Release Project 1: Introduction.

.flake8

+[flake8]
+max-line-length = 120
+max-complexity = 10

.gitignore

+# Files that Git should ignore
+
+# Python files #
+################
+__pycache__
+*.pyc
+
+# OS generated files #
+######################
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+Icon?
+ehthumbs.db
+Thumbs.db
+
+# Emacs files #
+###############
+*~
+\#*\#
+.\#*
+
+# Vim files #
+#############
+*.swp

.gitlab-ci.yml

+
+
+cache:
+  key: "${CI_JOB_NAME}" # https://docs.gitlab.com/ee/ci/caching/#sharing-caches-across-different-branches
+  paths:
+    - ccache
+
+lint:
+  tags: [python-ci]
+  image: python:3.8-buster
+  script:
+    - pip3 -q install flake8 pep8-naming typing
+    - python3 -m flake8
+
+test_packages:
+  tags: [industrial-ci]
+  image: docker:git
+  services:
+  - docker:dind
+  variables:
+    ADDITIONAL_DEBS: cython3
+    CATKIN_LINT: 'true'
+    DOCKER_TLS_CERTDIR: ""
+    UPSTREAM_WORKSPACE: '.gitlab/.rosinstall'
+    AFTER_INSTALL_TARGET_DEPENDENCIES: '(cd ../; git clone https://github.com/prl-mushr/range_libc.git; cd range_libc; cd pywrapper; python3 setup.py install);'
+    BASEDIR: ${CI_PROJECT_DIR}/.workspaces
+    TMPDIR: "${CI_PROJECT_DIR}.tmp"
+    CCACHE_DIR: ${CI_PROJECT_DIR}/ccache
+  before_script:
+  - apk add --update bash coreutils tar openssh-client
+  - git clone --quiet --depth 1 https://github.com/ros-industrial/industrial_ci .industrial_ci -b master
+  script: .industrial_ci/gitlab.sh ROS_DISTRO=noetic TARGET_WORKSPACE="."
+  artifacts:
+    when: always
+    reports:
+      junit: ${BASEDIR}/**/test_results/**/*.xml
+

.gitlab/.rosinstall

+- git:
+    local-name: serial
+    uri: https://github.com/wjwwood/serial.git
+- git:
+    local-name: mushr
+    uri: https://github.com/prl-mushr/mushr.git
+    version: nick/noetic
+- git:
+    local-name: push_button_utils
+    uri: https://github.com/prl-mushr/push_button_utils.git
+- git:
+    local-name: ydlidar
+    uri: https://github.com/prl-mushr/ydlidar.git
+- git:
+    local-name: mushr_base
+    uri: https://github.com/prl-mushr/mushr_base.git
+    version: nick/python3-support
+- git:
+    local-name: mushr_sim
+    uri: https://github.com/prl-mushr/mushr_sim.git
+    version: nick/python3-support
+- git:
+    local-name: vesc
+    uri: https://github.com/prl-mushr/vesc.git
+    version: nick/python3-support
\ No newline at end of file

README.md

+# mushr478
+
+## Usage
+
+This repository is meant to live in your ROS workspace's `src` directory. It expects to be overlaid on another workspace containing MuSHR dependency packages.
+
+## Running Tests
+
+Each package contains a `test` directory with unit and integration tests built with the [rosunit](https://wiki.ros.org/rosunit) framework. To run all of these tests:
+
+    catkin test
+
+If you just want to run tests for a particular package, add the package name onto the command as in this example:
+
+    catkin test introduction
+
+<details>
+<summary>Advanced Test Usage</summary>
+
+`catkin test` provides a summary view of all test results. You may need to see more detailed logs if you are, for instance, diagnosing why test isn't being run. To run tests for a package and see more log output:
+
+    roscd introduction; catkin run_tests --no-deps --this
+
+It is possible to run tests by individual file. The command differs by the types of tests; for tests that use ROS (they start a node, usually to publish or subscribe to topics from the code under test), use `rostest` to run the launch file for the test:
+
+    rostest introduction pose_listener.test --text
+
+For plain Python unit tests, simply run the file:
+
+    python3 $(rospack find introduction)/test/test_norms.py
+
+</details>
+

