diff --git a/README.md b/README.md
index 4d54469048b09e702a24246fd8bdd30c0e7b2a8e..711f72a830c938a8c229af20545255b415a30ba2 100644
--- a/README.md
+++ b/README.md
@@ -1,3 +1,31 @@
+## homer_mapping (kinetic) - 0.1.9-0
+
+The packages in the `homer_mapping` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --rosdistro kinetic --track kinetic homer_mapping` on `Wed, 23 Nov 2016 18:50:56 -0000`
+
+These packages were released:
+- `homer_map_manager`
+- `homer_mapnav_msgs`
+- `homer_mapping`
+- `homer_nav_libs`
+- `homer_navigation`
+
+Version of package(s) in repository `homer_mapping`:
+
+- upstream repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- release repository: git@gitlab.uni-koblenz.de:robbie/homer_mapping.git
+- rosdistro version: `0.1.8-0`
+- old version: `0.1.8-0`
+- new version: `0.1.9-0`
+
+Versions of tools used:
+
+- bloom version: `0.5.23`
+- catkin_pkg version: `0.2.10`
+- rosdep version: `0.11.5`
+- rosdistro version: `0.5.0`
+- vcstools version: `0.1.39`
+
+
## homer_mapping (kinetic) - 0.1.8-0
The packages in the `homer_mapping` repository were released into the `kinetic` distro by running `/usr/bin/bloom-release --rosdistro kinetic --track kinetic homer_mapping` on `Mon, 21 Nov 2016 17:15:35 -0000`
diff --git a/homer_map_manager/CHANGELOG.rst b/homer_map_manager/CHANGELOG.rst
index f2a5b2f221b9f029eb63df1eef567ee0152d0f6f..bb647b2a92d283475dba1627db0ab071b94bb446 100644
--- a/homer_map_manager/CHANGELOG.rst
+++ b/homer_map_manager/CHANGELOG.rst
@@ -2,6 +2,9 @@
Changelog for package homer_map_manager
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.10 (2016-12-08)
+-------------------
+
0.1.9 (2016-11-23)
------------------
diff --git a/homer_map_manager/package.xml b/homer_map_manager/package.xml
index 3299ac0aa24965459d6ecc20ecad9afdac496a29..8cecf8b69ac81a6db70caded6619e1bc32af1ee0 100644
--- a/homer_map_manager/package.xml
+++ b/homer_map_manager/package.xml
@@ -1,6 +1,6 @@
<package>
<name>homer_map_manager</name>
- <version>0.1.9</version>
+ <version>0.1.10</version>
<description>
map_manager
</description>
diff --git a/homer_mapnav_msgs/CHANGELOG.rst b/homer_mapnav_msgs/CHANGELOG.rst
index b2227dcc3ec7279c13b7d0b7d929535243a901b2..7f43b8c0a9be6bca6a1b0367b8ff2f3b6020fb1f 100644
--- a/homer_mapnav_msgs/CHANGELOG.rst
+++ b/homer_mapnav_msgs/CHANGELOG.rst
@@ -2,6 +2,9 @@
Changelog for package homer_mapnav_msgs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.10 (2016-12-08)
+-------------------
+
0.1.9 (2016-11-23)
------------------
diff --git a/homer_mapnav_msgs/package.xml b/homer_mapnav_msgs/package.xml
index c4c1298b6eacd3983502088bdc83ce204fe987c9..897a8e016d5603b70fbb9618e505c9f4f355864b 100644
--- a/homer_mapnav_msgs/package.xml
+++ b/homer_mapnav_msgs/package.xml
@@ -1,6 +1,6 @@
<package>
<name>homer_mapnav_msgs</name>
- <version>0.1.9</version>
+ <version>0.1.10</version>
<description> homer_mapnav_msgs contains the messages used for mapping and navigation
</description>
<maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
diff --git a/homer_mapping/CHANGELOG.rst b/homer_mapping/CHANGELOG.rst
