Transférer les fichiers vers 'Projet/pioneer_gazebo_ros/pioneer_ros'
This commit is contained in:
parent
2db359a8c3
commit
4b2ac16537
3 changed files with 132 additions and 0 deletions
37
Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
Normal file
37
Projet/pioneer_gazebo_ros/pioneer_ros/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,37 @@
|
|||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(pioneer_ros)
|
||||
|
||||
## Find catkin macros and libraries
|
||||
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
||||
## is used, also find other catkin packages
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
geometry_msgs
|
||||
nav_msgs
|
||||
roscpp
|
||||
rospy
|
||||
sensor_msgs
|
||||
std_msgs
|
||||
tf
|
||||
)
|
||||
|
||||
catkin_package()
|
||||
|
||||
include_directories(
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
add_executable(pioneer_tf_broadcaster src/pioneer_tf_broadcaster.cpp)
|
||||
target_link_libraries(pioneer_tf_broadcaster ${catkin_LIBRARIES})
|
||||
add_dependencies(pioneer_tf_broadcaster ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
add_executable(pioneer_odom_publisher src/pioneer_odom_publisher.cpp)
|
||||
target_link_libraries(pioneer_odom_publisher ${catkin_LIBRARIES})
|
||||
add_dependencies(pioneer_odom_publisher ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
add_executable(pioneer_pid_controller src/pioneer_pid_controller.cpp)
|
||||
target_link_libraries(pioneer_pid_controller ${catkin_LIBRARIES})
|
||||
add_dependencies(pioneer_pid_controller ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
add_executable(move_base_recover src/move_base_recover.cpp)
|
||||
target_link_libraries(move_base_recover ${catkin_LIBRARIES})
|
||||
add_dependencies(move_base_recover ${catkin_EXPORTED_TARGETS})
|
||||
67
Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
Normal file
67
Projet/pioneer_gazebo_ros/pioneer_ros/package.xml
Normal file
|
|
@ -0,0 +1,67 @@
|
|||
<?xml version="1.0"?>
|
||||
<package>
|
||||
<name>pioneer_ros</name>
|
||||
<version>0.0.0</version>
|
||||
<description>The pioneer_ros package</description>
|
||||
|
||||
<!-- One maintainer tag required, multiple allowed, one person per tag -->
|
||||
<!-- Example: -->
|
||||
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
|
||||
<maintainer email="jchu2041@todo.todo">jchu2041</maintainer>
|
||||
|
||||
|
||||
<!-- One license tag required, multiple allowed, one license per tag -->
|
||||
<!-- Commonly used license strings: -->
|
||||
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
|
||||
<license>TODO</license>
|
||||
|
||||
|
||||
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
|
||||
<!-- Optional attribute type can be: website, bugtracker, or repository -->
|
||||
<!-- Example: -->
|
||||
<!-- <url type="website">http://wiki.ros.org/pioneer_ros</url> -->
|
||||
|
||||
|
||||
<!-- Author tags are optional, mutiple are allowed, one per tag -->
|
||||
<!-- Authors do not have to be maintianers, but could be -->
|
||||
<!-- Example: -->
|
||||
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
|
||||
|
||||
|
||||
<!-- The *_depend tags are used to specify dependencies -->
|
||||
<!-- Dependencies can be catkin packages or system dependencies -->
|
||||
<!-- Examples: -->
|
||||
<!-- Use build_depend for packages you need at compile time: -->
|
||||
<!-- <build_depend>message_generation</build_depend> -->
|
||||
<!-- Use buildtool_depend for build tool packages: -->
|
||||
<!-- <buildtool_depend>catkin</buildtool_depend> -->
|
||||
<!-- Use run_depend for packages you need at runtime: -->
|
||||
<!-- <run_depend>message_runtime</run_depend> -->
|
||||
<!-- Use test_depend for packages you need only for testing: -->
|
||||
<!-- <test_depend>gtest</test_depend> -->
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<build_depend>geometry_msgs</build_depend>
|
||||
<build_depend>nav_msgs</build_depend>
|
||||
<build_depend>roscpp</build_depend>
|
||||
<build_depend>rospy</build_depend>
|
||||
<build_depend>sensor_msgs</build_depend>
|
||||
<build_depend>std_msgs</build_depend>
|
||||
<build_depend>tf</build_depend>
|
||||
<run_depend>geometry_msgs</run_depend>
|
||||
<run_depend>nav_msgs</run_depend>
|
||||
<run_depend>roscpp</run_depend>
|
||||
<run_depend>rospy</run_depend>
|
||||
<run_depend>sensor_msgs</run_depend>
|
||||
<run_depend>std_msgs</run_depend>
|
||||
<run_depend>tf</run_depend>
|
||||
|
||||
|
||||
<!-- The export tag contains other, unspecified, tags -->
|
||||
<export>
|
||||
<!-- You can specify that this package is a metapackage here: -->
|
||||
<!-- <metapackage/> -->
|
||||
|
||||
<!-- Other tools can request additional information be placed here -->
|
||||
|
||||
</export>
|
||||
</package>
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
controller_gains:
|
||||
left:
|
||||
linear:
|
||||
p: 10.87
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
angular:
|
||||
p: 3.37
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
right:
|
||||
linear:
|
||||
p: 10.87
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
angular:
|
||||
p: 3.37
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
body:
|
||||
linear:
|
||||
p: 0.70
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
angular:
|
||||
p: -1.00
|
||||
i: 0.01
|
||||
d: 0.1
|
||||
Loading…
Reference in a new issue