Some basic readme for the autonomy components.

.gitignore

@@ -49,3 +49,10 @@ qtcreator-*
 
 # Catkin custom files
 CATKIN_IGNORE
+devel/
+devel_isolated/
+logs/
+.catkin_tools/
+.rosinstall
+.rosinstall.bak
+.vscode

README.md

@@ -53,3 +53,123 @@ catkin config -DCMAKE_BUILD_TYPE=Release -DSIM=0 -DKIN=1
 catkin build
 ````
 
+## Autonomy Stack Notes:
+
+1. Based on the robot launch its respective launch file from the rover_launch ros pkg. 
+### Optimus
+```
+roslaunch rover_launch rover_optimus.launch 
+```
+### Jean rover
+```
+roslaunch rover_launch rover_agx.launch
+```
+### Spot 
+```
+sudo route add -net 192.168.50.0/24 gw 192.168.1.3 # Route to the robot not setup yet, so do this to communicate with the robot.
+roslaunch rover_launch spot.launch
+```
+2. Use a computer with valid ROS installation to act as a base station, on the base station launch the 
+base station launch script. Make sure you have a ps4 joystick paired or connected via USB for control.
+
+**Note: Make sure the IP of the robot and your Ip are correct in the script**
+
+Get to the location of the script
+
+```
+cd src/rover_launch/launch_scripts
+```
+
+### Optimus
+```
+bash bash_optimus.sh
+```
+
+### Jean rover
+```
+bash bash_tars.sh
+```
+### Spot 
+```
+bash bash_spot.sh
+```
+Now one should be able to visualize the autonomy module components (pointcloud, images, tf, etc.),
+and control the robot manualy based on the commands below.
+
+### Local Planner Joystick Mapping
+
+```
+# Teleop configuration for PS4 joystick.
+# Left thumb-stick up/down/left/right for forward/backward translation
+# Right thumb-stick left/right for yaw
+# Left shoulder button for obstacle enabled 
+# Right shoulder button for obstacle disabled
+#
+#          L1                                       R1
+#          L2                                       R2
+#       _=====_                                  _=====_
+#      / _____ \                                / _____ \
+#    +.-'_____'-.------------------------------.-'_____'-.+
+#   /   |     |  '.        S O N Y           .'  |  _  |   \
+#  / ___| /|\ |___ \                        / ___| /_\ |___ \      (Y)
+# / |      |      | ;                      ; | _         _ ||
+# | | <---   ---> | |                      | ||_|       (_)||  (X)     (B)
+# | |___   |   ___| ;                      ; |___       ___||
+# |\    | \|/ |    /  _      ____      _   \    | (X) |    /|      (A)
+# | \   |_____|  .','" "',  (_PS_)  ,'" "', '.  |_____|  .' |
+# |  '-.______.-' /       \        /       \  '-._____.-'   |
+# |               |  LJ   |--------|  RJ   |                |
+# |              /\       /        \       /\               |
+# |             /  '.___.'          '.___.'  \              |
+# |            /                              \             |
+#  \          /                                \           /
+#   \________/                                  \_________/
+#
+#
+# BUTTON         Function
+#   L1             Disable Obstacles
+#   L2             Not defined
+#   R1             Enable Obstacles
+#   R2             Not defined
+#   A              Stop enable
+#   B              Stop release
+#   X              Manual control
+#   Y              Autonomy control
+#
+#    AXIS        Value
+# Left Horiz.      Not defined
+# Left Vert.       Forward/Backward
+# Right Horiz.     Yaw
+# Right Vert.      Not defined
+```
+
+### Exploration planning 
+
+Start the exploration using the following commands by calling the rc cmd topic.
