moved cfg-files to config

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e21cc7e285fe803765f4fe467e2ca16e7e12dfd..fe6d50a30b98386c5f5c5aacbe9b5722553c0b81 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -67,7 +67,7 @@ generate_messages(
 )
 
 generate_dynamic_reconfigure_options(
 )
 
 generate_dynamic_reconfigure_options(

-  cfg/path_following.cfg
+  config/path_following.cfg

 )
 
 ###################################
 )
 
 ###################################

diff --git a/cfg/analyzers.yaml b/cfg/analyzers.yaml
deleted file mode 100644 (file)
index 76d0bc0..0000000
--- a/cfg/analyzers.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-analyzers:
-        motors:
-                type: diagnostic_aggregator/GenericAnalyzer
-                path: Motors
-                startswith: 'Motor'
-                find_and_remove_prefix: motor
-        reset:
-                type: diagnostic_aggregator/GenericAnalyzer
-                path: Reset
-                startswith: 'Reset'
-                timeout: -1
-        voltage:
-                type: diagnostic_aggregator/GenericAnalyzer
-                path: Voltage
-                startswith: 'Voltage'
-        Razor9DofImu:
-                type: diagnostic_aggregator/GenericAnalyzer
-                path: 'Imu'
-                timeout: 5.0
-                contains: ['Razor_Imu']

diff --git a/cfg/cmd_vel_mux.yaml b/cfg/cmd_vel_mux.yaml
deleted file mode 100644 (file)
index 6ed42cb..0000000
--- a/cfg/cmd_vel_mux.yaml
+++ /dev/null
@@ -1,16 +0,0 @@
-subscribers:
-  - name:        "Default input"
-    topic:       "/cmd_vel"
-    timeout:     0.1
-    priority:    0
-    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
-  - name:        "Navigation stack"
-    topic:       "/move_base/cmd_vel"
-    timeout:     0.5
-    priority:    1
-    short_desc:  "Navigation stack controller"
-  - name:        "Wii Teleop"
-    topic:       "/turtlebot_teleop_joystick/cmd_vel"
-    timeout:     0.1
-    priority:    10
-publisher:       "/cmd_vel_out"

diff --git a/cfg/path_following.cfg b/cfg/path_following.cfg
deleted file mode 100755 (executable)
index 901b0bf..0000000
--- a/cfg/path_following.cfg
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env python
-
-from dynamic_reconfigure.parameter_generator_catkin import *
-
-gen = ParameterGenerator()
-
-gen.add("binary_threshold",    int_t,          0, "Binary Threshold", 192,  0, 255)
-gen.add("ht_min_points",       int_t,          0, "HT Min Points", 30,  0, 1000)
-gen.add("roi_y",               int_t,          0, "ROI Y (cm)", 70,  0, 1000)
-gen.add("road_distance_cm",    double_t,       0, "Road distance (cm)", 15,  0, 1000)
-gen.add("lad_cm",              double_t,       0, "Look ahead distance (cm)", 60,  0, 1000)
-gen.add("speed_m_s",           double_t,       0, "Speed m/s", 0,  0, 1)
-
-exit(gen.generate("wild_thumper", "path_following", "PathFollowing"))

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
deleted file mode 100644 (file)
index 228ff74..0000000
--- a/cfg/razor.yaml
+++ /dev/null
@@ -1,36 +0,0 @@
-## USB port
-port: /dev/ttyUSB0
-
-
-##### Calibration ####
-### accelerometer
-accel_x_min: -275
-accel_x_max: 290
-accel_y_min: -295
-accel_y_max: 275
-accel_z_min: -295
-accel_z_max: 215
-
-### magnetometer
-# standard calibration
-magn_x_min: -470
-magn_x_max: 542
-magn_y_min: -767
-magn_y_max: 523
-magn_z_min: -417
-magn_z_max: 596
-
-
-# extended calibration
-calibration_magn_use_extended: true
-magn_ellipsoid_center: [293.553, 46.4419, -692.900]
-magn_ellipsoid_transform: [[0.939516, 0.0193393, 0.0340815], [0.0193393, 0.957723, 0.0120572], [0.0340815, 0.0120572, 0.966198]]
-
-
-# AHRS to robot calibration
-imu_yaw_calibration: 0.0
-
-### gyroscope
-gyro_average_offset_x: -29.0
-gyro_average_offset_y: -21.0
-gyro_average_offset_z: 4.0