index 430a98afd708e7bd931009ddfbb90184b480d809..7addde2bfb0aad612493df34a14f912451f9a30d 100644
--- a/homer_mapping/CHANGELOG.rst
+++ b/homer_mapping/CHANGELOG.rst
@@ -2,6 +2,9 @@
Changelog for package homer_mapping
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.10 (2016-12-08)
+-------------------
+
0.1.9 (2016-11-23)
------------------
diff --git a/homer_mapping/package.xml b/homer_mapping/package.xml
index b37ac9268dc7ae4a7732513b1aa3bad4b2a4d1a8..55720f20bad5aa4bb779eb442acbba46ef8d31ca 100644
--- a/homer_mapping/package.xml
+++ b/homer_mapping/package.xml
@@ -1,6 +1,6 @@
<package>
<name>homer_mapping</name>
- <version>0.1.9</version>
+ <version>0.1.10</version>
<description>
homer_mapping
diff --git a/homer_nav_libs/CHANGELOG.rst b/homer_nav_libs/CHANGELOG.rst
index 58ad8d0c3b18e1aa91b5e12e5d73321521dd4115..439861f31a8ac4bd68db7f7c44af3185a4ccbf9d 100644
--- a/homer_nav_libs/CHANGELOG.rst
+++ b/homer_nav_libs/CHANGELOG.rst
@@ -2,6 +2,11 @@
Changelog for package homer_nav_libs
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.10 (2016-12-08)
+-------------------
+* added support for not quadratic maps
+* Contributors: Lisa
+
0.1.9 (2016-11-23)
------------------
diff --git a/homer_nav_libs/CMakeLists.txt b/homer_nav_libs/CMakeLists.txt
index 4bdc2491d461643f22cdd18c81d40612ca204c54..9d4962b2ea7715ece1475f65d870258114a572fe 100644
--- a/homer_nav_libs/CMakeLists.txt
+++ b/homer_nav_libs/CMakeLists.txt
@@ -1,6 +1,8 @@
cmake_minimum_required(VERSION 2.8.3)
project(homer_nav_libs)
+set(CMAKE_BUILD_TYPE Release)
+
find_package(catkin REQUIRED COMPONENTS
roscpp
geometry_msgs
diff --git a/homer_nav_libs/package.xml b/homer_nav_libs/package.xml
index 7896e7f70fb30711201a9fb7483d11798b7ca2e4..a2bc095482fcebf0dfeaa9cbcca01d31f57c8095 100644
--- a/homer_nav_libs/package.xml
+++ b/homer_nav_libs/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>homer_nav_libs</name>
- <version>0.1.9</version>
+ <version>0.1.10</version>
<description>The nav_libs package</description>
<maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
diff --git a/homer_nav_libs/src/Explorer/Explorer.cpp b/homer_nav_libs/src/Explorer/Explorer.cpp
index 509964e423c1d73b88f62504bddfa3c7f200aa52..e57d72266ad0c9fef0db4ec816a3f5ccbf72a119 100644
--- a/homer_nav_libs/src/Explorer/Explorer.cpp
+++ b/homer_nav_libs/src/Explorer/Explorer.cpp
@@ -173,9 +173,9 @@ Eigen::Vector2i Explorer::getNearestAccessibleTarget(Eigen::Vector2i target )
ROS_INFO_STREAM("target cell in drivingdistancetransform: " << m_DrivingDistanceTransform->getValue ( target.x(), target.y() ));
ROS_INFO_STREAM("target " << target << " is not approachable. Correcting target...");
int minSqrDist=INT_MAX;
- for ( int x = 0; x < m_ObstacleTransform->height(); x++ )
+ for ( int x = 0; x < m_ObstacleTransform->width(); x++ )
{
- for ( int y = 0; y < m_ObstacleTransform->width(); y++ )
+ for ( int y = 0; y < m_ObstacleTransform->height(); y++ )
{
bool isSafe = m_ObstacleTransform->getValue ( x, y ) > m_FrontierSafenessFactor * m_MinAllowedObstacleDistance;
if ( isApproachable ( x,y ) && isWalkable( x , y) && isSafe )