+
+```
+rosservice call /buzzcmd "{broadcast: false, command: 1, confirmation: 0, param1: 0.0, param2: 0.0, param3: 0.0,
+  param4: 0.0, param5: 0.0, param6: 0.0, param7: 0.0}"
+```
+
+The command can be replaced with any of the following to switch the state of the robot: 
+```
+No_cmd = 0
+Turnoff_cmd = 21
+Explore_cmd = 1
+Home_cmd = 2
+Wp_cmd = 3
+Find_object_cmd = 4 # Not Implemented
+Sit_cmd = 5
+Stand_cmd = 6
+Dance_cmd = 7 # Not Implemented
+all_robots_explore_cmd = 8 # Not Implemented
+all_robots_home_cmd = 9 # Not Implemented
+```
+### Troubleshooting
+
+1. Robot too close to Obstacles: If the robot gets too close the planner states clear the space around the robot. Ideally one can take back control and move the robot a little bit to resolve the warning and re-enable exploration.
+2. Planner unable to find feasible path: Either try moving the robot, switch to turnedoff and back to explore, Move the robot a bit in the prefered direction and switch state -> turnedoff -> explore.
+3. Robot connection bad: Restart the communication hub radios `radio0` from luci.
+4. Rover driver not starting (ROSBuzz complaining Waiting for pose): check if the can bus is up and sending data using: `candump can0`, if not bring it up and using `bringup can` script from the driver package. Some robots have a service setup check sudo systemctl status bringupcan.service
+5. Vector nav driver not starting: check the /dev/vectornav or /dev/USB0 is there based on the device.

packages_https_bs.rosinstall

@@ -0,0 +1,70 @@
+#MISC
+- git:
+    local-name: src/misc/catkin_simple/
+    uri: https://github.com/catkin/catkin_simple
+    version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e
+- git:
+    local-name: src/misc/eigen_catkin/
+    uri: https://github.com/ethz-asl/eigen_catkin
+    version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+- git:
+    local-name: src/misc/eigen_checks/
+    uri: https://github.com/ethz-asl/eigen_checks
+    version: 22a6247a3df11bc285d43d1a030f4e874a413997
+- git:
+    local-name: src/misc/gflags_catkin/
+    uri: https://github.com/ethz-asl/gflags_catkin
+    version: 5324e74119996a6e2da12d20e5388c17480ebd79
+- git:
+    local-name: src/misc/glog_catkin/
+    uri: https://github.com/ethz-asl/glog_catkin
+    version: dcb4559be6b9f9248c543df6789d46271c13efcf
+- git:
+    local-name: src/misc/minkindr/
+    uri: https://github.com/ethz-asl/minkindr
+    version: bc4503c34970a13b7ef06f62505e3333395ce02c
+- git:
+    local-name: src/misc/minkindr_ros/
+    uri: https://github.com/ethz-asl/minkindr_ros
+    version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+- git:
+    local-name: src/misc/mav_comm/
+    uri: https://github.com/ethz-asl/mav_comm
+    version: master
+- git:
+    local-name: src/misc/yaml_cpp_catkin/
+    uri: https://github.com/ethz-asl/yaml_cpp_catkin
+    version: master
+- git:
+    local-name: src/misc/protobuf_catkin/
+    uri: https://github.com/ethz-asl/protobuf_catkin
+    version: master
+- git:
+    local-name: src/misc/catch_ros/
+    uri: https://github.com/AIS-Bonn/catch_ros.git
+    version: master
+
+# MAPPING
+- git:
+    local-name: src/mapping/voxblox/
+    uri: git@git.mistlab.ca:vvaradharajan/voxblox.git
+    version: feature/map_merger
+
+# bs
+- git:
+    local-name: src/driver/ds4_driver/