cse478/CMakeLists.txt

+cmake_minimum_required(VERSION 3.0.2)
+project(cse478)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_package()
+
+catkin_python_setup()
+
+catkin_add_env_hooks(${PROJECT_NAME} SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+
+  roslaunch_add_file_check(launch)
+
+endif()

cse478/config/default.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1/Orientation1
+      Splitter Ratio: 0.5
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679016
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 0.5
+      Class: rviz/Grid
+      Color: 54; 205; 196
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 400
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.300000012
+      Class: rviz/Map
+      Color Scheme: map
+      Draw Behind: true
+      Enabled: true
+      Name: Map
+      Topic: /map
+      Unreliable: false
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        back_left/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        back_right/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_bottom_screw_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_color_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_depth_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_left_ir_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_left_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        camera_right_ir_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        camera_right_ir_optical_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_left/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_left/wheel_steer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_right/wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right/wheel_steer_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        insets_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        platform_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: car/robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 22; 144
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 22; 144
+      Max Intensity: 4096
+      Min Color: 255; 22; 144
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.0299999993
+      Style: Points
+      Topic: /car/scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 92; 38; 134
+    Default Light: true
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/ThirdPersonFollower
+      Distance: 9.53489304
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.363669515
+        Y: 0.845769167
+        Z: -4.76837158e-07
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.345398068
+      Target Frame: base_link
+      Value: ThirdPersonFollower (rviz)
+      Yaw: 1.98539793
+    Saved:
+      - Angle: 0
+        Class: rviz/TopDownOrtho
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.0599999987
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Invert Z Axis: false
+        Name: TopDownOrtho
+        Near Clip Distance: 0.00999999978
+        Scale: 206.591095
+        Target Frame: base_link
+        Value: TopDownOrtho (rviz)
+        X: 0
+        Y: 0
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000004ba0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 65
+  Y: 24
+

cse478/env-hooks/cse478.sh

+mviz() {
+    rviz -d $(rospack find cse478)/config/default.rviz
+}
\ No newline at end of file

cse478/launch/teleop.launch

+<!-- -*- mode: XML -*- -->
+<launch>
+
+    <!-- Set to 1 if you want to run the map_server -->
+    <arg name="map_server" value = "1" />
+    <!-- We take a map path either as an environment variable or an argument.
+         The environment variable has precedence. -->
+    <arg name="_env_map" default="$(optenv MAP)" />
+    <arg name="map" default="$(find mushr_sim)/maps/sandbox.yaml"/>
+    <arg name="car_name" default="car" />
+
+    <!-- Launch  map server-->
+    <group if="$(arg map_server)">
+        <include file="$(find mushr_sim)/launch/map_server.launch">
+            <arg name="map" value="$(eval _env_map if _env_map else map)" />
+        </include>
+    </group>
+
+    <!-- Launch car -->
+
+    <group ns="$(arg car_name)">
+        <remap from="/$(arg car_name)/initialpose" to="/initialpose" />
+
+        <include file="$(find mushr_sim)/launch/single_car.launch">
+            <!-- Could be racecar-mit, racecar-uw-tx2, or racecar-uw-nano -->
+            <arg name="racecar_version" value="racecar-uw-nano" />
+            <!-- The colors of the racecar, should be of the form "-<platform_color>-<inset_color>" -->
+            <!-- An empty string will result in the default URDF -->
+              <!-- Check CMakeLists.txt of mushr_description for appropriate values -->
+            <arg name="racecar_color" value="" />
+
+            <arg name="car_name" value="$(arg car_name)" />
+            <arg name="use_tf_prefix" value="false" />
+         </include>
+    </group>
+
+</launch>

cse478/maps/cse2_2.yaml

+image: cse2_2.pgm
+resolution: 0.050000
+origin: [0, 0, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