@@ -219,9 +219,9 @@ Eigen::Vector2i Explorer::getNearestWalkablePoint( Eigen::Vector2i target )
if ( !isWalkable( target.x(), target.y() ) )
{
int minSqrDist=INT_MAX;
- for ( int x = 0; x < m_ObstacleTransform->height(); x++ )
+ for ( int x = 0; x < m_ObstacleTransform->width(); x++ )
{
- for ( int y = 0; y < m_ObstacleTransform->width(); y++ )
+ for ( int y = 0; y < m_ObstacleTransform->height(); y++ )
{
if ( isWalkable ( x,y ) )
{
diff --git a/homer_navigation/CHANGELOG.rst b/homer_navigation/CHANGELOG.rst
index 496db8bd5d7779b8cac6acc85de5cddd782963fb..e690e9d378a4567428d978c836f32d8f0cdefca4 100644
--- a/homer_navigation/CHANGELOG.rst
+++ b/homer_navigation/CHANGELOG.rst
@@ -2,6 +2,12 @@
Changelog for package homer_navigation
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+0.1.10 (2016-12-08)
+-------------------
+* removed not used code
+* added support for not quadratic maps
+* Contributors: Lisa
+
0.1.9 (2016-11-23)
------------------
* fix bug when first target is unreachable
diff --git a/homer_navigation/package.xml b/homer_navigation/package.xml
index 8ed22a471bf87b8d3c2bbe7aa1157b2f7d2e675c..5e094b6e21385cb80ff8823a1fd3fa87d654655b 100644
--- a/homer_navigation/package.xml
+++ b/homer_navigation/package.xml
@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<package>
<name>homer_navigation</name>
- <version>0.1.9</version>
+ <version>0.1.10</version>
<description>The homer_navigation package</description>
<maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
diff --git a/homer_navigation/src/homer_navigation_node.cpp b/homer_navigation/src/homer_navigation_node.cpp
index 11c740c466160dd8f730a57d9e4aaab8a6f6947c..3c5d45c5c9968770d99a2ad9d9ecac2f7e23d439 100644
--- a/homer_navigation/src/homer_navigation_node.cpp
+++ b/homer_navigation/src/homer_navigation_node.cpp
@@ -208,7 +208,7 @@ void HomerNavigationNode::calculatePath() {
m_path_reaches_target = true;
return;
}
- m_explorer->setOccupancyMap(m_width, m_width, m_origin,
+ m_explorer->setOccupancyMap(m_width, m_height, m_origin,
&(*m_last_map_data)[0]);
m_explorer->setStart(
map_tools::toMapCoords(m_robot_pose.position, m_origin, m_resolution));
@@ -271,7 +271,7 @@ void HomerNavigationNode::startNavigation() {
maskMap();
}
- m_explorer->setOccupancyMap(m_width, m_width, m_origin,
+ m_explorer->setOccupancyMap(m_width, m_height, m_origin,
&(*m_last_map_data)[0]);
// check if there still exists a path to the original target
@@ -896,10 +896,6 @@ void HomerNavigationNode::refreshParamsCallback(
void HomerNavigationNode::mapCallback(
const nav_msgs::OccupancyGrid::ConstPtr& msg) {
- if (msg->info.height != msg->info.width) {
- ROS_ERROR_STREAM("Incoming Map not quadratic. No map update!");
- return;
- }
if (m_last_map_data) {
delete m_last_map_data;
}
diff --git a/tracks.yaml b/tracks.yaml
index add4be12cd615411b9d801b20af6d5c8830ab9c1..6391d6eced5a292eb6f51dae7395b6a63004ca1f 100644
--- a/tracks.yaml
+++ b/tracks.yaml
@@ -13,7 +13,7 @@ tracks:
- git-bloom-generate -y rosrpm --prefix release/:{ros_distro} :{ros_distro} -i
:{release_inc}
devel_branch: master
- last_version: 0.1.8
+ last_version: 0.1.9
name: upstream
patches: null
release_inc: '0'