+    uri: https://github.com/naoki-mizuno/ds4_driver.git
+    version: noetic-devel   
+- git:
+    local-name: src/comm/nimbro
+    uri: https://github.com/AIS-Bonn/nimbro_network.git
+    version: master
+- git:
+    local-name: src/control/rover_launch
+    uri: git@git.mistlab.ca:vvaradharajan/rover_launch.git
+    version: master
+-git:
+    local-name: src/driver/spot_bs/
+    uri: https://github.com/SnowCarter/spot_bs.git
+    version: main
+

packages_https_cognifly.rosinstall

@@ -0,0 +1,115 @@
+#Localization
+- git: 
+    local-name: src/localization/fast_lio
+    uri: http://git.mistlab.ca/vvaradharajan/fast_lio.git
+    version: standalone
+# MAPPING
+#- git:
+#    local-name: src/mapping/voxblox/
+#    uri: http://git.mistlab.ca/vvaradharajan/voxblox.git
+#    version: noetic
+#- git:
+#    local-name: src/mapping/volumetric_mapping/
+#    uri: https://github.com/unr-arl/volumetric_mapping
+#    version: gbp_dev
+#EXPLORATION
+#- git:
+#    local-name: src/exploration/gbplanner_ros/
+#    uri: http://git.mistlab.ca/vvaradharajan/gbplanner_ros.git
+#    version: noetic
+#- git:
+#    local-name: src/exploration/pci_mav/
+#    uri: http://git.mistlab.ca/vvaradharajan/pci_mav_gb_planner.git
+#    version: master
+#- git:
+#    local-name: src/exploration/target_finder/
+#    uri: https://git.mistlab.ca/plajoie/target_finder_hierarchical.git
+#- git:
+#    local-name: src/exploration/tracking_pid/
+#    uri: https://github.com/lajoiepy/tracking_pid.git
+
+#Driver
+- git:
+    local-name: src/driver/l515_ros_wrapper
+    uri: http://git.mistlab.ca/vvaradharajan/l515_custom_ros_wrapper.git
+    version: master
+#- git:
+#    local-name: src/driver/yost_imu_driver
+#    uri: http://git.mistlab.ca/vvaradharajan/yost_imu_driver.git
+#    version: master
+- git:
+    local-name: src/driver/cognifly_ros 
+    uri: http://git.mistlab.ca/gricard/cognifly_ros.git
+    version: main
+
+
+#Control
+#- git:
+#    local-name: src/control/rosbuzz
+#    uri: http://git.mistlab.ca/dasto/ROSBuzz.git
+#    version: dev
+
+#- git:
+#    local-name: src/control/rover_launch
+#    uri: http://git.mistlab.ca/vvaradharajan/rover_launch.git
+#    version: master
+
+#- git:
+#    local-name: src/control/local_planner
+#    uri: http://git.mistlab.ca/skarthik/ground_based_autonomy_basic.git
+#    version: melodic
+#- git:
+#    local-name: src/control/adapters
+#    uri: http://git.mistlab.ca/vvaradharajan/kh4_adapter.git
+#    version: master
+    
+
+#Misc
+#- git:
+#    local-name: src/misc/robot_body_filter
+#    uri: https://github.com/peci1/robot_body_filter
+#    version: master
+#- git:
+#    local-name: src/misc/sensor_filters
+#    uri: https://github.com/ctu-vras/sensor_filters
+#    version: master
+- git:
+    local-name: src/misc/catkin_simple/
+    uri: https://github.com/catkin/catkin_simple
+    version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e
+- git:
+    local-name: src/misc/eigen_catkin/
+    uri: https://github.com/ethz-asl/eigen_catkin
+    version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+- git:
+    local-name: src/misc/eigen_checks/
+    uri: https://github.com/ethz-asl/eigen_checks
+    version: 22a6247a3df11bc285d43d1a030f4e874a413997
+- git:
+    local-name: src/misc/gflags_catkin/
