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Added two versions of MYRABot software in github-repo. The MB_robot folder contains ROS-Fuerte version of our development and it is used in the real robot. MB_robot_hydro folder contains software supported in ROS-HYDRO version and it is used for simulation tasks.
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‎MB_robot/CMakeLists.txt

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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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set(ROSPACK_MAKEDIST true)
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# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
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# directories (or patterns, but directories should suffice) that should
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# be excluded from the distro. This is not the place to put things that
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# should be ignored everywhere, like "build" directories; that happens in
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# rosbuild/rosbuild.cmake. Here should be listed packages that aren't
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# ready for inclusion in a distro.
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#
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# This list is combined with the list in rosbuild/rosbuild.cmake. Note
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# that CMake 2.6 may be required to ensure that the two lists are combined
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# properly. CMake 2.4 seems to have unpredictable scoping rules for such
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# variables.
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#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
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rosbuild_make_distribution(1.8.3)
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‎MB_robot/MB.sh

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#!/bin/bash
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#MYRABot Script
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FOLDERS="myrabot_arm_base myrabot_arm_model myrabot_gazebo_plugins myrabot_robot_model myrabot_roomba find_object_2d"
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CORTINILLA_DE_ESTRELLAS="========================================================"
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CORTINILLA_DOS=" ################################################################### "
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HELP_MESSAGE="This is the first test-environment script:\\n
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-c: lanza el cmake de los packages y compila todo\n
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-d: borra toda la información de compilaciones previas\n
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-i: instala las dependencias necesarias de PR2 y turtlebot\n
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-l: lanza el MYRABot en gazebo\n
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-t: arranca la teleoperación (es necesario instalar las app's de turtlebot) \n
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-x: about us
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"
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START_MESSAGE="Welcome to MYRABot robot environment"
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INSTALLING_MESSAGE=" >> Now we are going to install the PR2 and turtlebot needed packages <<"
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ENDING_MESSAGE="It's done"
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PARAM_MESSAGE="Este programa necesita parámetros para ser lanzado. Por favor ejecute:\n \$ ./MB.sh -h"
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ROS_FUERTE_PR2_DEPENDENCIES="ros-fuerte-pr2-controllers ros-fuerte-pr2-mechanism ros-fuerte-pr2-simulator"
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ROS_FUERTE_TURTLEBOT_DEPENDENCIES="ros-fuerte-turtlebot ros-fuerte-turtlebot-apps ros-fuerte-turtlebot-simulator ros-fuerte-turtlebot-viz ros-fuerte-camera-umd"
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message()
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{
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echo "
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##
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## ##
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# ##
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######## ##
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##::::::# # ##
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##::::::::::# #
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#::::::::::::## #
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#::::::::::::#::# #
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#:::::::::::::#:::#
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#:::::::::::::::::#
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#:::::::::::::::::#:#
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#:::::::::::::::::#:#
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#::::::::::::::::::::#
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#:::::::::::::::::::::#
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#::::::::::::::::::::::#
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#####:::#####::::::::::#
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# #:# ##:::::::::#
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# ## #::::::::#
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# ## # #::::::::#
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# # # #:::::::#
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# # #::::#::#
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X#### ## #:::##:##
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#::::# ## #::#:#::#
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#:::::# #::#:## #
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#:::::## #:::::# #
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#:::::::## X#::::::# #
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#:::::::::##::::::#:#
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##########::::::::##
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#:::::::::::##:::::::#
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#::::::::::::::#::::#:#
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##::::::::::::####::###
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#:::::::::::## ##:::#
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##::::::::## # ##:::#
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#### ##### ####:::#
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# # # #:#::::##
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# # # #::#::::# #
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# #####:::#::::# ##
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#####::::::##::::## #
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##:::::::::#:::::# #
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###::::::#::::## #
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##::###::::# #
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# ####X::::# #
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# #::::::## #
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# ##:::::# #
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# ##::::# ##
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## ##::::# # #
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## ## ### #::## # ## ###
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# ###::### # #:# # ## ###::######
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#:#::#::#::# # # # ### #::#::#::#::#
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#::#::#::#::# #::#::#::##::# #
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#########::#::#::######################::#::#::#:#########
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#::#::### ###::#::# dD
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## ## ## ##"
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}
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end_message()
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{
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echo $CORTINILLA_DOS
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echo $ENDING_MESSAGE
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echo $CORTINILLA_DOS
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}
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teleop()
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{
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roslaunch turtlebot_teleop keyboard_teleop.launch
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}
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install_dependencies()
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{
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echo $CORTINILLA_DE_ESTRELLAS
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echo "Installing PR2 packages"
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echo $CORTINILLA_DE_ESTRELLAS
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sudo apt-get install $ROS_FUERTE_PR2_DEPENDENCIES
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echo
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echo $CORTINILLA_DE_ESTRELLAS
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echo "Installing Turtlebot packages"
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echo $CORTINILLA_DE_ESTRELLAS
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sudo apt-get install $ROS_FUERTE_TURTLEBOT_DEPENDENCIES
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end_message
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}
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premaking()
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{
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for f in $FOLDERS; do
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echo $CORTINILLA_DE_ESTRELLAS
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echo " cmaking $f"
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echo $CORTINILLA_DE_ESTRELLAS
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cd $f
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cmake .
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cd ..
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done
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}
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delete()
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{
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echo $CORTINILLA_DE_ESTRELLAS
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echo " Removing CMakeCache.txt, Makefile, CMakeFiles, cmake_install.cmake"
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echo $CORTINILLA_DE_ESTRELLAS
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rm `find . -name "CMakeCache.txt"`
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rm `find . -name "Makefile"`
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rm -rf `find . -name "CMakeFiles"`
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rm -rf `find . -name "cmake_install.cmake"`
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end_message
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}
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##############################################################################
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# Script Start
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##############################################################################
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echo $CORTINILLA_DOS
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echo -e $START_MESSAGE
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echo -e $CORTINILLA_DOS
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##############################################################################
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# Check 3 arguments are given #
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if [ $# -lt 1 ]
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then
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echo -e $PARAM_MESSAGE
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exit
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fi
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while getopts ":dcilhtx" optname
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do
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case "$optname" in
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"d")
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echo "Option $optname is specified"
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delete
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;;
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"c")
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echo "Option $optname is specified"
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premaking
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rosmake
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end_message
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;;
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"h")
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echo -e $HELP_MESSAGE
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;;
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"i")
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echo "Option $optname is specified"
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echo -e $INSTALLING_MESSAGE
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install_dependencies
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;;
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"l")
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echo "Option $optname is specified"
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roslaunch myrabot_robot_model myrabot_gazebo.launch
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;;
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"t")
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teleop
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;;
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"x")
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message
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;;
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"?")
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echo "Unknown option $OPTARG"
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;;
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":")
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echo "No argument value for option $OPTARG"
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;;
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*)
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# Should not occur
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echo "Unknown error while processing options"
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;;
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esac
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# echo "OPTIND is now $OPTIND"
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done
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‎MB_robot/find_object_2d/CMakeLists.txt

