Signed-off-by: Hongmei Gou <[email protected]>
---
...-turtlebot-bringup-description-launch-xml.patch | 12 ++
...e-launchers-navigation-visualization-rviz.patch | 151 +++++++++++++++++++++
...-turtlebot-navigation-costmap-params-yaml.patch | 22 +++
.../0002-turtlebot-bringup-minimal-launch.patch | 26 ++++
.../mmwave-ros-autonomous-robotics_2.5.1.bb | 55 ++++++++
5 files changed, 266 insertions(+)
create mode 100644
recipes-ros/ros-mmwave/files/0001-turtlebot-bringup-description-launch-xml.patch
create mode 100644
recipes-ros/ros-mmwave/files/0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch
create mode 100644
recipes-ros/ros-mmwave/files/0001-turtlebot-navigation-costmap-params-yaml.patch
create mode 100644
recipes-ros/ros-mmwave/files/0002-turtlebot-bringup-minimal-launch.patch
create mode 100644
recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
diff --git
a/recipes-ros/ros-mmwave/files/0001-turtlebot-bringup-description-launch-xml.patch
b/recipes-ros/ros-mmwave/files/0001-turtlebot-bringup-description-launch-xml.patch
new file mode 100644
index 0000000..cc4a794
--- /dev/null
+++
b/recipes-ros/ros-mmwave/files/0001-turtlebot-bringup-description-launch-xml.patch
@@ -0,0 +1,12 @@
+--- a/launch/includes/description.launch.xml
++++ b/launch/includes/description.launch.xml
+@@ -6,7 +6,9 @@
+ <arg name="stacks"/>
+ <arg name="3d_sensor"/>
+
++<!--
+ <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find
turtlebot_description)/robots/$(arg base)_$(arg stacks)_$(arg
3d_sensor).urdf.xacro'" />
+ <param name="robot_description" command="$(arg urdf_file)" />
++ -->
+
+ </launch>
diff --git
a/recipes-ros/ros-mmwave/files/0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch
b/recipes-ros/ros-mmwave/files/0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch
new file mode 100644
index 0000000..3956c52
--- /dev/null
+++
b/recipes-ros/ros-mmwave/files/0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch
@@ -0,0 +1,151 @@
+--- a/launch/navigation_visualization.rviz
++++ b/launch/navigation_visualization.rviz
+@@ -250,36 +250,6 @@
+ Value: true
+ Visual Enabled: true
+ - Alpha: 1
+- Axes Length: 1
+- Axes Radius: 0.100000001
+- Class: rviz/PoseWithCovariance
+- Color: 255; 25; 0
+- Covariance:
+- Orientation:
+- Alpha: 0.5
+- Color: 255; 255; 127
+- Color Style: Unique
+- Frame: Local
+- Offset: 1
+- Scale: 1
+- Value: true
+- Position:
+- Alpha: 0.300000012
+- Color: 204; 51; 204
+- Scale: 1
+- Value: true
+- Value: true
+- Enabled: true
+- Head Length: 0.300000012
+- Head Radius: 0.100000001
+- Name: PoseWithCovariance
+- Shaft Length: 1
+- Shaft Radius: 0.0500000007
+- Shape: Arrow
+- Topic: /initialpose
+- Unreliable: false
+- Value: true
+- - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+@@ -343,6 +313,36 @@
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
++ - Alpha: 1
++ Axes Length: 1
++ Axes Radius: 0.1
++ Class: rviz_plugin_covariance/PoseWithCovariance
++ Color: 255; 25; 0
++ Covariance:
++ Orientation:
++ Alpha: 0.5
++ Color: 255; 255; 127
++ Color Style: Unique
++ Frame: Local
++ Offset: 1
++ Scale: 1
++ Value: true
++ Position:
++ Alpha: 0.3
++ Color: 204; 51; 204
++ Scale: 1
++ Value: true
++ Value: true
++ Enabled: true
++ Head Length: 0.3
++ Head Radius: 0.1
++ Name: PoseWithCovariance
++ Shaft Length: 1
++ Shaft Radius: 0.05
++ Shape: Arrow
++ Topic: /initialpose
++ Unreliable: false
++ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+--- a/launch/navigation_visualization_2.rviz
++++ b/launch/navigation_visualization_2.rviz
+@@ -251,35 +251,6 @@