+    uri: https://github.com/ethz-asl/gflags_catkin
+    version: 5324e74119996a6e2da12d20e5388c17480ebd79
+- git:
+    local-name: src/misc/glog_catkin/
+    uri: https://github.com/ethz-asl/glog_catkin
+    version: dcb4559be6b9f9248c543df6789d46271c13efcf
+- git:
+    local-name: src/misc/minkindr/
+    uri: https://github.com/ethz-asl/minkindr
+    version: bc4503c34970a13b7ef06f62505e3333395ce02c
+- git:
+    local-name: src/misc/minkindr_ros/
+    uri: https://github.com/ethz-asl/minkindr_ros
+    version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+- git:
+    local-name: src/misc/mav_comm/
+    uri: https://github.com/ethz-asl/mav_comm
+    version: master
+- git:
+    local-name: src/misc/yaml_cpp_catkin/
+    uri: https://github.com/ethz-asl/yaml_cpp_catkin
+    version: master
+- git:
+    local-name: src/misc/protobuf_catkin/
+    uri: https://github.com/ethz-asl/protobuf_catkin
+    version: master

packages_https_gazebo_quadrotor_l515.rosinstall

@@ -0,0 +1,133 @@
+#Localization
+- git: 
+    local-name: src/localization/fast_lio
+    uri: http://git.mistlab.ca/vvaradharajan/fast_lio.git
+    version: standalone
+
+# sim
+- git: 
+    local-name: src/sim/hector
+    uri: https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor.git
+    version: noetic-devel
+- git:
+    local-name: src/sim/gazebo_l515
+    uri: https://github.com/ZohebAbai/gazebo_ros_l515.git
+
+- git:
+    local-name: src/sim/caves
+    uri: https://github.com/ntnu-arl/subt_cave_sim.git
+
+- git:
+    local-name: src/sim/sim_launch
+    uri: http://git.mistlab.ca/vvaradharajan/sim_launch.git
+
+# MAPPING
+# - git:
+#     local-name: src/mapping/voxblox/
+#     uri: http://git.mistlab.ca/vvaradharajan/voxblox.git
+#     version: noetic
+# - git:
+#     local-name: src/mapping/volumetric_mapping/
+#     uri: https://github.com/unr-arl/volumetric_mapping
+#     version: gbp_dev
+# #EXPLORATION
+# - git:
+#     local-name: src/exploration/gbplanner_ros/
+#     uri: http://git.mistlab.ca/vvaradharajan/gbplanner_ros.git
+#     version: noetic
+# - git:
+#     local-name: src/exploration/pci_mav/
+#     uri: http://git.mistlab.ca/vvaradharajan/pci_mav_gb_planner.git
+#     version: master
+# - git:
+#     local-name: src/exploration/target_finder/
+#     uri: https://git.mistlab.ca/plajoie/target_finder_hierarchical.git
+# - git:
+#     local-name: src/exploration/tracking_pid/
+#     uri: https://github.com/lajoiepy/tracking_pid.git
+
+#Driver
+# - git:
+#     local-name: src/driver/l515_ros_wrapper
+#     uri: http://git.mistlab.ca/vvaradharajan/l515_custom_ros_wrapper.git
+#     version: master
+# - git:
+#     local-name: src/driver/yost_imu_driver
+#     uri: http://git.mistlab.ca/vvaradharajan/yost_imu_driver.git
+#     version: master
+# - git:
+#     local-name: src/driver/cognifly_ros 
+#     uri: http://git.mistlab.ca/gricard/cognifly_ros.git
+#     version: main
+
+
+#Control
+# - git:
+#     local-name: src/control/rosbuzz
+#     uri: http://git.mistlab.ca/dasto/ROSBuzz.git
+#     version: dev
+
+#- git:
+#    local-name: src/control/rover_launch
+#    uri: http://git.mistlab.ca/vvaradharajan/rover_launch.git
+#    version: master
+
+#- git:
+#    local-name: src/control/local_planner
+#    uri: http://git.mistlab.ca/skarthik/ground_based_autonomy_basic.git
+#    version: melodic