diff --git a/cfg/transformation_matrix.yml b/cfg/transformation_matrix.yml
deleted file mode 100644 (file)
index 17e9ee5..0000000
--- a/cfg/transformation_matrix.yml
+++ /dev/null
@@ -1,6 +0,0 @@
-%YAML:1.0
-transformation_matrix: !!opencv-matrix
-   rows: 3
-   cols: 3
-   dt: d
-   data: [  1.27755347e-02,   7.48846231e-02,  -2.97173802e-01, -2.46883581e-03,   1.59522560e-01,  -5.47704021e-01, -5.19536325e-06,   2.98962964e-04,   1.52353391e-02]

diff --git a/config/analyzers.yaml b/config/analyzers.yaml
new file mode 100644 (file)
index 0000000..76d0bc0
--- /dev/null
+++ b/config/analyzers.yaml
@@ -0,0 +1,20 @@
+analyzers:
+        motors:
+                type: diagnostic_aggregator/GenericAnalyzer
+                path: Motors
+                startswith: 'Motor'
+                find_and_remove_prefix: motor
+        reset:
+                type: diagnostic_aggregator/GenericAnalyzer
+                path: Reset
+                startswith: 'Reset'
+                timeout: -1
+        voltage:
+                type: diagnostic_aggregator/GenericAnalyzer
+                path: Voltage
+                startswith: 'Voltage'
+        Razor9DofImu:
+                type: diagnostic_aggregator/GenericAnalyzer
+                path: 'Imu'
+                timeout: 5.0
+                contains: ['Razor_Imu']

diff --git a/config/cmd_vel_mux.yaml b/config/cmd_vel_mux.yaml
new file mode 100644 (file)
index 0000000..6ed42cb
--- /dev/null
+++ b/config/cmd_vel_mux.yaml
@@ -0,0 +1,16 @@
+subscribers:
+  - name:        "Default input"
+    topic:       "/cmd_vel"
+    timeout:     0.1
+    priority:    0
+    short_desc:  "The default cmd_vel, controllers unaware that we are multiplexing cmd_vel should come here"
+  - name:        "Navigation stack"
+    topic:       "/move_base/cmd_vel"
+    timeout:     0.5
+    priority:    1
+    short_desc:  "Navigation stack controller"
+  - name:        "Wii Teleop"
+    topic:       "/turtlebot_teleop_joystick/cmd_vel"
+    timeout:     0.1
+    priority:    10
+publisher:       "/cmd_vel_out"

diff --git a/config/path_following.cfg b/config/path_following.cfg
new file mode 100755 (executable)
index 0000000..901b0bf
--- /dev/null
+++ b/config/path_following.cfg
@@ -0,0 +1,14 @@
+#!/usr/bin/env python
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("binary_threshold",    int_t,          0, "Binary Threshold", 192,  0, 255)
+gen.add("ht_min_points",       int_t,          0, "HT Min Points", 30,  0, 1000)
+gen.add("roi_y",               int_t,          0, "ROI Y (cm)", 70,  0, 1000)
+gen.add("road_distance_cm",    double_t,       0, "Road distance (cm)", 15,  0, 1000)
+gen.add("lad_cm",              double_t,       0, "Look ahead distance (cm)", 60,  0, 1000)
+gen.add("speed_m_s",           double_t,       0, "Speed m/s", 0,  0, 1)
+
+exit(gen.generate("wild_thumper", "path_following", "PathFollowing"))