+ Visual Enabled: true
+ - Alpha: 1
+ Axes Length: 1
+- Axes Radius: 0.100000001
+- Class: rviz/PoseWithCovariance
+- Color: 255; 25; 0
+- Covariance:
+- Orientation:
+- Alpha: 0.5
+- Color: 255; 255; 127
+- Color Style: Unique
+- Frame: Local
+- Offset: 1
+- Scale: 1
+- Value: true
+- Position:
+- Alpha: 0.300000012
+- Color: 204; 51; 204
+- Scale: 1
+- Value: true
+- Value: true
+- Enabled: false
+- Head Length: 0.300000012
+- Head Radius: 0.100000001
+- Name: PoseWithCovariance
+- Shaft Length: 1
+- Shaft Radius: 0.0500000007
+- Shape: Arrow
+- Topic: /initialpose
+- Unreliable: false
+- Value: false
+- - Alpha: 1
+ Buffer Length: 1
+ Class: rviz/Path
+ Color: 255; 0; 0
+@@ -373,6 +344,36 @@
+ Unreliable: false
+ Use Timestamp: false
+ Value: true
++ - Alpha: 1
++ Axes Length: 1
++ Axes Radius: 0.1
++ Class: rviz_plugin_covariance/PoseWithCovariance
++ Color: 255; 25; 0
++ Covariance:
++ Orientation:
++ Alpha: 0.5
++ Color: 255; 255; 127
++ Color Style: Unique
++ Frame: Local
++ Offset: 1
++ Scale: 1
++ Value: true
++ Position:
++ Alpha: 0.3
++ Color: 204; 51; 204
++ Scale: 1
++ Value: true
++ Value: true
++ Enabled: true
++ Head Length: 0.3
++ Head Radius: 0.1
++ Name: PoseWithCovariance
++ Shaft Length: 1
++ Shaft Radius: 0.05
++ Shape: Arrow
++ Topic: /initialpose
++ Unreliable: false
++ Value: true
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
diff --git
a/recipes-ros/ros-mmwave/files/0001-turtlebot-navigation-costmap-params-yaml.patch
b/recipes-ros/ros-mmwave/files/0001-turtlebot-navigation-costmap-params-yaml.patch
new file mode 100644
index 0000000..7fba277
--- /dev/null
+++
b/recipes-ros/ros-mmwave/files/0001-turtlebot-navigation-costmap-params-yaml.patch
@@ -0,0 +1,22 @@
+--- a/param/global_costmap_params.yaml
++++ b/param/global_costmap_params.yaml
+@@ -1,7 +1,7 @@
+ global_costmap:
+ global_frame: /map
+ robot_base_frame: /base_footprint
+- update_frequency: 15
++ update_frequency: 8
+ publish_frequency: 5
+ static_map: false
+ rolling_window: true
+--- a/param/local_costmap_params.yaml
++++ b/param/local_costmap_params.yaml
+@@ -1,7 +1,7 @@
+ local_costmap:
+ global_frame: /odom
+ robot_base_frame: /base_footprint
+- update_frequency: 20
++ update_frequency: 15
+ publish_frequency: 10
+ static_map: false
+ rolling_window: true
diff --git
a/recipes-ros/ros-mmwave/files/0002-turtlebot-bringup-minimal-launch.patch
b/recipes-ros/ros-mmwave/files/0002-turtlebot-bringup-minimal-launch.patch
new file mode 100644
index 0000000..e09f750
--- /dev/null
+++ b/recipes-ros/ros-mmwave/files/0002-turtlebot-bringup-minimal-launch.patch
@@ -0,0 +1,26 @@
+--- a/launch/minimal.launch
++++ b/launch/minimal.launch
+@@ -1,11 +1,10 @@
+ <launch>
+ <!-- Turtlebot -->
+ <arg name="base" default="kobuki" doc="mobile base
type [create, roomba]"/>
+- <arg name="battery" default="$(env TURTLEBOT_BATTERY)"
doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in
2.6 or earlier kernels." />
+- <arg name="stacks" default="$(env TURTLEBOT_STACKS)"
doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
+- <arg name="3d_sensor" default="radar" doc="3d sensor types
[kinect, asux_xtion_pro, radar]"/>
+- <arg name="simulation" default="$(env TURTLEBOT_SIMULATION)"
doc="set flags to indicate this turtle is run in simulation mode."/>
+- <arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)"
doc="used by create to configure the port it is connected on [/dev/ttyUSB0,
/dev/ttyS0]"/>
++ <arg name="stacks" default="hexagons" doc="stack type
displayed in visualisation/simulation [circles, hexagons]"/>
