Release Project 1: Introduction.

.flake8

+[flake8]
+max-line-length = 120
+max-complexity = 10
+ignore = E203,W503

.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
+  allow_failure: true
+  script:
+    - pip3 -q install flake8 pep8-naming typing
+    - python3 -m flake8
+

.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/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()
+
+install(DIRECTORY config launch maps
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+catkin_add_env_hooks(${PROJECT_NAME} SHELLS bash zsh 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/config/env.sh

+#!/usr/bin/env sh
+
+# Env vars we want access to in the shell tools
\ No newline at end of file

cse478/env-hooks/cse478.bash.em

+mviz() {
+    rviz -d $(rospack find cse478)/config/default.rviz
+}
+
+export UW_TOOLS_SHELL_FLAVOR=bash
+@[if DEVELSPACE]@
+. @(CMAKE_CURRENT_SOURCE_DIR)/config/env.sh
+export SOURCES_ROOT="@(CMAKE_CURRENT_SOURCE_DIR)/src/uw_tools"
+
+ export PATH="@(CMAKE_CURRENT_SOURCE_DIR)/scripts/available_client/:$PATH"
+. "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/uw_tools_client"
+
+@[else]@
+# TODO(nickswalker): Add install space support
+@[end if]@
\ No newline at end of file

cse478/env-hooks/cse478.zsh.em

+mviz() {
+    rviz -d $(rospack find cse478)/config/default.rviz
+}
+
+export UW_TOOLS_SHELL_FLAVOR=zsh
+@[if DEVELSPACE]@
+. @(CMAKE_CURRENT_SOURCE_DIR)/config/env.sh
+export SOURCES_ROOT="@(CMAKE_CURRENT_SOURCE_DIR)/src/uw_tools"
+
+export PATH="@(CMAKE_CURRENT_SOURCE_DIR)/scripts/available_client/:$PATH"
+. "@(CMAKE_CURRENT_SOURCE_DIR)/scripts/uw_tools_client"
+
+@[else]@
+# TODO(nickswalker): Add install space support
+@[end if]@
\ 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 argument takes precedence. -->
+    <arg name="_env_map" default="$(optenv MAP)" />
+    <arg name="_default_map" default="$(find mushr_sim)/maps/sandbox.yaml"/>
+    <arg name="map" default=""/>
+    <arg name="car_name" default="car" />
+    <arg name="fake_localization" default="true"/>
+    <arg name="initial_x" default="0"/>
+    <arg name="initial_y" default="0"/>
+    <arg name="initial_theta" default="0"/>
+    <!-- Having this option makes the name of the launch file seem weird. Should rename to "simulation.launch" -->
+    <arg name="teleop" default="true"/>
+
+    <!-- Launch  map server-->
+    <include  if="$(arg map_server)" file="$(find mushr_sim)/launch/map_server.launch">
+        <arg name="map" value="$(eval map if map else (_env_map if _env_map else _default_map))" />
+    </include>
+
+    <!-- Launch car -->
+
+    <remap from="/$(arg car_name)/initialpose" to="/initialpose" />
+
+    <include file="$(find mushr_sim)/launch/single_car_sim.launch">
+        <!-- Could be racecar-mit, racecar-uw-tx2, or racecar-uw-nano -->
+        <arg name="racecar_version" value="racecar-uw-nano" />
+         <!-- The colors of the racecar, should be of the form "-<platform_color>-<inset_color>" -->
+         <!-- An empty string will result in the default URDF -->
+         <!-- Check CMakeLists.txt of mushr_description for appropriate values -->
+        <arg name="racecar_color" value="" />
+
+        <arg name="car_name" value="$(arg car_name)" />
+        <arg name="initial_x" value="$(arg initial_x)"/>
+        <arg name="initial_y" value="$(arg initial_y)"/>
+        <arg name="initial_theta" value="$(arg initial_theta)"/>
+        <arg name="use_tf_prefix" value="false" />
+        <arg name="fake_localization" value="$(arg fake_localization)" />
+        <arg name="teleop" value="$(arg teleop)" />
+    </include>
+
+
+
+</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/maps/cse_006.yaml

+free_thresh: 0.196
+image: cse_006.pgm
+negate: 0
+occupied_thresh: 0.65
+origin:
+- -2.5874989999999993
+- -7.912499
+- 0.0
+resolution: 0.025

cse478/maps/maze_0.yaml

+image: maze_0.pgm
+resolution: 0.050000
+origin: [-12.200000, -12.200000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196

cse478/maps/shapes_world.yaml

+image: shapes_world.pgm
+resolution: 0.025000
+origin: [0, 0, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+