+#- git:
+#    local-name: src/control/adapters
+#    uri: http://git.mistlab.ca/vvaradharajan/kh4_adapter.git
+#    version: master
+    
+
+#Misc
+#- git:
+#    local-name: src/misc/robot_body_filter
+#    uri: https://github.com/peci1/robot_body_filter
+#    version: master
+#- git:
+#    local-name: src/misc/sensor_filters
+#    uri: https://github.com/ctu-vras/sensor_filters
+#    version: master
+# - git:
+#     local-name: src/misc/catkin_simple/
+#     uri: https://github.com/catkin/catkin_simple
+#     version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e
+# - git:
+#     local-name: src/misc/eigen_catkin/
+#     uri: https://github.com/ethz-asl/eigen_catkin
+#     version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+# - git:
+#     local-name: src/misc/eigen_checks/
+#     uri: https://github.com/ethz-asl/eigen_checks
+#     version: 22a6247a3df11bc285d43d1a030f4e874a413997
+# - git:
+#     local-name: src/misc/gflags_catkin/
+#     uri: https://github.com/ethz-asl/gflags_catkin
+#     version: 5324e74119996a6e2da12d20e5388c17480ebd79
+# - git:
+#     local-name: src/misc/glog_catkin/
+#     uri: https://github.com/ethz-asl/glog_catkin
+#     version: dcb4559be6b9f9248c543df6789d46271c13efcf
+# - git:
+#     local-name: src/misc/minkindr/
+#     uri: https://github.com/ethz-asl/minkindr
+#     version: bc4503c34970a13b7ef06f62505e3333395ce02c
+# - git:
+#     local-name: src/misc/minkindr_ros/
+#     uri: https://github.com/ethz-asl/minkindr_ros
+#     version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+# - git:
+#     local-name: src/misc/mav_comm/
+#     uri: https://github.com/ethz-asl/mav_comm
+#     version: master
+# - git:
+#     local-name: src/misc/yaml_cpp_catkin/
+#     uri: https://github.com/ethz-asl/yaml_cpp_catkin
+#     version: master
+# - git:
+#     local-name: src/misc/protobuf_catkin/
+#     uri: https://github.com/ethz-asl/protobuf_catkin
+#     version: master

packages_https_rover_optimus_slam_base.rosinstall

@@ -0,0 +1,142 @@
+# arm 
+- git:
+    local-name: src/arm/xarm_ros
+    uri: http://git.mistlab.ca/vvaradharajan/xarm_ros.git
+    version: master
+
+#Localization
+- git: 
+    local-name: src/localization/lvi-sam
+    uri: http://git.mistlab.ca/vvaradharajan/lvi-sam.git
+    version: ubuntu20.04
+# MAPPING
+- git:
+    local-name: src/mapping/voxblox/
+    uri: http://git.mistlab.ca/vvaradharajan/voxblox.git
+    version: noetic
+- git:
+    local-name: src/mapping/volumetric_mapping/
+    uri: https://github.com/unr-arl/volumetric_mapping
+    version: gbp_dev
+#EXPLORATION
+- git:
+    local-name: src/exploration/gbplanner_ros/
+    uri: http://git.mistlab.ca/vvaradharajan/gbplanner_ros.git
+    version: noetic
+- git:
+    local-name: src/exploration/pci_mav/
+    uri: http://git.mistlab.ca/vvaradharajan/pci_mav_gb_planner.git
+    version: master
+- git:
+    local-name: src/exploration/target_finder/
+    uri: https://git.mistlab.ca/plajoie/target_finder_hierarchical.git
+- git:
+    local-name: src/exploration/tracking_pid/
+    uri: https://github.com/lajoiepy/tracking_pid.git
+#Control
+- git:
+    local-name: src/control/rosbuzz
+    uri: http://git.mistlab.ca/dasto/ROSBuzz.git
+    version: dev
+
+- git:
+    local-name: src/control/rover_launch
