작업환경
- Labtop OS : Ubuntu 16.04- Labtop ROS : Kinetic
- Lattepanda alpha OS : Ubuntu 16.04
- Lattepanda alpha ROS : Kinetic
- LIDAR Sensor ( connected to Lattepanda alpha ) : YDLIDAR-G4
- Depth Camera : pico monstar
1. Install hector_slam package
1
2
3
4
5
|
$ cd ~/catkin_ws/src
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
| cs |
hector_slam package는 무난히 설치될 것이다.
2. Install hector_navigation package
다음으로 hector_navigation package를 설치할 것인데,
이전에도 느꼈지만, 제대로 된 가이드가 없어서 설치하는데 어려움이 많다.
최대한 버그 없이 설치되도록 정리해보겠다.
아래 명령어들을 순차적으로 진행하면 되겠다.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
|
# Install dependency packages
$ sudo apt-get install ros-kinetic-costmap-2d
$ sudo apt-get install ros-kinetic-geodesy
$ sudo apt-get install ros-kinetic-nav-core
$ sudo apt-get install ros-kinetic-pcl-conversions
$ sudo apt-get install ros-kinetic-pcl-ros
$ cd ~/catkin_ws/src
$ git clone https://github.com/catkin/catkin_simple.git
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/gflags_catkin
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/eigen_catkin.git
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/suitesparse
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
# https://github.com/ethz-asl/glog_catkin/issues/27 를 참고하여 다음 패키지 또한 설치한다.
$ sudo apt-get install autoconf
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/glog_catkin
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
$ cd ~/catkin_ws/src
$ git clone https://github.com/ethz-asl/ceres_catkin.git
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
| cs |
이제 드디어 hector_navigation을 설치하게 될텐데, 본인의 경우 다음과 같은 error가 떴다.
[ 62%] Building CXX object hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/src/hector_elevation_visualization_node.cpp.o In file included from /home/suho/catkin_ws/src/hector_navigation/hector_elevation_visualization/src/hector_elevation_visualization_node.cpp:2:0: /home/suho/catkin_ws/src/hector_navigation/hector_elevation_visualization/include/hector_elevation_visualization/hector_elevation_visualization.h:12:73: fatal error: hector_elevation_visualization/ElevationVisualizationConfig.h: No such file or directory compilation terminated. hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/build.make:62: recipe for target 'hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/src/hector_elevation_visualization_node.cpp.o' failed make[2]: *** [hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/src/hector_elevation_visualization_node.cpp.o] Error 1 CMakeFiles/Makefile2:3811: recipe for target 'hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/all' failed make[1]: *** [hector_navigation/hector_elevation_visualization/CMakeFiles/hector_elevation_visualization_node.dir/all] Error 2 Makefile:138: recipe for target 'all' failed make: *** [all] Error 2 Invoking "make -j1 -l1" failed
일단 hector_navigation github에 issue를 올려놓긴 했다.
(링크 참조 : https://github.com/tu-darmstadt-ros-pkg/hector_navigation/issues/20)
위 에러는 패키지를 컴파일 하는 과정에서 catkin_ws/devel/include 안에 hector_elevation_visualization/ElevationVisualizationConfig.h 파일이 생성되지 않아서 발생한다.
그러므로 아래 링크를 참조하여 ElevationVisualizationConfig.h 파일을 인위적으로 생성하여 일시적으로 문제를 해결하였다.
(링크 참조 : https://github.com/DaviGuanabara/jaguar-slam/blob/master/jaguar_ws/devel/include/hector_elevation_visualization/ElevationVisualizationConfig.h)
명령어로는 다음과 같다.
1
2
3
4
|
$ cd ~/catkin_ws/devel/include
$ mkdir hector_elevation_visualization
$ cd hector_elevation_visualization
$ sudo nano ElevationVisualizationConfig.h
| cs |
아래 코드를 복사 및 붙여넣기 한다.
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
|
//#line 2 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
// *********************************************************
//
// File autogenerated for the hector_elevation_visualization package
// by the dynamic_reconfigure package.
// Please do not edit.
