+source "/opt/cartographer_turtlebot/setup.bash"
+exec "$@"