Added cartographer submodules

ckurtz22 · May 21, 2019 · 89ae1b5 · 89ae1b5
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commit 89ae1b5
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Showing 221 changed files with 22 additions and 3 deletions.
diff --git a/.gitignore b/.gitignore
@@ -30,3 +30,10 @@
 *.exe
 *.out
 *.app
+
+# Catkin directories
+.catkin_tools/
+build/
+devel/
+logs/
+
diff --git a/.gitmodules b/.gitmodules
@@ -0,0 +1,9 @@
+[submodule "src/cartographer"]
+	path = src/cartographer
+	url = https://github.com/googlecartographer/cartographer.git
+[submodule "src/cartographer_ros"]
+	path = src/cartographer_ros
+	url = https://github.com/googlecartographer/cartographer_ros.git
+[submodule "src/ceres-solver"]
+	path = src/ceres-solver
+	url = https://ceres-solver.googlesource.com/ceres-solver.git
diff --git a/src/cartographer b/src/cartographer
diff --git a/src/cartographer_ros b/src/cartographer_ros
diff --git a/src/ceres-solver b/src/ceres-solver
diff --git a/src/f110_description/.DS_Store → ...0_cartographer/f110_description/.DS_Store b/src/f110_description/.DS_Store → ...0_cartographer/f110_description/.DS_Store
diff --git a/src/f110_description/CMakeLists.txt → ...tographer/f110_description/CMakeLists.txt b/src/f110_description/CMakeLists.txt → ...tographer/f110_description/CMakeLists.txt
diff --git a/src/f110_description/meshes/chassis.STL → ...apher/f110_description/meshes/chassis.STL b/src/f110_description/meshes/chassis.STL → ...apher/f110_description/meshes/chassis.STL
diff --git a/src/f110_description/meshes/chassis.dae → ...apher/f110_description/meshes/chassis.dae b/src/f110_description/meshes/chassis.dae → ...apher/f110_description/meshes/chassis.dae
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diff --git a/...0_description/meshes/left_front_wheel.STL → ...0_description/meshes/left_front_wheel.STL b/...0_description/meshes/left_front_wheel.STL → ...0_description/meshes/left_front_wheel.STL
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diff --git a/...10_description/meshes/left_rear_wheel.STL → ...10_description/meshes/left_rear_wheel.STL b/...10_description/meshes/left_rear_wheel.STL → ...10_description/meshes/left_rear_wheel.STL
diff --git a/...10_description/meshes/left_rear_wheel.dae → ...10_description/meshes/left_rear_wheel.dae b/...10_description/meshes/left_rear_wheel.dae → ...10_description/meshes/left_rear_wheel.dae
diff --git a/...escription/meshes/left_steering_hinge.STL → ...escription/meshes/left_steering_hinge.STL b/...escription/meshes/left_steering_hinge.STL → ...escription/meshes/left_steering_hinge.STL
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diff --git a/...ion/models/ar_tags/marker15/model-1_4.sdf → ...ion/models/ar_tags/marker15/model-1_4.sdf b/...ion/models/ar_tags/marker15/model-1_4.sdf → ...ion/models/ar_tags/marker15/model-1_4.sdf
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diff --git a/...gs/marker16/marker0/marker0/model-1_5.sdf → ...gs/marker16/marker0/marker0/model-1_5.sdf b/...gs/marker16/marker0/marker0/model-1_5.sdf → ...gs/marker16/marker0/marker0/model-1_5.sdf
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diff --git a/...ion/models/ar_tags/marker16/model-1_4.sdf → ...ion/models/ar_tags/marker16/model-1_4.sdf b/...ion/models/ar_tags/marker16/model-1_4.sdf → ...ion/models/ar_tags/marker16/model-1_4.sdf
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diff --git a/...gs/marker17/marker0/marker0/model-1_5.sdf → ...gs/marker17/marker0/marker0/model-1_5.sdf b/...gs/marker17/marker0/marker0/model-1_5.sdf → ...gs/marker17/marker0/marker0/model-1_5.sdf
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diff --git a/...ion/models/ar_tags/marker17/model-1_4.sdf → ...ion/models/ar_tags/marker17/model-1_4.sdf b/...ion/models/ar_tags/marker17/model-1_4.sdf → ...ion/models/ar_tags/marker17/model-1_4.sdf
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diff --git a/...ags/marker2/marker0/marker0/model-1_5.sdf → ...ags/marker2/marker0/marker0/model-1_5.sdf b/...ags/marker2/marker0/marker0/model-1_5.sdf → ...ags/marker2/marker0/marker0/model-1_5.sdf
diff --git a/...tags/marker2/marker0/marker0/model.config → ...tags/marker2/marker0/marker0/model.config b/...tags/marker2/marker0/marker0/model.config → ...tags/marker2/marker0/marker0/model.config
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diff --git a/...ags/marker3/marker0/marker0/model-1_5.sdf → ...ags/marker3/marker0/marker0/model-1_5.sdf b/...ags/marker3/marker0/marker0/model-1_5.sdf → ...ags/marker3/marker0/marker0/model-1_5.sdf
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diff --git a/...ags/marker4/marker0/marker0/model-1_5.sdf → ...ags/marker4/marker0/marker0/model-1_5.sdf b/...ags/marker4/marker0/marker0/model-1_5.sdf → ...ags/marker4/marker0/marker0/model-1_5.sdf