//
// ********************************************************/
#ifndef __hector_elevation_visualization__ELEVATIONVISUALIZATIONCONFIG_H__
#define __hector_elevation_visualization__ELEVATIONVISUALIZATIONCONFIG_H__
#if __cplusplus >= 201103L
#define DYNAMIC_RECONFIGURE_FINAL final
#else
#define DYNAMIC_RECONFIGURE_FINAL
#endif
#include <dynamic_reconfigure/config_tools.h>
#include <limits>
#include <ros/node_handle.h>
#include <dynamic_reconfigure/ConfigDescription.h>
#include <dynamic_reconfigure/ParamDescription.h>
#include <dynamic_reconfigure/Group.h>
#include <dynamic_reconfigure/config_init_mutex.h>
#include <boost/any.hpp>
namespace hector_elevation_visualization
{
class ElevationVisualizationConfigStatics;
class ElevationVisualizationConfig
{
public:
class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
{
public:
AbstractParamDescription(std::string n, std::string t, uint32_t l,
std::string d, std::string e)
{
name = n;
type = t;
level = l;
description = d;
edit_method = e;
}
virtual void clamp(ElevationVisualizationConfig &config, const ElevationVisualizationConfig &max, const ElevationVisualizationConfig &min) const = 0;
virtual void calcLevel(uint32_t &level, const ElevationVisualizationConfig &config1, const ElevationVisualizationConfig &config2) const = 0;
virtual void fromServer(const ros::NodeHandle &nh, ElevationVisualizationConfig &config) const = 0;
virtual void toServer(const ros::NodeHandle &nh, const ElevationVisualizationConfig &config) const = 0;
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ElevationVisualizationConfig &config) const = 0;
virtual void toMessage(dynamic_reconfigure::Config &msg, const ElevationVisualizationConfig &config) const = 0;
virtual void getValue(const ElevationVisualizationConfig &config, boost::any &val) const = 0;
};
typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
// Final keyword added to class because it has virtual methods and inherits
// from a class with a non-virtual destructor.
template <class T>
class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
{
public:
ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
std::string a_description, std::string a_edit_method, T ElevationVisualizationConfig::* a_f) :
AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
field(a_f)
{}
T (ElevationVisualizationConfig::* field);
virtual void clamp(ElevationVisualizationConfig &config, const ElevationVisualizationConfig &max, const ElevationVisualizationConfig &min) const
{
if (config.*field > max.*field)
config.*field = max.*field;
if (config.*field < min.*field)
config.*field = min.*field;
}
virtual void calcLevel(uint32_t &comb_level, const ElevationVisualizationConfig &config1, const ElevationVisualizationConfig &config2) const
{
if (config1.*field != config2.*field)
comb_level |= level;
}
virtual void fromServer(const ros::NodeHandle &nh, ElevationVisualizationConfig &config) const
{
nh.getParam(name, config.*field);
}
virtual void toServer(const ros::NodeHandle &nh, const ElevationVisualizationConfig &config) const
{
nh.setParam(name, config.*field);
}
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, ElevationVisualizationConfig &config) const
{
return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
}
virtual void toMessage(dynamic_reconfigure::Config &msg, const ElevationVisualizationConfig &config) const
{
dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
}
virtual void getValue(const ElevationVisualizationConfig &config, boost::any &val) const
{
val = config.*field;
}
};
class AbstractGroupDescription : public dynamic_reconfigure::Group
{
public:
AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
{
name = n;
type = t;
parent = p;
state = s;
id = i;
}
std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
bool state;
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
virtual void updateParams(boost::any &cfg, ElevationVisualizationConfig &top) const= 0;
virtual void setInitialState(boost::any &cfg) const = 0;
void convertParams()
{
for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
{
parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
}
}
};
typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
// Final keyword added to class because it has virtual methods and inherits
// from a class with a non-virtual destructor.
template<class T, class PT>
class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
{
public:
GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
{
}
GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
{
parameters = g.parameters;
abstract_parameters = g.abstract_parameters;
}
virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
{
PT* config = boost::any_cast<PT*>(cfg);
if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
return false;
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
{
boost::any n = &((*config).*field);
if(!(*i)->fromMessage(msg, n))
return false;
}
return true;
}
virtual void setInitialState(boost::any &cfg) const
{
PT* config = boost::any_cast<PT*>(cfg);
T* group = &((*config).*field);
group->state = state;
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
{
boost::any n = boost::any(&((*config).*field));
(*i)->setInitialState(n);
}
}
