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13 Commits
master ... dev

Author SHA1 Message Date
Ulrich Dah-Achinanon 021c5133cb Update the repo setup 2021-10-17 13:50:08 -04:00
Ulrich Dah-Achinanon c5f95b2487 Correct typo in branch name 2021-09-23 20:15:57 -04:00
Ulrich Dah-Achinanon efbeca2681 CHange the ROSBuzz version to use the m300 branch 2021-09-23 20:10:13 -04:00
Ulrich Dah-Achinanon c225f7f3ee Merge branch 'dev' of http://git.mistlab.ca/vvaradharajan/mist_ws into dev 2021-09-23 20:09:06 -04:00
ulrichdah bd35cf6b56 Add rosinstall for gbplanner setup without simulation 2021-09-21 18:41:46 -04:00
ulrichdah d5c31b1db4 Remove useless ssh rosinstall file 2021-09-21 18:39:42 -04:00
ulrichdah 284f240392 Add SSH rosinstall for m300-planner setup 2021-09-20 16:07:04 -04:00
Ulrich Dah-Achinanon b510dfb911 Add adapter repositories 2021-09-17 15:15:08 -04:00
Ulrich Dah-Achinanon 105402fcc2 Removed UI repositories 2021-09-17 13:19:48 -04:00
Ulrich Dah-Achinanon fab17b556a Add rosinstall for m300 gbplanner setup 2021-09-17 13:13:14 -04:00
Ulrich Dah-Achinanon 2695cf4c18 Merge branch 'master' into dev 2021-09-14 11:14:06 -04:00
Ulrich Dah-Achinanon 6cad36f0de Merge branch 'master' into dev 2021-09-10 12:57:00 -04:00
Pierre-Yves Lajoie 8f9117d6bf Added adapter repo to rosinstall 2021-08-18 15:34:45 -04:00
8 changed files with 62 additions and 615 deletions

7
.gitignore vendored
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@ -49,10 +49,3 @@ qtcreator-*
# Catkin custom files
CATKIN_IGNORE
devel/
devel_isolated/
logs/
.catkin_tools/
.rosinstall
.rosinstall.bak
.vscode

120
README.md
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@ -53,123 +53,3 @@ 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.

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@ -1,115 +0,0 @@
#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

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@ -1,133 +0,0 @@
#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

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@ -35,36 +35,21 @@
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
uri: https://github.com/ethz-asl/voxblox
version: feature/new_abort_criterion_for_fast_integrator
- git:
local-name: src/mapping/volumetric_mapping/
uri: https://github.com/unr-arl/volumetric_mapping
version: gbp_dev
# bs
#EXPLORATION
- git:
local-name: src/driver/ds4_driver/
uri: https://github.com/naoki-mizuno/ds4_driver.git
version: noetic-devel
local-name: src/exploration/gbplanner_ros/
uri: https://github.com/unr-arl/gbplanner_ros
- 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
local-name: src/exploration/pci_mav/
uri: https://github.com/unr-arl/pci_mav

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@ -2,7 +2,7 @@
- git:
local-name: src/control/rosbuzz
uri: http://git.mistlab.ca/dasto/ROSBuzz.git
version: dev
version: m300
- git:
local-name: src/control/osdk-ros
@ -14,9 +14,14 @@
uri: http://git.mistlab.ca/ulrich/mist_launch.git
version: master
- git:
local-name: src/control/osdk_rosbuzz_adapter
uri: http://git.mistlab.ca/ulrich/osdk_rosbuzz_adapter.git
version: master
#Communication
- git:
local-name: src/comm/batman_dwq
uri: http://git.mistlab.ca/dwenqiang/poly_ws.git
version: sendto
version: unknown_hostname_bug

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@ -1,71 +1,4 @@
#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
#MISC
- git:
local-name: src/misc/catkin_simple/
uri: https://github.com/catkin/catkin_simple
@ -102,8 +35,49 @@
local-name: src/misc/yaml_cpp_catkin/
uri: https://github.com/ethz-asl/yaml_cpp_catkin
version: master
# MAPPING
- git:
local-name: src/misc/protobuf_catkin/
uri: https://github.com/ethz-asl/protobuf_catkin
local-name: src/mapping/voxblox/
uri: https://github.com/ethz-asl/voxblox
version: feature/new_abort_criterion_for_fast_integrator
- 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: https://github.com/unr-arl/gbplanner_ros
- git:
local-name: src/exploration/pci_mav/
uri: https://github.com/unr-arl/pci_mav
#Control
- git:
local-name: src/control/rosbuzz
uri: http://git.mistlab.ca/dasto/ROSBuzz.git
version: dev
- git:
local-name: src/control/osdk-ros
uri: https://github.com/dji-sdk/Onboard-SDK-ROS.git
version: 4.1
- git:
local-name: src/control/mist_launch
uri: http://git.mistlab.ca/ulrich/mist_launch.git
version: master
- git:
local-name: src/control/osdk_rosbuzz_adapter
uri: http://git.mistlab.ca/ulrich/osdk_rosbuzz_adapter.git
version: master
#Communication
- git:
local-name: src/comm/batman_dwq
uri: http://git.mistlab.ca/dwenqiang/poly_ws.git
version: sendto

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@ -1,142 +0,0 @@
# 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