tu-darmstadt-ros-pkg · meyerj · Feb 25, 2015 · Apr 23, 2015 · Aug 20, 2015 · Aug 24, 2015
diff --git a/README.txt b/README.txt
@@ -1,15 +1,3 @@
-== Postprocessing Logfile example ==
-Download this file:
-http://code.google.com/p/tu-darmstadt-ros-pkg/downloads/detail?name=Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag&can=2&q=
-
-Open a new terminal window, type:
-rosmake hector_slam
-
-Launch the tutorial launch file provided in the hector_slam_launch package:
-roslaunch hector_slam_launch tutorial.launch
-
-Open another terminal, enter the directory of the .bag file and type:
-rosbag play Team_Hector_MappingBox_RoboCup_2011_Rescue_Arena.bag --clock
-
-You should now be able see the mapping process in rviz.
+# hector_slam
 
+See the ROS Wiki for documentation: http://wiki.ros.org/hector_slam
diff --git a/hector_compressed_map_transport/CHANGELOG.rst b/hector_compressed_map_transport/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package hector_compressed_map_transport
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* Contributors: Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+
 0.3.3 (2014-06-15)
 ------------------
 * fixed cmake find for eigen in indigo

diff --git a/hector_compressed_map_transport/CMakeLists.txt b/hector_compressed_map_transport/CMakeLists.txt
@@ -4,13 +4,23 @@ project(hector_compressed_map_transport)
 ## 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 cmake_modules cv_bridge geometry_msgs hector_map_tools image_transport nav_msgs sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS cv_bridge geometry_msgs hector_map_tools image_transport nav_msgs sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
-add_definitions(${Eigen_DEFINITIONS})
+
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
 
 find_package(OpenCV REQUIRED)
 include_directories(${OpenCV_INCLUDE_DIRS})
@@ -57,7 +67,7 @@ catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES hector_compressed_map_transport
 #  CATKIN_DEPENDS cv_bridge geometry_msgs hector_map_tools image_transport nav_msgs opencv2 sensor_msgs
-#  DEPENDS eigen opencv2
+#  DEPENDS EIGEN3 opencv2
 )
 
 ###########
@@ -69,6 +79,7 @@ catkin_package(
 # include_directories(include)
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 ## Declare a cpp library

diff --git a/hector_compressed_map_transport/package.xml b/hector_compressed_map_transport/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>hector_compressed_map_transport</name>
-  <version>0.3.3</version>
+  <version>0.3.5</version>
   <description>
     hector_compressed_map_transport provides means for transporting compressed map data through the use of image_transport.
   </description>
@@ -39,7 +39,6 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>cmake_modules</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>hector_map_tools</build_depend>

diff --git a/hector_compressed_map_transport/src/map_to_image_node.cpp b/hector_compressed_map_transport/src/map_to_image_node.cpp
@@ -100,7 +100,7 @@ class MapAsImageProvider
       cv::Mat* map_mat  = &cv_img_full_.image;
 
       // resize cv image if it doesn't have the same dimensions as the map
-      if ( (map_mat->rows != size_y) && (map_mat->cols != size_x)){
+      if ( (map_mat->rows != size_y) || (map_mat->cols != size_x)){
         *map_mat = cv::Mat(size_y, size_x, CV_8U);
       }
 
@@ -113,7 +113,7 @@ class MapAsImageProvider
 
       for (int y = size_y_rev; y >= 0; --y){
 
-        int idx_map_y = size_x * (size_y -y);
+        int idx_map_y = size_x * (size_y_rev -y);
         int idx_img_y = size_x * y;
 
         for (int x = 0; x < size_x; ++x){

diff --git a/hector_geotiff/CHANGELOG.rst b/hector_geotiff/CHANGELOG.rst
@@ -2,6 +2,17 @@
 Changelog for package hector_geotiff
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+* Use the FindEigen3.cmake module provided by Eigen
+* hector_geotiff/hector_geotiff_plugins: added possibility to specify Color of robot path in the geotiff file in order to allow multiple color robot paths
+* Contributors: Dorothea Koert, Johannes Meyer
+
+0.3.4 (2015-11-07)
+------------------
+* Removes trailing spaces and fixes indents
+* Contributors: YuK_Ota
+
 0.3.3 (2014-06-15)
 ------------------
 * fixed cmake find for eigen in indigo

diff --git a/hector_geotiff/CMakeLists.txt b/hector_geotiff/CMakeLists.txt
@@ -4,16 +4,25 @@ project(hector_geotiff)
 ## 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 cmake_modules hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs)
+find_package(catkin REQUIRED COMPONENTS hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 
 find_package(Qt4 4.6 COMPONENTS QtCore QtGui REQUIRED)
 
-find_package(Eigen REQUIRED)
-include_directories(${Eigen_INCLUDE_DIRS})
-add_definitions(${Eigen_DEFINITIONS})
+# Find Eigen3 (from http://wiki.ros.org/jade/Migration)
+find_package(Eigen3)
+if(NOT EIGEN3_FOUND)
+  # Fallback to cmake_modules
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
+  # Possibly map additional variables to the EIGEN3_ prefix.
+else()
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
 
 include(${QT_USE_FILE})
 