++ <arg name="3d_sensor" default="radar" doc="3d sensor types
[kinect, asux_xtion_pro, radar]"/>
++ <arg name="simulation" default="false" doc="set flags to
indicate this turtle is run in simulation mode."/>
++ <arg name="serialport" default="/dev/kobuki" doc="used by create
to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
+
+ <param name="/use_sim_time" value="$(arg simulation)"/>
+
+@@ -18,7 +17,4 @@
+ <arg name="base" value="$(arg base)" />
+ <arg name="serialport" value="$(arg serialport)" />
+ </include>
+- <include unless="$(eval arg('battery') == 'None')" file="$(find
turtlebot_bringup)/launch/includes/netbook.launch.xml">
+- <arg name="battery" value="$(arg battery)" />
+- </include>
+ </launch>
diff --git a/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
new file mode 100644
index 0000000..1c391e2
--- /dev/null
+++ b/recipes-ros/ros-mmwave/mmwave-ros-autonomous-robotics_2.5.1.bb
@@ -0,0 +1,55 @@
+DESCRIPTION = "This package contains mmwave autonomous robotics demos"
+SECTION = "devel"
+LICENSE = "BSD"
+
+LIC_FILES_CHKSUM =
"file://docs/Autonomous_Robotics_with_ROS_for_mmWave_manifest.pdf;md5=052cbb2cc0847a82abb159996f974c35"
+SRC_URI[base.md5sum] = "561921297c73a7ead40bf7486ee8f4f9"
+SRC_URI[base.sha256sum] =
"768661b88bd31f083660287045dc49a9441d15cf10b0c48e7d29377a23864191"
+SRC_URI =
"http://dev.ti.com/tirex/content/mmwave_industrial_toolbox_2_5_1/labs/lab0008-autonomous-robotics-ros/lab0008_autonomous_robotics_ros/ti_mmwave_ros_map_nav_v1p1.gz;name=base;subdir=${P}";
+
+SRC_URI +=
"file://0001-turtlebot-bringup-description-launch-xml.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup
\
+
file://0002-turtlebot-bringup-minimal-launch.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup
\
+
file://0001-turtlebot-navigation-costmap-params-yaml.patch;patchdir=${WORKDIR}/${P}/turtlebot/turtlebot_apps/turtlebot_navigation
\
+
file://0001-turtlebot-mmwave-launchers-navigation-visualization-rviz.patch;patchdir=${S}
\
+"
+
+S = "${WORKDIR}/${P}/turtlebot_mmwave_launchers"
+
+PR = "r1"
+
+inherit catkin
+
+RDEPENDS_${PN} += "bash"
+
+tar_xf() {
+ tar xf ${WORKDIR}/ti_mmwave_ros_map_nav_v1p1 -C ${WORKDIR}/${P}
+}
+
+do_unpack[postfuncs] += "tar_xf"
+
+do_install_append() {
+ install -d ${D}${ros_datadir}/turtlebot_mmwave_launchers
+ cp -r ${S}/launch ${D}${ros_datadir}/turtlebot_mmwave_launchers
+ cp -r ${S}/scripts ${D}${ros_datadir}/turtlebot_mmwave_launchers
+
+ install -d ${D}${ros_datadir}/ti_mmwave_rospkg
+ cp -r ${WORKDIR}/${P}/ti_mmwave_rospkg/cfg
${D}${ros_datadir}/ti_mmwave_rospkg
+
+ install -d ${D}${ros_datadir}/turtlebot_bringup
+ install -d ${D}${ros_datadir}/turtlebot_description
+ cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_bringup/*
${D}${ros_datadir}/turtlebot_bringup
+ cp -r ${WORKDIR}/${P}/turtlebot/turtlebot/turtlebot_description/*
${D}${ros_datadir}/turtlebot_description
+ rm -rf ${D}${ros_datadir}/turtlebot_bringup/patches
+
+ install -d ${D}${ros_datadir}/turtlebot_navigation
+ cp -r ${WORKDIR}/${P}/turtlebot/turtlebot_apps/turtlebot_navigation/*
${D}${ros_datadir}/turtlebot_navigation
+ rm -rf ${D}${ros_datadir}/turtlebot_navigation/patches
+}
+
+FILES_${PN} += "${ros_datadir}/turtlebot_mmwave_launchers"
+FILES_${PN} += "${ros_datadir}/ti_mmwave_rospkg"
+FILES_${PN} += "${ros_datadir}/turtlebot_bringup"
+FILES_${PN} += "${ros_datadir}/turtlebot_description"
+FILES_${PN} += "${ros_datadir}/turtlebot_navigation"
+
+ROS_SPN = "turtlebot_mmwave_launchers"
--
1.9.1
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