cse478/package.xml

+<?xml version="1.0"?>
+<package format="3">
+  <name>cse478</name>
+  <version>0.0.0</version>
+  <description>The cse478 package</description>
+
+  <author>Gilwoo Lee</author>
+  <author>Kay Ke</author>
+  <author>Johan Michalove</author>
+  <author>Matthew Rockett</author>
+  <author>Matt Schmittle</author>
+  <author>Nick Walker</author>
+
+  <maintainer email="mushr@cs.washington.edu">UW CSE Robotics Teaching Staff</maintainer>
+
+  <url>https://courses.cs.washington.edu/courses/cse478/</url>
+  <url>https://mushr.io/</url>
+
+  <license>Educational Use Only</license>
+
+  <test_depend>roslaunch</test_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>map_server</exec_depend>
+  <exec_depend>mushr_sim</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>ackermann_msgs</exec_depend>
+
+  <export>
+
+  </export>
+</package>

cse478/setup.py

+# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from setuptools import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(packages=["cse478"], package_dir={"": "src"})
+
+setup(**setup_args)

cse478/src/cse478/collector.py

+"""ROS message collector."""
+
+import rospy
+
+try:
+    import queue
+except ImportError:
+    import Queue as queue  # noqa
+
+
+class MessageCollector:
+    """Collect all messages published to a ROS topic."""
+
+    def __init__(self, topic, msg_type, queue_size=10):
+        self._topic = topic
+        self._msg_type = msg_type
+        self._queue_size = queue_size
+
+    def start(self, duration=None, max_msgs=-1):
+        self.msgs = queue.Queue(maxsize=max_msgs)
+        self.__cmd_sub = rospy.Subscriber(
+            self._topic, self._msg_type, self._msg_callback, queue_size=self._queue_size
+        )
+        if duration:
+            rospy.sleep(duration)
+            return self.stop()
+
+    def stop(self):
+        self.__cmd_sub.unregister()
+        self.__cmd_sub = None
+        return list(self.msgs.queue)
+
+    def _msg_callback(self, msg):
+        self.msgs.put(msg)

cse478/src/cse478/utils.py

+#!/usr/bin/env python
+
+"""ROS geometry and map utility functions."""
+
+import numpy as np
+import rospy
+import tf.transformations as tr
+
+from geometry_msgs.msg import (
+    Pose,
+    PoseStamped,
+    Transform,
+    TransformStamped,
+    Quaternion,
+    Point32,
+)
+from nav_msgs.srv import GetMap
+from std_msgs.msg import Header
+
+
+def pose_to_pq(msg):
+    """Convert a C{geometry_msgs/Pose} into position/quaternion np.arrays.
+
+    Args:
+      msg: ROS message to be converted
+
+    Returns:
+      p: position as a np.array
+      q: quaternion as a np.array (order = [x, y, z, w])
+    """
+    p = np.array([msg.position.x, msg.position.y, msg.position.z])
+    q = np.array(
+        [msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w]
+    )
+    return p, q
+
+
+def pose_stamped_to_pq(msg):
+    """Convert a C{geometry_msgs/PoseStamped} into position/quaternion np.arrays.
+
+    Args:
+      msg: ROS message to be converted
+
+    Returns:
+      p: position as a np.array
+      q: quaternion as a np.array (order = [x, y, z, w])
+    """
+    return pose_to_pq(msg.pose)
+
+
+def transform_to_pq(msg):
+    """Convert a C{geometry_msgs/Transform} into position/quaternion np.arrays.
+
+    Args:
+      msg: ROS message to be converted
+
+    Returns:
+      p: position as a np.array
+      q: quaternion as a np.array (order = [x, y, z, w])
+    """
+    p = np.array([msg.translation.x, msg.translation.y, msg.translation.z])
+    q = np.array([msg.rotation.x, msg.rotation.y, msg.rotation.z, msg.rotation.w])
+    return p, q
+
+
+def transform_stamped_to_pq(msg):
+    """Convert a C{geometry_msgs/TransformStamped} into position/quaternion np.arrays.
+
+    Args:
+      msg: ROS message to be converted