@@ -60,7 +69,7 @@ catkin_package(
   INCLUDE_DIRS include
   LIBRARIES geotiff_writer
   CATKIN_DEPENDS hector_map_tools hector_nav_msgs nav_msgs pluginlib roscpp std_msgs
-  DEPENDS Eigen QT
+  DEPENDS EIGEN3 QT
 )
 
 ###########
@@ -72,6 +81,7 @@ catkin_package(
 include_directories(include include/hector_geotiff)
 include_directories(
   ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 add_library(geotiff_writer src/geotiff_writer/geotiff_writer.cpp)

diff --git a/hector_geotiff/include/hector_geotiff/geotiff_writer.h b/hector_geotiff/include/hector_geotiff/geotiff_writer.h
@@ -64,7 +64,10 @@ class GeotiffWriter : public MapWriterInterface
   void drawBackgroundCheckerboard();
   void drawMap(const nav_msgs::OccupancyGrid& map, bool draw_explored_space_grid = true);
   void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color);
-  void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points);
+  inline virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points){
+      drawPath(start, points, 120,0,240);
+  }
+  void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points, int color_r, int color_g, int color_b);
   void drawCoords();
   std::string getBasePathAndFileName() const;
   void writeGeotiffImage();

diff --git a/hector_geotiff/include/hector_geotiff/map_writer_interface.h b/hector_geotiff/include/hector_geotiff/map_writer_interface.h
@@ -43,7 +43,13 @@ class MapWriterInterface{
 
   virtual std::string getBasePathAndFileName() const = 0;
   virtual void drawObjectOfInterest(const Eigen::Vector2f& coords, const std::string& txt, const Color& color) = 0;
-  virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points) = 0;
+  //virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points) = 0;
+
+  inline virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points){
+      drawPath(start, points, 120,0,240);
+  }
+  virtual void drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points, int color_r, int color_g, int color_b) = 0;
+
 };
 
 }

diff --git a/hector_geotiff/launch/geotiff_mapper.launch b/hector_geotiff/launch/geotiff_mapper.launch
@@ -1,12 +1,12 @@
 <?xml version="1.0"?>
 
 <launch>
-   <arg name="trajectory_source_frame_name" default="/base_link"/>
-   <arg name="trajectory_update_rate" default="4"/>
-   <arg name="trajectory_publish_rate" default="0.25"/>
-   <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
-   <arg name="map_file_base_name" default="hector_slam_map"/>
-  
+  <arg name="trajectory_source_frame_name" default="/base_link"/>
+  <arg name="trajectory_update_rate" default="4"/>
+  <arg name="trajectory_publish_rate" default="0.25"/>
+  <arg name="map_file_path" default="$(find hector_geotiff)/maps"/>
+  <arg name="map_file_base_name" default="hector_slam_map"/>
+
   <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" output="screen">
     <param name="target_frame_name" type="string" value="/map" />
     <param name="source_frame_name" type="string" value="$(arg trajectory_source_frame_name)" />

diff --git a/hector_geotiff/package.xml b/hector_geotiff/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>hector_geotiff</name>
-  <version>0.3.3</version>
+  <version>0.3.5</version>
   <description>
     hector_geotiff provides a node that can be used to save occupancy grid map, robot trajectory and object of interest data to RoboCup Rescue compliant GeoTiff images.
   </description>
@@ -38,14 +38,14 @@
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>cmake_modules</build_depend>
   <build_depend>hector_map_tools</build_depend>
   <build_depend>hector_nav_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>libqt4-dev</build_depend>
+  <!--<run_depend>hector_geotiff_plugins</run_depend>-->
   <run_depend>hector_map_tools</run_depend>
   <run_depend>hector_nav_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>

diff --git a/hector_geotiff/src/geotiff_writer/geotiff_writer.cpp b/hector_geotiff/src/geotiff_writer/geotiff_writer.cpp
@@ -403,7 +403,7 @@ void GeotiffWriter::drawObjectOfInterest(const Eigen::Vector2f& coords, const st
   qPainter.drawText(ellipse_shape,Qt::AlignCenter , tmp);
 }
 
-void GeotiffWriter::drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points)
+void GeotiffWriter::drawPath(const Eigen::Vector3f& start, const std::vector<Eigen::Vector2f>& points,int color_r, int color_g, int color_b)
 {
   QPainter qPainter(&image);
 
@@ -426,7 +426,7 @@ void GeotiffWriter::drawPath(const Eigen::Vector3f& start, const std::vector<Eig
   }
 
