Transférer les fichiers vers 'Projet/pioneer_gazebo_ros/pioneer_ros'
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Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
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Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
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project(pioneer_ros)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_msgs
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roscpp
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rospy
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sensor_msgs
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std_msgs
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tf
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)
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catkin_package()
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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add_executable(pioneer_tf_broadcaster src/pioneer_tf_broadcaster.cpp)
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target_link_libraries(pioneer_tf_broadcaster ${catkin_LIBRARIES})
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add_dependencies(pioneer_tf_broadcaster ${catkin_EXPORTED_TARGETS})
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add_executable(pioneer_odom_publisher src/pioneer_odom_publisher.cpp)
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target_link_libraries(pioneer_odom_publisher ${catkin_LIBRARIES})
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add_dependencies(pioneer_odom_publisher ${catkin_EXPORTED_TARGETS})
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add_executable(pioneer_pid_controller src/pioneer_pid_controller.cpp)
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target_link_libraries(pioneer_pid_controller ${catkin_LIBRARIES})
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add_dependencies(pioneer_pid_controller ${catkin_EXPORTED_TARGETS})
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add_executable(move_base_recover src/move_base_recover.cpp)
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target_link_libraries(move_base_recover ${catkin_LIBRARIES})
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add_dependencies(move_base_recover ${catkin_EXPORTED_TARGETS})
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67
Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
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Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
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<?xml version="1.0"?>
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<package>
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<name>pioneer_ros</name>
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<version>0.0.0</version>
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<description>The pioneer_ros package</description>
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<!-- One maintainer tag required, multiple allowed, one person per tag -->
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<!-- Example: -->
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<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
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<maintainer email="jchu2041@todo.todo">jchu2041</maintainer>
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<!-- One license tag required, multiple allowed, one license per tag -->
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<!-- Commonly used license strings: -->
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<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
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<license>TODO</license>
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<!-- Url tags are optional, but mutiple are allowed, one per tag -->
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<!-- Optional attribute type can be: website, bugtracker, or repository -->
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<!-- Example: -->
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<!-- <url type="website">http://wiki.ros.org/pioneer_ros</url> -->
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<!-- Author tags are optional, mutiple are allowed, one per tag -->
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<!-- Authors do not have to be maintianers, but could be -->
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<!-- Example: -->
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<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>geometry_msgs</build_depend>
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<build_depend>nav_msgs</build_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>rospy</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>tf</build_depend>
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<run_depend>geometry_msgs</run_depend>
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<run_depend>nav_msgs</run_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>rospy</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>tf</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- You can specify that this package is a metapackage here: -->
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<!-- <metapackage/> -->
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>
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@ -0,0 +1,28 @@
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controller_gains:
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left:
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linear:
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p: 10.87
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i: 0.01
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d: 0.1
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angular:
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p: 3.37
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i: 0.01
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d: 0.1
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right:
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linear:
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p: 10.87
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i: 0.01
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d: 0.1
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angular:
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p: 3.37
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i: 0.01
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d: 0.1
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body:
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linear:
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p: 0.70
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i: 0.01
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d: 0.1
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angular:
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p: -1.00
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i: 0.01
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d: 0.1
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