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#!/usr/bin/env python | |
# | |
#ROS_GUI_v5.py | |
# modelled after: https://raw.githubusercontent.com/ablarry91/quadcopter_IR_control/e782f49390d5527ed86678acda727f5d698c0c07/monocular_pose_estimator/src/Tkinter_GUI.py | |
# inspired by: https://raw.githubusercontent.com/mturktest123/rosGUI/master/ROS_GUI.py | |
import subprocess | |
import time | |
from Tkinter import * | |
import rospy | |
from std_msgs.msg import Int16 |
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<launch> | |
<!-- ************** Robot Description *************** --> | |
<!-- robot_description is used by nodes that publish to joint_states. --> | |
<param name="robot_description" | |
command="$(find xacro)/xacro --inorder $(find lawn_tractor_sim)/urdf/lawn_tractor.urdf.xacro"/> | |
<!-- Read joint positions from joint_states, then publish the vehicle's | |
state to tf. --> | |
<node name="vehicle_state_publisher" pkg="robot_state_publisher" | |
type="robot_state_publisher"> |
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<?xml version="1.0"?> | |
<robot name="lawn_tractor" xmlns:xacro='http://www.ros.org/wiki/xacro'> | |
<!-- TODO: collision link element to be added --> | |
<!-- TODO: inertial link element to be added --> | |
<!-- define base link, center of rear axle for an ackermann vehicle --> | |
<link name="base_link"> | |
<visual> | |
<origin xyz='0.55 0 0' rpy='0 0 ${pi}' /> |
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#!/usr/bin/env python | |
# gps_odom.py credit Matt Droter | |
import rospy | |
import tf | |
import math | |
from nav_msgs.msg import Odometry | |
from tf.transformations import euler_from_quaternion, quaternion_from_euler, quaternion_multiply | |
from geometry_msgs.msg import Transform, Quaternion, QuaternionStamped, Pose, Point | |
from sensor_msgs.msg import NavSatFix, NavSatStatus, TimeReference |
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<launch> | |
<?ignore - used to comment out lines | |
# taking out the potentiometer because I will first use the joystick connected to the laptop as well as command line cmd_vel statements | |
<node ns="potentiometer_teensy" name="potentiometer_output" pkg="rosserial_python" type="serial_node.py" args="/dev/potentiometer_control" output="screen" /> | |
Intial Steer Settings: | |
steer_left_max = 28900; | |
steer_right_max = 46300; | |
steer_straight = 36500; | |
max_steer_eff = 50; |
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<launch> | |
<!-- A simple launch file for the nmea_serial_driver node. --> | |
<arg name="port" default="/dev/gps" /> | |
<arg name="baud" default="115200" /> | |
<arg name="frame_id" default="gps" /> | |
<arg name="use_GNSS_time" default="False" /> | |
<arg name="time_ref_source" default="gps" /> | |
<arg name="useRMC" default="False" /> |
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#! /usr/bin/python | |
# credit Matt Droter | |
import rospy | |
import actionlib | |
from nav_msgs.msg import Path, Odometry | |
from geometry_msgs.msg import PoseStamped, Pose | |
from tf.transformations import quaternion_from_euler | |
from math import pow, atan2, sqrt |
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0.0 0.0 0.0 | |
1.0 0.0 0.0 | |
2.0 0.0 0.0 | |
3.0 0.0 0.0 | |
4.0 0.0 0.0 | |
5.0 0.0 0.0 | |
6.0 0.0 0.0 | |
7.0 0.0 0.0 | |
8.0 0.0 0.0 | |
9.0 0.0 0.0 |
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/* | |
steer_motor_v3.cpp | |
Subscribes to cmd_vel | |
Sends commands to motor controller connected to Teensy using commands digitalWrite(DIRPin, HIGH); | |
*/ | |
#include "ros.h" | |
#include "std_msgs/UInt16.h" |
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# file: teb_local_planner_params.yaml | |
TebLocalPlannerROS: | |
# Trajectory | |
teb_autosize: True | |
dt_ref: 0.3 | |
dt_hysteresis: 0.1 | |
global_plan_overwrite_orientation: True | |
allow_init_with_backwards_motion: False | |
max_global_plan_lookahead_dist: 3.0 |