virtual void updateParams(boost::any &cfg, ElevationVisualizationConfig &top) const
{
PT* config = boost::any_cast<PT*>(cfg);
T* f = &((*config).*field);
f->setParams(top, abstract_parameters);
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
{
boost::any n = &((*config).*field);
(*i)->updateParams(n, top);
}
}
virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
{
const PT config = boost::any_cast<PT>(cfg);
dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
{
(*i)->toMessage(msg, config.*field);
}
}
T (PT::* field);
std::vector<ElevationVisualizationConfig::AbstractGroupDescriptionConstPtr> groups;
};
class DEFAULT
{
public:
DEFAULT()
{
state = true;
name = "Default";
}
void setParams(ElevationVisualizationConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
{
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
{
boost::any val;
(*_i)->getValue(config, val);
if("max_height_levels"==(*_i)->name){max_height_levels = boost::any_cast<int>(val);}
if("min_height"==(*_i)->name){min_height = boost::any_cast<double>(val);}
if("max_height"==(*_i)->name){max_height = boost::any_cast<double>(val);}
if("color_factor"==(*_i)->name){color_factor = boost::any_cast<double>(val);}
if("use_color_map"==(*_i)->name){use_color_map = boost::any_cast<bool>(val);}
if("elevation_map_frame_id"==(*_i)->name){elevation_map_frame_id = boost::any_cast<std::string>(val);}
}
}
int max_height_levels;
double min_height;
double max_height;
double color_factor;
bool use_color_map;
std::string elevation_map_frame_id;
bool state;
std::string name;
}groups;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
int max_height_levels;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
double min_height;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
double max_height;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
double color_factor;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
bool use_color_map;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
std::string elevation_map_frame_id;
//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
bool __fromMessage__(dynamic_reconfigure::Config &msg)
{
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
int count = 0;
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
if ((*i)->fromMessage(msg, *this))
count++;
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
{
if ((*i)->id == 0)
{
boost::any n = boost::any(this);
(*i)->updateParams(n, *this);
(*i)->fromMessage(msg, n);
}
}
if (count != dynamic_reconfigure::ConfigTools::size(msg))
{
ROS_ERROR("ElevationVisualizationConfig::__fromMessage__ called with an unexpected parameter.");
ROS_ERROR("Booleans:");
for (unsigned int i = 0; i < msg.bools.size(); i++)
ROS_ERROR(" %s", msg.bools[i].name.c_str());
ROS_ERROR("Integers:");
for (unsigned int i = 0; i < msg.ints.size(); i++)
ROS_ERROR(" %s", msg.ints[i].name.c_str());
ROS_ERROR("Doubles:");
for (unsigned int i = 0; i < msg.doubles.size(); i++)
ROS_ERROR(" %s", msg.doubles[i].name.c_str());
ROS_ERROR("Strings:");
for (unsigned int i = 0; i < msg.strs.size(); i++)
ROS_ERROR(" %s", msg.strs[i].name.c_str());
// @todo Check that there are no duplicates. Make this error more
// explicit.
return false;
}
return true;
}
// This version of __toMessage__ is used during initialization of
// statics when __getParamDescriptions__ can't be called yet.
void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
{
dynamic_reconfigure::ConfigTools::clear(msg);
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
(*i)->toMessage(msg, *this);
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
{
if((*i)->id == 0)
{
(*i)->toMessage(msg, *this);
}
}
}
void __toMessage__(dynamic_reconfigure::Config &msg) const
{
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
__toMessage__(msg, __param_descriptions__, __group_descriptions__);
}
void __toServer__(const ros::NodeHandle &nh) const
{
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
(*i)->toServer(nh, *this);
}
void __fromServer__(const ros::NodeHandle &nh)
{
static bool setup=false;
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
(*i)->fromServer(nh, *this);
const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
if (!setup && (*i)->id == 0) {
setup = true;
boost::any n = boost::any(this);
(*i)->setInitialState(n);
}
}
}
void __clamp__()
{
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
const ElevationVisualizationConfig &__max__ = __getMax__();
const ElevationVisualizationConfig &__min__ = __getMin__();
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
(*i)->clamp(*this, __max__, __min__);
}
uint32_t __level__(const ElevationVisualizationConfig &config) const
{
const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
uint32_t level = 0;
for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
(*i)->calcLevel(level, config, *this);
return level;
}
static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
static const ElevationVisualizationConfig &__getDefault__();
static const ElevationVisualizationConfig &__getMax__();
static const ElevationVisualizationConfig &__getMin__();
static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
private:
static const ElevationVisualizationConfigStatics *__get_statics__();
};
template <> // Max and min are ignored for strings.
