Sonar sim + ground visualizer +

command/sub8_launch/launch/tf.launch

@@ -2,8 +2,16 @@
 <launch>
   <include file="$(find sub8_launch)/launch/upload_urdf.launch" />
   <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher">
-    <param name="use_tf_static" value="false" />
+    <param name="use_tf_static" value="true" />
   </node>
-  <node pkg="sub8_launch" type="tf_republisher.py" name="tf_republisher" />
+
+  <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher">
+  	<param name="robot_description" textfile="$(find sub8_gazebo)/urdf/sub8.urdf" />
+  	<param name="publish_default_velocities" value="True"/>
+  	<param name="publish_default_efforts" value="True" />
+  </node>
+
+  <node pkg="sub8_launch" type="tf_republisher.py" name="tf_replublisher" />
+
   <node pkg="nodelet" type="nodelet" args="standalone odometry_utils/odometry_to_tf" name="odometry_to_tf"/>
 </launch>

command/sub8_launch/launch/upload_urdf.launch

@@ -12,4 +12,6 @@
     air_density: 1.225
     G: 9.81
   </rosparam>
+
+
 </launch>

command/sub8_launch/package.xml

@@ -8,6 +8,7 @@
   <build_depend>roslaunch</build_depend>
   <run_depend>roslaunch</run_depend>
   <run_depend>robot_state_publisher</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
   <run_depend>nodelet</run_depend>
   <run_depend>c3_trajectory_generator</run_depend>
   <run_depend>rise_6dof</run_depend>

perception/sub8_mapping/CMakeLists.txt

@@ -0,0 +1,237 @@
+cmake_minimum_required(VERSION 2.8.3)
+SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+project(sub8_mapping)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  image_transport
+  cv_bridge
+  std_msgs
+  message_generation
+  tf2
+  tf2_eigen
+  tf2_geometry_msgs
+  tf2_kdl
+  tf2_msgs
+  tf2_py
+  tf2_ros
+  tf2_sensor_msgs
+  pcl_conversions
+  pcl_ros
+  mil_blueview_driver
+  c3_trajectory_generator
+  gazebo_plugins
+  gazebo_ros
+)
+
+
+catkin_package(
+   INCLUDE_DIRS include
+   LIBRARIES map_lib
+)
+
+find_package(OpenCV REQUIRED)
+find_package(PCL REQUIRED)
+find_package(gazebo REQUIRED)
+link_directories(${GAZEBO_LIBRARY_DIRS})
+
+add_library(map_lib src/Mapping.cpp)
+target_link_libraries(map_lib
+  ${catkin_LIBRARIES} 
+  ${OpenCV_LIBRARIES}
+  ${roslib_LIBRARIES}
+  ${GAZEBO_LIBRARIES}
+)
+
+include_directories(include ${roslib_INCLUDE_DIRS}  ${PCL_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+
+
+add_executable(map_generator src/Mapping.cpp)
+add_dependencies(map_generator map_lib ${catkin_EXPORTED_TARGETS})
+target_link_libraries(map_generator map_lib ${catkin_LIBRARIES})
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES sub8_map
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/sub8_map.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/sub8_map_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sub8_map.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

perception/sub8_mapping/include/Mapping.hpp

@@ -0,0 +1,95 @@
+#pragma once
+#include <geometry_msgs/Point.h>
+#include <mil_blueview_driver/BlueViewPing.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <ros/ros.h>
+
+#include <tf/transform_listener.h>
+#include <tf2/convert.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+#include <tf2_msgs/TFMessage.h>
+#include <tf2_ros/transform_listener.h>
+#include <tf2_sensor_msgs/tf2_sensor_msgs.h>
+
+#include <opencv2/core/core.hpp>
+#include <opencv2/core/types.hpp>
+#include <stdexcept>
+#include "opencv2/opencv.hpp"
+#include <opencv2/imgcodecs.hpp>
+#include <opencv2/highgui.hpp>
+
+#include <pcl/common/common.h>
+#include <pcl/point_cloud.h>
+#include <pcl/point_types.h>
+#include <pcl_ros/point_cloud.h>
+#include <sensor_msgs/PointCloud2.h>
+#include "pcl_ros/point_cloud.h"
+#include <visualization_msgs/Marker.h>
+#include <visualization_msgs/MarkerArray.h>
+
+#include <boost/circular_buffer.hpp>
+
+#include <sub8_msgs/Bounds.h>
+
+#include <waypoint_validity.hpp>
+
+#include <mil_msgs/ObjectDBQuery.h>
+#include <mil_msgs/PerceptionObject.h>
+#include <mil_msgs/PerceptionObjectArray.h>
+#include <mil_msgs/RangeStamped.h>
+#include <std_srvs/Trigger.h>
+#include <ros_alarms/listener.hpp>
+
+#include <string>
+#include <boost/filesystem.hpp> 
+
+extern struct map_param
+{
+	bool map_pc;								// Show the point cloud 
+	bool use_sonar;							// Weather or not to use sonar's world data
+	bool map_objects;
+	bool show_markers;						// Display latest DVL depth marker in Rviz
+	float max_depth;  					// maximum depth in meters to map
+	int pcl_buffer;
+
+} params;
+
+
+class Mapping
+
+{
+public:
+	Mapping();
+	void dvl_callback(const mil_msgs::RangeStampedConstPtr &dvl);
+	//void sonar_callback(const sub8_gazebo::simulated_sonar_pingPtr &ping_msg);
+	//void object_callback(const mil_msgs::PerceptionObjectArray &objects);
+	void process_image(std::string frame_id, int id, cv::Mat& pic, tf::StampedTransform transform_);
+
+private:
+	ros::NodeHandle nh_;
+	tf::TransformListener listener_;
+	tf::StampedTransform transform_;
+	tf::StampedTransform transform2_;
+	ros_alarms::AlarmListener<> kill_listener_;
+	bool was_killed_;
+
+	ros::Subscriber sub_dvl_;
+	//ros::Subscriber sub_imaging_sonar_;
+	//ros::Subscriber sub_ogrid_objs_;
+
+	// Publishers
+	ros::Publisher pub_surface_;
+	ros::Publisher pub_floor_;
+
+
+	double dvl_depth_;
+	pcl::PointCloud<pcl::PointXYZI>::Ptr pointCloud_;
+	cv::Mat surface_image_;
+	cv::Mat floor_image_;
+
+	std::string floor_img_path_;
+	std::string surface_img_path_;
+	bool use_image_;
+	bool surface_marker_;
+	bool use_down_cam_;
+};

perception/sub8_mapping/launch/map.launch

@@ -0,0 +1,24 @@
+<launch>
+    <node pkg="sub8_mapping" type="map_generator"   name="sub8_mapping" >
+        <rosparam>
+            # Show the pointcloud
+            map_pc: true
+
+            # Weather or not to use sonar's world data
+            use_sonar: true
+
+            # 
+            map_objects: true
+
+            # Display latest DVL depth marker in Rviz
+            show_markers: true
+
+            # Maximum depth in meters to map
+            max_depth: 37
+
+            # Max amount of pcl to have in buffer
+            pcl_buffer: 5000
+
+        </rosparam>
+    </node>
+</launch>