update to slam_system within repo

proroklab · May 2, 2024 · b4b7ca0 · b4b7ca0
1 parent bb35597
commit b4b7ca0
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Showing 6 changed files with 9 additions and 9 deletions.
diff --git a/Dockerfile b/Dockerfile
@@ -39,9 +39,9 @@ RUN cd /opt/root_ws \
     && git config --global --add safe.directory /opt/root_ws/part_II_project \
     && MAKEFLAGS="-j 4" colcon build
 
-RUN tar -xvzf /opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/ORBvoc.txt.tar.gz -C /opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/
+RUN tar -xvzf /opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/ORBvoc.txt.tar.gz -C /opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/
 
-# ros2 run orb_slam3_ros ros_mono --ros-args -p agentId:=1 -p config:=/opt/root_ws/part_II_project/src/orb_slam3_ros/configs/robomaster.yaml -p imageTopic:=/robomaster_0/camera_0/image_raw -p vocFile:=/opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/ORBvoc.txt -p useViewer:=false
+# ros2 run slam_system ros_mono --ros-args -p agentId:=1 -p config:=/opt/root_ws/part_II_project/src/slam_system/configs/robomaster.yaml -p imageTopic:=/robomaster_0/camera_0/image_raw -p vocFile:=/opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/ORBvoc.txt -p useViewer:=false
 # ros2 run motion_controller follow_the_leader --ros-args -p agentId:=2 -p positionOffsetX:=0.0 -p positionOffsetY:=0.0 -p rotationOffset:=0.0 -p linearGain:=1.0 -p angularGain:=1.0 -p cmdVelTopic:=/robomaster_1/cmd_vel
 # ros2 run motion_controller collision_avoidance --ros-args -p agentId:=2 -p linearGain:=.5 -p angularGain:=0.1 -p agentRadius:=0.05 -p cmdVelTopic:=/robomaster_1/cmd_vel -p Qc:=4.0 -p kappa:=15.0 -p staticKappa:=60.0
 

diff --git a/nvidia_jetson.Dockerfile b/nvidia_jetson.Dockerfile
@@ -47,9 +47,9 @@ RUN cd /opt/root_ws \
     && git config --global --add safe.directory /opt/root_ws/part_II_project \
     && MAKEFLAGS="-j 4" colcon build
 
-RUN tar -xvzf /opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/ORBvoc.txt.tar.gz -C /opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/
+RUN tar -xvzf /opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/ORBvoc.txt.tar.gz -C /opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/
 
-# ros2 run orb_slam3_ros ros_mono --ros-args -p agentId:=1 -p config:=/opt/root_ws/part_II_project/src/orb_slam3_ros/configs/robomaster.yaml -p imageTopic:=/robomaster_0/camera_0/image_raw -p vocFile:=/opt/root_ws/part_II_project/src/orb_slam3_ros/orb_slam3/Vocabulary/ORBvoc.txt -p useViewer:=false
+# ros2 run slam_system ros_mono --ros-args -p agentId:=1 -p config:=/opt/root_ws/part_II_project/src/slam_system/configs/robomaster.yaml -p imageTopic:=/robomaster_0/camera_0/image_raw -p vocFile:=/opt/root_ws/part_II_project/src/slam_system/orb_slam3/Vocabulary/ORBvoc.txt -p useViewer:=false
 # ros2 run motion_controller follow_the_leader --ros-args -p agentId:=2 -p positionOffsetX:=0.0 -p positionOffsetY:=0.0 -p rotationOffset:=0.0 -p linearGain:=1.0 -p angularGain:=1.0 -p cmdVelTopic:=/robomaster_1/cmd_vel
 # ros2 run motion_controller collision_avoidance --ros-args -p agentId:=2 -p linearGain:=.5 -p angularGain:=0.1 -p agentRadius:=0.05 -p cmdVelTopic:=/robomaster_1/cmd_vel -p Qc:=4.0 -p kappa:=15.0 -p staticKappa:=60.0
 

diff --git a/run.bash b/run.bash
@@ -9,9 +9,9 @@ cmds[1]="source install/setup.bash && source /home/joshuabird/Documents/webots_r
 
 cmds[2]="source install/setup.bash && ros2 run controller my_node"
 
-cmds[3]="source install/setup.bash && ros2 run orb_slam3_ros ros_mono --ros-args -p agentId:=1 -p config:=/home/joshuabird/Desktop/orbslam_configs/configs/euroc.yaml"
+cmds[3]="source install/setup.bash && ros2 run slam_system ros_mono --ros-args -p agentId:=1 -p config:=/home/joshuabird/Desktop/orbslam_configs/configs/euroc.yaml"
 
-cmds[4]="source install/setup.bash && ros2 run orb_slam3_ros ros_mono --ros-args -p agentId:=2 -p config:=/home/joshuabird/Desktop/orbslam_configs/configs/euroc.yaml"
+cmds[4]="source install/setup.bash && ros2 run slam_system ros_mono --ros-args -p agentId:=2 -p config:=/home/joshuabird/Desktop/orbslam_configs/configs/euroc.yaml"
 
 
 for i in 1 2 3 4; do

diff --git a/src/slam_system/CMakeLists.txt b/src/slam_system/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(orb_slam3_ros)
+project(slam_system)
 
 IF(NOT CMAKE_BUILD_TYPE)
   SET(CMAKE_BUILD_TYPE Release)

diff --git a/src/slam_system/package.xml b/src/slam_system/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>orb_slam3_ros</name>
+  <name>slam_system</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="[email protected]">joshuabird</maintainer>

diff --git a/src/slam_system/src/orb_slam3_wrapper.cpp b/src/slam_system/src/orb_slam3_wrapper.cpp
@@ -54,7 +54,7 @@ OrbSlam3Wrapper::OrbSlam3Wrapper(string node_name, ORB_SLAM3::System::eSensor se
   settings_file = this->get_parameter("config").as_string();
 
   this->declare_parameter("vocFile",
-    "/home/joshuabird/Desktop/Parallels\ Shared\ Folders/ubuntuSharedFolder/part_II_project/src/orb_slam3_ros/"
+    "/home/joshuabird/Desktop/Parallels\ Shared\ Folders/ubuntuSharedFolder/part_II_project/src/slam_system/"
     "orb_slam3/Vocabulary/ORBvoc.txt");
   voc_file = this->get_parameter("vocFile").as_string();