+    uri: http://git.mistlab.ca/vvaradharajan/rover_launch.git
+    version: master
+
+- git:
+    local-name: src/control/local_planner
+    uri: http://git.mistlab.ca/skarthik/ground_based_autonomy_basic.git
+    version: melodic
+- git:
+    local-name: src/control/adapters
+    uri: http://git.mistlab.ca/vvaradharajan/kh4_adapter.git
+    version: master
+    
+#Communication
+- git:
+    local-name: src/comm/batman_dwq
+    uri: http://git.mistlab.ca/dwenqiang/poly_ws.git
+    version: sendto
+- git:
+    local-name: src/comm/nimbro
+    uri: https://github.com/AIS-Bonn/nimbro_network.git
+    version: master
+
+#Misc
+#- git:
+#    local-name: src/misc/robot_body_filter
+#    uri: https://github.com/peci1/robot_body_filter
+#    version: master
+#- git:
+#    local-name: src/misc/sensor_filters
+#    uri: https://github.com/ctu-vras/sensor_filters
+#    version: master
+- git:
+    local-name: src/misc/catkin_simple/
+    uri: https://github.com/catkin/catkin_simple
+    version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e
+- git:
+    local-name: src/misc/eigen_catkin/
+    uri: https://github.com/ethz-asl/eigen_catkin
+    version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+- git:
+    local-name: src/misc/eigen_checks/
+    uri: https://github.com/ethz-asl/eigen_checks
+    version: 22a6247a3df11bc285d43d1a030f4e874a413997
+- git:
+    local-name: src/misc/gflags_catkin/
+    uri: https://github.com/ethz-asl/gflags_catkin
+    version: 5324e74119996a6e2da12d20e5388c17480ebd79
+- git:
+    local-name: src/misc/glog_catkin/
+    uri: https://github.com/ethz-asl/glog_catkin
+    version: dcb4559be6b9f9248c543df6789d46271c13efcf
+- git:
+    local-name: src/misc/minkindr/
+    uri: https://github.com/ethz-asl/minkindr
+    version: bc4503c34970a13b7ef06f62505e3333395ce02c
+- git:
+    local-name: src/misc/minkindr_ros/
+    uri: https://github.com/ethz-asl/minkindr_ros
+    version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+- git:
+    local-name: src/misc/mav_comm/
+    uri: https://github.com/ethz-asl/mav_comm
+    version: master
+- git:
+    local-name: src/misc/yaml_cpp_catkin/
+    uri: https://github.com/ethz-asl/yaml_cpp_catkin
+    version: master
+- git:
+    local-name: src/misc/protobuf_catkin/
+    uri: https://github.com/ethz-asl/protobuf_catkin
+    version: master
+
+# Drivers
+# (Added in a seperate ws for now, since it only works with catkin_make)
+#- git:
+#    local-name: src/driver/ugv_sdk/
+#    uri: https://github.com/agilexrobotics/ugv_sdk.git
+
+#- git:
+#    local-name: src/driver/scout_base/
+#    uri: https://github.com/agilexrobotics/scout_ros.git
+
+- git:
+    local-name: src/driver/vectornav/
+    uri: https://github.com/dawonn/vectornav.git
+
+- git:
+    local-name: src/driver/ouster-ros/
+    uri: https://github.com/ouster-lidar/ouster-ros.git
+
+- git:
+    local-name: src/driver/ds4_driver/
+    uri: https://github.com/naoki-mizuno/ds4_driver.git
+    version: noetic-devel    
+
+-git: 
+    local-name: src/driver/nlink_parser
+    uri: https://github.com/nooploop-dev/nlink_parser.git
+    

packages_https_rover_slam_base.rosinstall

@@ -0,0 +1,109 @@
+#Localization
+- git: 
+    local-name: src/localization/lvi-sam
+    uri: http://git.mistlab.ca/vvaradharajan/lvi-sam.git
+    version: master
+# MAPPING