diff --git a/config/razor.yaml b/config/razor.yaml
new file mode 100644 (file)
index 0000000..5b48693
--- /dev/null
+++ b/config/razor.yaml
@@ -0,0 +1,35 @@
+## USB port
+port: /dev/ttyUSB0
+
+
+##### Calibration ####
+### accelerometer
+accel_x_min: -275
+accel_x_max: 290
+accel_y_min: -295
+accel_y_max: 275
+accel_z_min: -295
+accel_z_max: 215
+
+### magnetometer
+# standard calibration
+magn_x_min: -470
+magn_x_max: 542
+magn_y_min: -767
+magn_y_max: 523
+magn_z_min: -417
+magn_z_max: 596
+
+
+# extended calibration
+calibration_magn_use_extended: true
+magn_ellipsoid_center: [250.567, 49.8387, -698.641]
+magn_ellipsoid_transform: [[0.940458, 0.0129812, 0.0164252], [0.0129812, 0.947417, 0.0255152], [0.0164252, 0.0255152, 0.978453]]
+
+# AHRS to robot calibration
+imu_yaw_calibration: 0.0
+
+### gyroscope
+gyro_average_offset_x: -29.0
+gyro_average_offset_y: -21.0
+gyro_average_offset_z: 4.0

diff --git a/config/transformation_matrix.yml b/config/transformation_matrix.yml
new file mode 100644 (file)
index 0000000..17e9ee5
--- /dev/null
+++ b/config/transformation_matrix.yml
@@ -0,0 +1,6 @@
+%YAML:1.0
+transformation_matrix: !!opencv-matrix
+   rows: 3
+   cols: 3
+   dt: d
+   data: [  1.27755347e-02,   7.48846231e-02,  -2.97173802e-01, -2.46883581e-03,   1.59522560e-01,  -5.47704021e-01, -5.19536325e-06,   2.98962964e-04,   1.52353391e-02]

diff --git a/launch/wild_thumper.launch b/launch/wild_thumper.launch
index 13b8f130b82382e3e6efa1719ba597fbee90d3e4..61d2511f0f3564548fcd789187e847e703d7039f 100644 (file)
--- a/launch/wild_thumper.launch
+++ b/launch/wild_thumper.launch
@@ -12,7 +12,7 @@
        <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
        <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">
        <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" output="screen"/>
 
        <node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" output="screen">

-               <rosparam command="load" file="$(find wild_thumper)/cfg/analyzers.yaml"/>
+               <rosparam command="load" file="$(find wild_thumper)/config/analyzers.yaml"/>

        </node>
 
        <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">
        </node>
 
        <node pkg="wild_thumper" type="wt_node.py" name="wild_thumper" output="screen" respawn="false" required="true">


@@ -21,7 +21,7 @@
        </node>
 
        <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">
        </node>
 
        <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen" if="$(arg use_imu)">

-               <rosparam file="$(find wild_thumper)/cfg/razor.yaml" command="load"/>
+               <rosparam file="$(find wild_thumper)/config/razor.yaml" command="load"/>

        </node>
 
        <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">
        </node>
 
        <node pkg="gpsd_client" type="gpsd_client"  name="gpsd_client" output="screen">


@@ -46,7 +46,7 @@
        </node>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">
        </node>
 
        <include file="$(find yocs_cmd_vel_mux)/launch/cmd_vel_mux.launch">

-               <arg name="config_file" value="$(find wild_thumper)/cfg/cmd_vel_mux.yaml" />
+               <arg name="config_file" value="$(find wild_thumper)/config/cmd_vel_mux.yaml" />

                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 </launch>
                <arg name="nodelet_manager_name" value="nodelet_manager" />
        </include>
 </launch>

diff --git a/src/path_following.cpp b/src/path_following.cpp
index 7bbd7efcabf63c1e43174e0ab4a64c5c215d5c6c..a183484a5e5a8dff561a44a2f6023b19ad4f5ba6 100644 (file)
--- a/src/path_following.cpp
+++ b/src/path_following.cpp
@@ -43,7 +43,7 @@ class PathFollower
        PathFollower() : it(nh)
        {
                ros::NodeHandle pnh("~");
        PathFollower() : it(nh)
        {
                ros::NodeHandle pnh("~");

-               FileStorage fs(ros::package::getPath("wild_thumper") + "/cfg/transformation_matrix.yml", FileStorage::READ);
+               FileStorage fs(ros::package::getPath("wild_thumper") + "/config/transformation_matrix.yml", FileStorage::READ);

                dynamic_reconfigure::Server<wild_thumper::PathFollowingConfig>::CallbackType f;
 
                fs["transformation_matrix"] >> transformation_matrix;
                dynamic_reconfigure::Server<wild_thumper::PathFollowingConfig>::CallbackType f;
 
                fs["transformation_matrix"] >> transformation_matrix;