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cmake_minimum_required(VERSION 2.4.6)
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include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
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# Set the build type. Options are:
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# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage
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# Debug : w/ debug symbols, w/o optimization
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# Release : w/o debug symbols, w/ optimization
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# RelWithDebInfo : w/ debug symbols, w/ optimization
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# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries
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#set(ROS_BUILD_TYPE RelWithDebInfo)
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rosbuild_init()
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ADD_DEFINITIONS(-DPROJECT_PREFIX='"find_object_2d"')
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ADD_DEFINITIONS(-DPROJECT_VERSION='"0.2.2"')
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#set the default path for built executables to the "bin" directory
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set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
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#set the default path for built libraries to the "lib" directory
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set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
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#uncomment if you have defined messages
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rosbuild_genmsg()
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#uncomment if you have defined services
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#rosbuild_gensrv()
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find_package(OpenCV 2.4 REQUIRED)
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find_package(Qt4 COMPONENTS QtCore QtGui)
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### Qt Gui stuff ###
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SET(headers_ui
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./src_x/MainWindow.h
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./src_x/AddObjectDialog.h
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./src_x/ObjWidget.h
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./src_x/Camera.h
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./src_x/ParametersToolBox.h
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./src/CameraROS.h
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./src/ObjectsDetectedCallback.h
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./src_x/AboutDialog.h
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./src_x/utilite/UPlot.h
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./src_x/rtabmap/PdfPlot.h
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)
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SET(uis
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./src_x/ui/mainWindow.ui
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./src_x/ui/addObjectDialog.ui
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./src_x/ui/aboutDialog.ui
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)
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SET(qrc
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./src_x/resources.qrc
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)
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# generate rules for building source files from the resources
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QT4_ADD_RESOURCES(srcs_qrc ${qrc})
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#Generate .h files from the .ui files
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QT4_WRAP_UI(moc_uis ${uis})
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#This will generate moc_* for Qt
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QT4_WRAP_CPP(moc_srcs ${headers_ui})
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### Qt Gui stuff end###
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SET(SRC_FILES
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./src_x/MainWindow.cpp
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./src_x/AddObjectDialog.cpp
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./src_x/KeypointItem.cpp
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./src_x/QtOpenCV.cpp
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./src_x/Camera.cpp
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./src/CameraROS.cpp
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./src_x/ParametersToolBox.cpp
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./src_x/Settings.cpp
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./src_x/ObjWidget.cpp
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./src_x/AboutDialog.cpp
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./src_x/utilite/UPlot.cpp
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./src_x/utilite/UFile.cpp
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./src_x/utilite/UDirectory.cpp
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./src_x/rtabmap/PdfPlot.cpp
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${moc_srcs}
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${moc_uis}
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${srcs_qrc}
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)
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SET(INCLUDE_DIRS
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src_x
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${OpenCV_INCLUDE_DIRS}
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${CMAKE_CURRENT_BINARY_DIR} # for qt ui generated in binary dir
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)
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INCLUDE(${QT_USE_FILE})
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SET(LIBRARIES
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${QT_LIBRARIES}
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${OpenCV_LIBS}
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)
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#include files
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INCLUDE_DIRECTORIES(${INCLUDE_DIRS})
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rosbuild_add_executable(find_object_2d src/find_object_2d_node.cpp ${SRC_FILES})
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target_link_libraries(find_object_2d ${LIBRARIES})
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rosbuild_add_executable(print_objects_detected src/print_objects_detected_node.cpp)
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rosbuild_add_executable(objects_detected src/objects_detected.cpp)
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target_link_libraries(objects_detected ${LIBRARIES})
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‎MB_robot/find_object_2d/bin/find_object_2d

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‎MB_robot/find_object_2d/bin/objects_detected

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‎MB_robot/find_object_2d/bin/print_objects_detected

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