Rebase from 'debian/kinetic/homer_navigation'

CHANGELOG.rst

@@ -2,6 +2,11 @@
 Changelog for package homer_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.8 (2016-11-21)
+------------------
+* Catch error case of obstacleMapDistance=0
+* Contributors: Malte Roosen
+
 0.1.7 (2016-11-17)
 ------------------
 * Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)

debian/changelog

-ros-kinetic-homer-navigation (0.1.7-0xenial) xenial; urgency=high
-
-  * Add a parameter to NavigateToPOI msgs to controll new behaviour (remove config parameter)
-  * Introduce parameter to change behaviour after collision avoidance
-  * Autoformat homer_navigation_node
-  * Contributors: Malte Roosen
-  * Introduce parameter to change behaviour after collision avoidance
-  * Autoformat homer_navigation_node
-  * Contributors: Malte Roosen
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 16 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.6-0xenial) xenial; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Thu, 03 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.5-0xenial) xenial; urgency=high
-
-  * fixed dependencies
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Thu, 03 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.4-0xenial) xenial; urgency=high
-
-  * fixes
-  * updated changelog
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.3-0xenial) xenial; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.2-0xenial) xenial; urgency=high
-
-  * install launch files
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.1-0xenial) xenial; urgency=high
-
-  * fixes
-  * initial commit
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-

debian/changelog.em

+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)-@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)>  @(change_date)
+
+@[end for]

debian/compat

-9
\ No newline at end of file

debian/compat.em

+@(debhelper_version)
\ No newline at end of file

debian/control

-Source: ros-kinetic-homer-navigation
-Section: misc
-Priority: extra
-Maintainer: Viktor Seib <vseib@uni-koblenz.de>
-Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, ros-kinetic-catkin, ros-kinetic-cmake-modules, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Homepage: 
-Standards-Version: 3.9.2
-
-Package: ros-kinetic-homer-navigation
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libeigen3-dev, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-ptu-msgs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Description: The homer_navigation package

debian/control.em

+Source: @(Package)
+Section: misc
+Priority: extra
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Description: @(Description)

debian/gbp.conf → debian/gbp.conf.em

 [git-buildpackage]
-upstream-tag=release/kinetic/homer_navigation/0.1.7-0
+upstream-tag=@(release_tag)
 upstream-tree=tag

debian/rules → debian/rules.em

@@ -14,29 +14,29 @@ export DH_OPTIONS=-v --buildsystem=cmake
 #  https://code.ros.org/trac/ros/ticket/2977
 #  https://code.ros.org/trac/ros/ticket/3842
 export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
 # Explicitly enable -DNDEBUG, see:
 # 	https://github.com/ros-infrastructure/bloom/issues/327
 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
 
 %:
-	dh  $@
+	dh  $@@
 
 override_dh_auto_configure:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_configure -- \
 		-DCATKIN_BUILD_BINARY_PACKAGE="1" \
-		-DCMAKE_INSTALL_PREFIX="/opt/ros/kinetic" \
-		-DCMAKE_PREFIX_PATH="/opt/ros/kinetic"
+		-DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+		-DCMAKE_PREFIX_PATH="@(InstallationPrefix)"
 
 override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_build
 
 override_dh_auto_test:
@@ -44,19 +44,19 @@ override_dh_auto_test:
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	echo -- Running tests. Even if one of them fails the build is not canceled.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_test || true
 
 override_dh_shlibdeps:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
-	dh_shlibdeps -l$(CURDIR)/debian/ros-kinetic-homer-navigation//opt/ros/kinetic/lib/
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install

package.xml

 <?xml version="1.0"?>
 <package>
   <name>homer_navigation</name>
-  <version>0.1.7</version>
+  <version>0.1.8</version>
   <description>The homer_navigation package</description>
 
   <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>

src/homer_navigation_node.cpp

@@ -531,6 +531,11 @@ void HomerNavigationNode::performNextMove() {
                      (float)(m_explorer->getObstacleTransform()->getValue(
                                  robotPixel.x(), robotPixel.y()) *
                              m_resolution));
+        if (obstacleMapDistance <= 0.00001) {
+          ROS_ERROR_STREAM(
+              "obstacleMapDistance is below threshold to 0 setting to 1");
+          obstacleMapDistance = 1;
+        }
       }
 
       float max_move_distance_speed =