diff --git a/...tags/marker4/marker0/marker0/model.config → ...tags/marker4/marker0/marker0/model.config b/...tags/marker4/marker0/marker0/model.config → ...tags/marker4/marker0/marker0/model.config
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diff --git a/...tion/models/ar_tags/marker4/model-1_4.sdf → ...tion/models/ar_tags/marker4/model-1_4.sdf b/...tion/models/ar_tags/marker4/model-1_4.sdf → ...tion/models/ar_tags/marker4/model-1_4.sdf
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diff --git a/...ags/marker5/marker0/marker0/model-1_5.sdf → ...ags/marker5/marker0/marker0/model-1_5.sdf b/...ags/marker5/marker0/marker0/model-1_5.sdf → ...ags/marker5/marker0/marker0/model-1_5.sdf
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diff --git a/...tags/marker9/marker0/marker0/model.config → ...tags/marker9/marker0/marker0/model.config b/...tags/marker9/marker0/marker0/model.config → ...tags/marker9/marker0/marker0/model.config
diff --git a/...els/ar_tags/marker9/marker0/model-1_5.sdf → ...els/ar_tags/marker9/marker0/model-1_5.sdf b/...els/ar_tags/marker9/marker0/model-1_5.sdf → ...els/ar_tags/marker9/marker0/model-1_5.sdf
diff --git a/...dels/ar_tags/marker9/marker0/model.config → ...dels/ar_tags/marker9/marker0/model.config b/...dels/ar_tags/marker9/marker0/model.config → ...dels/ar_tags/marker9/marker0/model.config
diff --git a/...gs/marker9/materials/textures/Marker9.png → ...gs/marker9/materials/textures/Marker9.png b/...gs/marker9/materials/textures/Marker9.png → ...gs/marker9/materials/textures/Marker9.png
diff --git a/...models/ar_tags/marker9/meshes/Marker9.dae → ...models/ar_tags/marker9/meshes/Marker9.dae b/...models/ar_tags/marker9/meshes/Marker9.dae → ...models/ar_tags/marker9/meshes/Marker9.dae
diff --git a/...tion/models/ar_tags/marker9/model-1_4.sdf → ...tion/models/ar_tags/marker9/model-1_4.sdf b/...tion/models/ar_tags/marker9/model-1_4.sdf → ...tion/models/ar_tags/marker9/model-1_4.sdf
diff --git a/...tion/models/ar_tags/marker9/model-1_5.sdf → ...tion/models/ar_tags/marker9/model-1_5.sdf b/...tion/models/ar_tags/marker9/model-1_5.sdf → ...tion/models/ar_tags/marker9/model-1_5.sdf
diff --git a/...ption/models/ar_tags/marker9/model.config → ...ption/models/ar_tags/marker9/model.config b/...ption/models/ar_tags/marker9/model.config → ...ption/models/ar_tags/marker9/model.config
diff --git a/...cription/models/ar_tags/marker9/model.sdf → ...cription/models/ar_tags/marker9/model.sdf b/...cription/models/ar_tags/marker9/model.sdf → ...cription/models/ar_tags/marker9/model.sdf
diff --git a/...f110_description/models/cone/model.config → ...f110_description/models/cone/model.config b/...f110_description/models/cone/model.config → ...f110_description/models/cone/model.config
diff --git a/src/f110_description/models/cone/model.sdf → ...er/f110_description/models/cone/model.sdf b/src/f110_description/models/cone/model.sdf → ...er/f110_description/models/cone/model.sdf
diff --git a/...description/models/parking_1/model.config → ...description/models/parking_1/model.config b/...description/models/parking_1/model.config → ...description/models/parking_1/model.config
diff --git a/...10_description/models/parking_1/model.sdf → ...10_description/models/parking_1/model.sdf b/...10_description/models/parking_1/model.sdf → ...10_description/models/parking_1/model.sdf
diff --git a/...ion/models/walker_racecourse/model.config → ...ion/models/walker_racecourse/model.config b/...ion/models/walker_racecourse/model.config → ...ion/models/walker_racecourse/model.config
diff --git a/...iption/models/walker_racecourse/model.sdf → ...iption/models/walker_racecourse/model.sdf b/...iption/models/walker_racecourse/model.sdf → ...iption/models/walker_racecourse/model.sdf
diff --git a/src/f110_description/package.xml → ...cartographer/f110_description/package.xml b/src/f110_description/package.xml → ...cartographer/f110_description/package.xml
diff --git a/src/f110_description/urdf/F110.xacro → ...ographer/f110_description/urdf/F110.xacro b/src/f110_description/urdf/F110.xacro → ...ographer/f110_description/urdf/F110.xacro
diff --git a/src/f110_description/urdf/macros.xacro → ...rapher/f110_description/urdf/macros.xacro b/src/f110_description/urdf/macros.xacro → ...rapher/f110_description/urdf/macros.xacro
diff --git a/src/f110_description/urdf/materials.xacro → ...her/f110_description/urdf/materials.xacro b/src/f110_description/urdf/materials.xacro → ...her/f110_description/urdf/materials.xacro
diff --git a/src/f110_description/urdf/racecar.gazebo → ...pher/f110_description/urdf/racecar.gazebo b/src/f110_description/urdf/racecar.gazebo → ...pher/f110_description/urdf/racecar.gazebo
diff --git a/src/f110_description/urdf/racecar.xacro → ...apher/f110_description/urdf/racecar.xacro b/src/f110_description/urdf/racecar.xacro → ...apher/f110_description/urdf/racecar.xacro
diff --git a/src/f110_cartographer/launch/f110_2d.launch b/src/f110_cartographer/launch/f110_2d.launch
@@ -5,7 +5,7 @@
 
