First commit

.gitignore

@@ -1,29 +1,102 @@
-# Compiled Object files
-*.slo
-*.lo
-*.o
-*.obj
-
-# Precompiled Headers
-*.gch
-*.pch
-
-# Compiled Dynamic libraries
-*.so
-*.dylib
-*.dll
-
-# Fortran module files
-*.mod
-*.smod
-
-# Compiled Static libraries
-*.lai
-*.la
-*.a
-*.lib
-
-# Executables
-*.exe
-*.out
-*.app
+#ignore the backup file with "~"
+*.~### https://raw.github.com/github/gitignore/cc542de017c606138a87ee4880e5f06b3a306def/Global/OSX.gitignore
+
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Icon must end with two \r
+Icon
+
+# Thumbnails
+._*
+
+# Files that might appear in the root of a volume
+.DocumentRevisions-V100
+.fseventsd
+.Spotlight-V100
+.TemporaryItems
+.Trashes
+.VolumeIcon.icns
+
+# Directories potentially created on remote AFP share
+.AppleDB
+.AppleDesktop
+Network Trash Folder
+Temporary Items
+.apdisk
+
+
+### https://raw.github.com/github/gitignore/cc542de017c606138a87ee4880e5f06b3a306def/Global/Linux.gitignore
+
+*~
+
+# temporary files which can be created if a process still has a handle open of a deleted file
+.fuse_hidden*
+
+# KDE directory preferences
+.directory
+
+# Linux trash folder which might appear on any partition or disk
+.Trash-*
+
+
+### https://raw.github.com/github/gitignore/cc542de017c606138a87ee4880e5f06b3a306def/Global/Emacs.gitignore
+
+# -*- mode: gitignore; -*-
+*~
+\#*\#
+/.emacs.desktop
+/.emacs.desktop.lock
+*.elc
+auto-save-list
+tramp
+.\#*
+
+# Org-mode
+.org-id-locations
+*_archive
+
+# flymake-mode
+*_flymake.*
+
+# eshell files
+/eshell/history
+/eshell/lastdir
+
+# elpa packages
+/elpa/
+
+# reftex files
+*.rel
+
+# AUCTeX auto folder
+/auto/
+
+# cask packages
+.cask/
+dist/
+
+# Flycheck
+flycheck_*.el
+
+# server auth directory
+/server/
+
+# projectiles files
+.projectile
+
+### https://raw.github.com/github/gitignore/cc542de017c606138a87ee4880e5f06b3a306def/Global/Vim.gitignore
+
+# swap
+[._]*.s[a-w][a-z]
+[._]s[a-w][a-z]
+# session
+Session.vim
+# temporary
+.netrwhist
+*~
+# auto-generated tag files
+tags
+
+

README.md

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+## Introduction
+
+This is the repository for the uav challenge in forest:
+[森のドローン・ロボット競技会](http://www.lsse.kyutech.ac.jp/~sociorobo/ja/forestdrone17)
+
+## how to compile
+
+```
+mkdir <catkin_ws>
+cd <catkin_ws>
+wstool init src
+wstool set -t src jsk_uav_forest http://github.com/tongtybj/jsk_uav_forest --git
+wstool merge -t src https://raw.githubusercontent.com/tu-darmstadt-ros-pkg/hector_quadrotor/${ROS_DISTRO}-devel/tutorials.rosinstall
+wstool update -t src
+rosdep install -y -r --from-paths src --ignore-src --rosdistro $ROS_DISTRO
+catkin build
+```
+
+## how to run program
+
+- run in gazebo:
+```
+$ roslaunch jsk_uav_forest_simulation forest_simulation.launch
+```
+
+- run in gazebo by manual operation
+```
+$ roslaunch jsk_uav_forest_simulation forest_simulation.launch manual:=true
+```
+
+        

jsk_uav_forest/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_uav_forest)
+find_package(catkin REQUIRED)
+catkin_metapackage()

jsk_uav_forest/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>jsk_uav_forest</name>
+  <version>0.0.0</version>
+  <description>
+      Software of JSK lab in uav forest challenge.
+  </description>
+
+  <maintainer email="chou@jsk.imi.i.u-tokyo.ac.jp">Moju Zhao</maintainer>
+  <maintainer email="shifan@jsk.imi.i.u-tokyo.ac.jp">Fan Shi</maintainer>
+  <maintainer email="anzai@jsk.imi.i.u-tokyo.ac.jp">Tomoki Anzai</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://www.jsk.t.u-tokyo.ac.jp/</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>jsk_uav_forest_perception</run_depend>
+  <run_depend>jsk_uav_forest_motion</run_depend>
+  <run_depend>jsk_uav_forest_simulation</run_depend>
+
+  <export>
+    <metapackage/>
+  </export>
+</package>

jsk_uav_forest_motion/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(jsk_uav_forest_motion)
+
+## 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
+  roscpp
+)
+
+## 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 and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_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  # Or other packages containing msgs
+# )
+
+###################################
+## 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 you 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 jsk_uav_forest_motion
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(jsk_uav_forest_motion
+#   src/${PROJECT_NAME}/jsk_uav_forest_motion.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(jsk_uav_forest_motion_node src/jsk_uav_forest_motion_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(jsk_uav_forest_motion_node jsk_uav_forest_motion_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(jsk_uav_forest_motion_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 jsk_uav_forest_motion jsk_uav_forest_motion_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_jsk_uav_forest_motion.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)