+- git:
+    local-name: src/mapping/voxblox/
+    uri: http://git.mistlab.ca/vvaradharajan/voxblox.git
+    version: feature/map_merger
+- git:
+    local-name: src/mapping/volumetric_mapping/
+    uri: https://github.com/unr-arl/volumetric_mapping
+    version: gbp_dev
+#EXPLORATION
+- git:
+    local-name: src/exploration/gbplanner_ros/
+    uri: http://git.mistlab.ca/vvaradharajan/gbplanner_ros.git
+    version: master
+- git:
+    local-name: src/exploration/pci_mav/
+    uri: http://git.mistlab.ca/vvaradharajan/pci_mav_gb_planner.git
+    version: master
+- git:
+    local-name: src/exploration/target_finder/
+    uri: https://git.mistlab.ca/plajoie/target_finder_hierarchical.git
+- git:
+    local-name: src/exploration/tracking_pid/
+    uri: https://github.com/lajoiepy/tracking_pid.git
+#Control
+- git:
+    local-name: src/control/rosbuzz
+    uri: http://git.mistlab.ca/dasto/ROSBuzz.git
+    version: dev
+
+- git:
+    local-name: src/control/rover_launch
+    uri: http://git.mistlab.ca/vvaradharajan/rover_launch.git
+    version: master
+
+- git:
+    local-name: src/control/local_planner
+    uri: http://git.mistlab.ca/skarthik/ground_based_autonomy_basic.git
+    version: melodic
+- git:
+    local-name: src/control/adapters
+    uri: http://git.mistlab.ca/vvaradharajan/kh4_adapter.git
+    version: master
+    
+#Communication
+- git:
+    local-name: src/comm/batman_dwq
+    uri: http://git.mistlab.ca/dwenqiang/poly_ws.git
+    version: sendto
+- git:
+    local-name: src/comm/nimbro
+    uri: https://github.com/AIS-Bonn/nimbro_network.git
+    version: master
+
+#Misc
+#- git:
+#    local-name: src/misc/robot_body_filter
+#    uri: https://github.com/peci1/robot_body_filter
+#    version: master
+#- git:
+#    local-name: src/misc/sensor_filters
+#    uri: https://github.com/ctu-vras/sensor_filters
+#    version: master
+- git:
+    local-name: src/misc/catkin_simple/
+    uri: https://github.com/catkin/catkin_simple
+    version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e
+- git:
+    local-name: src/misc/eigen_catkin/
+    uri: https://github.com/ethz-asl/eigen_catkin
+    version: 00b5eb254bad8de9cd68d238aa994e443062cf30
+- git:
+    local-name: src/misc/eigen_checks/
+    uri: https://github.com/ethz-asl/eigen_checks
+    version: 22a6247a3df11bc285d43d1a030f4e874a413997
+- git:
+    local-name: src/misc/gflags_catkin/
+    uri: https://github.com/ethz-asl/gflags_catkin
+    version: 5324e74119996a6e2da12d20e5388c17480ebd79
+- git:
+    local-name: src/misc/glog_catkin/
+    uri: https://github.com/ethz-asl/glog_catkin
+    version: dcb4559be6b9f9248c543df6789d46271c13efcf
+- git:
+    local-name: src/misc/minkindr/
+    uri: https://github.com/ethz-asl/minkindr
+    version: bc4503c34970a13b7ef06f62505e3333395ce02c
+- git:
+    local-name: src/misc/minkindr_ros/
+    uri: https://github.com/ethz-asl/minkindr_ros
+    version: 88e0bd476f82027453f04fdf7c40c7c9a358aa1b
+- git:
+    local-name: src/misc/mav_comm/
+    uri: https://github.com/ethz-asl/mav_comm
+    version: master
+- git:
+    local-name: src/misc/yaml_cpp_catkin/
+    uri: https://github.com/ethz-asl/yaml_cpp_catkin
+    version: master
+- git:
+    local-name: src/misc/protobuf_catkin/
+    uri: https://github.com/ethz-asl/protobuf_catkin
+    version: master
+