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
-          -configuration_directory /home/nvidia/cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files
+          -configuration_directory $(find f110_cartographer)/configuration_files
           -configuration_basename f110_2d.lua">
       <remap from="odom" to="/vesc/odom" />
       <remap from="imu" to="/imu/data" />

diff --git a/src/f110_cartographer/launch/f110_2d_viz.launch b/src/f110_cartographer/launch/f110_2d_viz.launch
@@ -5,7 +5,7 @@
 
   <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
-          -configuration_directory /home/nvidia/cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files
+          -configuration_directory $(find f110_cartographer)/configuration_files
           -configuration_basename f110_2d.lua">
       <remap from="odom" to="/vesc/odom" />
       <remap from="imu" to="/imu/data" />
@@ -15,7 +15,7 @@
       type="cartographer_occupancy_grid_node" args="-resolution 0.05" />
 
   <node name="rviz" pkg="rviz" type="rviz" required="true"
-      args="-d /home/nvidia/cartographer_ws/src/cartographer_ros/cartographer_ros/configuration_files/demo_2d.rviz" />
+      args="-d $(find cartographer_ros)/configuration_files/demo_2d.rviz" />
 
 
 </launch>
-Original file line number
+Diff line change
@@ Expand Up / @@ -30,3 +30,10 @@ @@
     *.exe
     *.out
     *.app
+    # Catkin directories
+    .catkin_tools/
+    build/
+    devel/
+    logs/