   QPen pen(qPainter.pen());
-  pen.setColor(QColor(120,0,240));
+  pen.setColor(QColor(color_r, color_g, color_b));
   pen.setWidth(3);
 
   qPainter.setPen(pen);

diff --git a/hector_geotiff_plugins/CHANGELOG.rst b/hector_geotiff_plugins/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package hector_geotiff_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+* hector_geotiff/hector_geotiff_plugins: added possibility to specify Color of robot path in the geotiff file in order to allow multiple color robot paths
+* Contributors: Dorothea Koert
+
+0.3.4 (2015-11-07)
+------------------
+
 0.3.3 (2014-06-15)
 ------------------
 

diff --git a/hector_geotiff_plugins/package.xml b/hector_geotiff_plugins/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>hector_geotiff_plugins</name>
-  <version>0.3.3</version>
+  <version>0.3.5</version>
   <description>
     hector_geotiff_plugins contains plugins that extend geotiff maps generated by hector_geotiff.
   </description>

diff --git a/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp b/hector_geotiff_plugins/src/trajectory_geotiff_plugin.cpp
@@ -57,6 +57,9 @@ class TrajectoryMapWriter : public MapWriterPluginInterface
   std::string name_;
   bool draw_all_objects_;
   std::string class_id_;
+  int path_color_r_;
+  int path_color_g_;
+  int path_color_b_;
 };
 
 TrajectoryMapWriter::TrajectoryMapWriter()
@@ -71,7 +74,11 @@ void TrajectoryMapWriter::initialize(const std::string& name)
   ros::NodeHandle plugin_nh("~/" + name);
   std::string service_name_;
 
+
   plugin_nh.param("service_name", service_name_, std::string("trajectory"));
+  plugin_nh.param("path_color_r", path_color_r_, 120);
+  plugin_nh.param("path_color_g", path_color_g_, 0);
+  plugin_nh.param("path_color_b", path_color_b_, 240);
 
   service_client_ = nh_.serviceClient<hector_nav_msgs::GetRobotTrajectory>(service_name_);
 
@@ -106,7 +113,7 @@ void TrajectoryMapWriter::draw(MapWriterInterface *interface)
     if (size > 0){
       //Eigen::Vector3f startVec(pose_vector[0].x,pose_vector[0].y,pose_vector[0].z);
       Eigen::Vector3f startVec(pointVec[0].x(),pointVec[0].y(),0.0f);
-      interface->drawPath(startVec, pointVec);
+      interface->drawPath(startVec, pointVec, path_color_r_, path_color_g_, path_color_b_);
     }
 }
 

diff --git a/hector_imu_attitude_to_tf/CHANGELOG.rst b/hector_imu_attitude_to_tf/CHANGELOG.rst
@@ -2,6 +2,14 @@
 Changelog for package hector_imu_attitude_to_tf
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* hector_imu_attitude_to_tf: fixed default values of the base_frame and base_stabilized_frame parameters (fix #20)
+* Contributors: Johannes Meyer
+
 0.3.3 (2014-06-15)
 ------------------
 

diff --git a/hector_imu_attitude_to_tf/package.xml b/hector_imu_attitude_to_tf/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>hector_imu_attitude_to_tf</name>
-  <version>0.3.3</version>
+  <version>0.3.5</version>
   <description>
     hector_imu_attitude_to_tf is a lightweight node that can be used to publish the roll/pitch attitude angles reported via a imu message to tf.
   </description>

diff --git a/hector_imu_attitude_to_tf/src/imu_attitude_to_tf_node.cpp b/hector_imu_attitude_to_tf/src/imu_attitude_to_tf_node.cpp
@@ -64,8 +64,8 @@ int main(int argc, char **argv) {
   ros::NodeHandle n;
   ros::NodeHandle pn("~");
 
-  pn.param("base_stabilized_frame", p_base_stabilized_frame_, std::string("base_stabilized_frame"));
-  pn.param("base_frame", p_base_frame_, std::string("base_frame"));
+  pn.param("base_stabilized_frame", p_base_stabilized_frame_, std::string("base_stabilized"));
+  pn.param("base_frame", p_base_frame_, std::string("base_link"));
 
   tfB_ = new tf::TransformBroadcaster();
   transform_.getOrigin().setX(0.0);

diff --git a/hector_imu_tools/CHANGELOG.rst b/hector_imu_tools/CHANGELOG.rst
@@ -2,6 +2,15 @@
 Changelog for package hector_imu_tools
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+* Fix sim setup
+* remap for bertl setup
+* Contributors: Florian Kunz, kohlbrecher
+
 0.3.3 (2014-06-15)
 ------------------
 * hector_imu_tools: Basics of simple height etimation

diff --git a/hector_imu_tools/package.xml b/hector_imu_tools/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>hector_imu_tools</name>
-  <version>0.3.3</version>
+  <version>0.3.5</version>
   <description>
     hector_imu_tools provides some tools for processing IMU messages
   </description>

diff --git a/hector_map_server/CHANGELOG.rst b/hector_map_server/CHANGELOG.rst
@@ -2,6 +2,12 @@
 Changelog for package hector_map_server
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.5 (2016-06-24)
+------------------
+
+0.3.4 (2015-11-07)
+------------------
+
 0.3.3 (2014-06-15)
 ------------------