inline void ElevationVisualizationConfig::ParamDescription<std::string>::clamp(ElevationVisualizationConfig &config, const ElevationVisualizationConfig &max, const ElevationVisualizationConfig &min) const
{
(void) config;
(void) min;
(void) max;
return;
}
class ElevationVisualizationConfigStatics
{
friend class ElevationVisualizationConfig;
ElevationVisualizationConfigStatics()
{
ElevationVisualizationConfig::GroupDescription<ElevationVisualizationConfig::DEFAULT, ElevationVisualizationConfig> Default("Default", "", 0, 0, true, &ElevationVisualizationConfig::groups);
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.max_height_levels = 1;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.max_height_levels = 20;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.max_height_levels = 10;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<int>("max_height_levels", "int", 0, "max height levels", "", &ElevationVisualizationConfig::max_height_levels)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<int>("max_height_levels", "int", 0, "max height levels", "", &ElevationVisualizationConfig::max_height_levels)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.min_height = -5.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.min_height = 10.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.min_height = -1.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("min_height", "double", 0, "max height value", "", &ElevationVisualizationConfig::min_height)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("min_height", "double", 0, "max height value", "", &ElevationVisualizationConfig::min_height)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.max_height = -5.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.max_height = 10.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.max_height = 1.5;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("max_height", "double", 0, "max height value", "", &ElevationVisualizationConfig::max_height)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("max_height", "double", 0, "max height value", "", &ElevationVisualizationConfig::max_height)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.color_factor = 0.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.color_factor = 1.0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.color_factor = 0.8;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("color_factor", "double", 0, "color_factor", "", &ElevationVisualizationConfig::color_factor)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<double>("color_factor", "double", 0, "color_factor", "", &ElevationVisualizationConfig::color_factor)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.use_color_map = 0;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.use_color_map = 1;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.use_color_map = 1;
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<bool>("use_color_map", "bool", 0, "use_color_map", "", &ElevationVisualizationConfig::use_color_map)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<bool>("use_color_map", "bool", 0, "use_color_map", "", &ElevationVisualizationConfig::use_color_map)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__min__.elevation_map_frame_id = "";
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__max__.elevation_map_frame_id = "";
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__default__.elevation_map_frame_id = "/elevation_map_local";
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.abstract_parameters.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<std::string>("elevation_map_frame_id", "str", 0, "elevation_map frame id", "", &ElevationVisualizationConfig::elevation_map_frame_id)));
//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__param_descriptions__.push_back(ElevationVisualizationConfig::AbstractParamDescriptionConstPtr(new ElevationVisualizationConfig::ParamDescription<std::string>("elevation_map_frame_id", "str", 0, "elevation_map frame id", "", &ElevationVisualizationConfig::elevation_map_frame_id)));
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
Default.convertParams();
//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
__group_descriptions__.push_back(ElevationVisualizationConfig::AbstractGroupDescriptionConstPtr(new ElevationVisualizationConfig::GroupDescription<ElevationVisualizationConfig::DEFAULT, ElevationVisualizationConfig>(Default)));
//#line 366 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
for (std::vector<ElevationVisualizationConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
{
__description_message__.groups.push_back(**i);
}
__max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
__min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
__default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
}
std::vector<ElevationVisualizationConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
std::vector<ElevationVisualizationConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
ElevationVisualizationConfig __max__;
ElevationVisualizationConfig __min__;
ElevationVisualizationConfig __default__;
dynamic_reconfigure::ConfigDescription __description_message__;
static const ElevationVisualizationConfigStatics *get_instance()
{
// Split this off in a separate function because I know that
// instance will get initialized the first time get_instance is
// called, and I am guaranteeing that get_instance gets called at
// most once.
static ElevationVisualizationConfigStatics instance;
return &instance;
}
};
inline const dynamic_reconfigure::ConfigDescription &ElevationVisualizationConfig::__getDescriptionMessage__()
{
return __get_statics__()->__description_message__;
}
inline const ElevationVisualizationConfig &ElevationVisualizationConfig::__getDefault__()
{
return __get_statics__()->__default__;
}
inline const ElevationVisualizationConfig &ElevationVisualizationConfig::__getMax__()
{
return __get_statics__()->__max__;
}
inline const ElevationVisualizationConfig &ElevationVisualizationConfig::__getMin__()
{
return __get_statics__()->__min__;
}
inline const std::vector<ElevationVisualizationConfig::AbstractParamDescriptionConstPtr> &ElevationVisualizationConfig::__getParamDescriptions__()
{
return __get_statics__()->__param_descriptions__;
}
inline const std::vector<ElevationVisualizationConfig::AbstractGroupDescriptionConstPtr> &ElevationVisualizationConfig::__getGroupDescriptions__()
{
return __get_statics__()->__group_descriptions__;
}
inline const ElevationVisualizationConfigStatics *ElevationVisualizationConfig::__get_statics__()
{
const static ElevationVisualizationConfigStatics *statics;
if (statics) // Common case
return statics;
boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
if (statics) // In case we lost a race.
return statics;
statics = ElevationVisualizationConfigStatics::get_instance();
return statics;
}
}
#undef DYNAMIC_RECONFIGURE_FINAL
#endif // __ELEVATIONVISUALIZATIONRECONFIGURATOR_H__
| cs |
이제 'ctrl' + 'x' 를 눌러 저장한 뒤,
다음 명령어를 수행하여 hector_navigation을 설치할 수 있다.
1
2
3
4
5
|
$ cd ~/catkin_ws/src
$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git
$ cd ~/catkin_ws
$ source devel/setup.bash
$ catkin_make
| cs |
댓글 없음:
댓글 쓰기