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utexas-bwi / eband_local_planner

ROS Local planner based on the eband approach. Based on the original implementation by Christian Connette and Bhaskara Marathi. This local planner has been adapted primarily for differential drive robots, but still supports the original holonomic drive controls.
http://wiki.ros.org/eband_local_planner
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[WIP] Convert to TF2 + new navigation API (for melodic) #33

Closed mintar closed 4 years ago

mintar commented 6 years ago

DO NOT MERGE INTO master!

This PR updates everything to the new navigation API in melodic, which uses TF2. It does not work in kinetic / lunar. Therefore, a new melodic branch has to be created first, and this PR should only be merged into melodic.

mintar commented 6 years ago

You can test this even if you're not on melodic yet by putting the following content into a new file called "Vagrantfile" at the root of this repo and running vagrant up:

# -*- mode: ruby -*-
# vi: set ft=ruby :

Vagrant.configure(2) do |config|
  config.vm.box = "ubuntu/bionic64"

  config.vm.provider "virtualbox" do |vb|
    vb.memory = "2048"
  end

  $script = <<-SHELL
    export CI_ROS_DISTRO="melodic"
    export REPONAME="eband_local_planner"
    export CATKIN_WS=~/catkin_ws
    export CATKIN_WS_SRC=${CATKIN_WS}/src

    # set up ROS repo
    sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu bionic main" > /etc/apt/sources.list.d/ros-latest.list'
    wget http://packages.ros.org/ros.key -O - | sudo apt-key add -
    sudo apt-get update -qq
    sudo apt-get install -qq -y python-rosdep python-catkin-tools git build-essential cmake
    sudo rosdep init
    rosdep update

    # create a catkin workspace
    mkdir -p $CATKIN_WS_SRC
    cd $CATKIN_WS_SRC
    ln -s /vagrant $CATKIN_WS_SRC/$REPONAME

    # Use rosdep to install all dependencies (including ROS itself)
    rosdep install --from-paths ./ -i -y --rosdistro $CI_ROS_DISTRO

    # source setup.bash
    source /opt/ros/$CI_ROS_DISTRO/setup.bash
    cd $CATKIN_WS

    # Init catkin workspace
    catkin init
    # Enable install space
    catkin config --install
    # Build [and Install] packages
    catkin build --limit-status-rate 0.1 --no-notify -DCMAKE_BUILD_TYPE=Release
#    # Build tests
#    catkin build --limit-status-rate 0.1 --no-notify --make-args tests
#    # Run tests
#    catkin run_tests
#    catkin_test_results
#
#    # catkin_lint
#    sudo apt-get install -y python-catkin-lint
#    cd $CATKIN_WS_SRC/$REPONAME
#    catkin_lint .
  SHELL
  config.vm.provision "shell", inline: $script, privileged: false
end
saikishor commented 5 years ago

I guess this branch is good to be merged right?. I have tested the changes and it seems working. What do you say @mintar

mintar commented 5 years ago

Yes, I'm waiting for the maintainers to merge this too. :-(

saikishor commented 5 years ago

So, no more releases for eband_local_planner? or is there a different maintained repo?

maxsvetlik commented 4 years ago

A working melodic-devel branch has been merged into master and had a binary release for Melodic (#28). Closing this for now.