From 857a6a577fc93d0e55b8b898c762ca769bc2f782 Mon Sep 17 00:00:00 2001
From: Lisa <robbie@uni-koblenz.de>
Date: Thu, 8 Dec 2016 21:50:59 +0000
Subject: [PATCH] Rebase from 'upstream'
---
README.md | 28 +++++++++++++++++++
homer_map_manager/CHANGELOG.rst | 3 ++
homer_map_manager/package.xml | 2 +-
homer_mapnav_msgs/CHANGELOG.rst | 3 ++
homer_mapnav_msgs/package.xml | 2 +-
homer_mapping/CHANGELOG.rst | 3 ++
homer_mapping/package.xml | 2 +-
homer_nav_libs/CHANGELOG.rst | 5 ++++
homer_nav_libs/CMakeLists.txt | 2 ++
homer_nav_libs/package.xml | 2 +-
homer_nav_libs/src/Explorer/Explorer.cpp | 8 +++---
homer_navigation/CHANGELOG.rst | 6 ++++
homer_navigation/package.xml | 2 +-
.../src/homer_navigation_node.cpp | 8 ++----
tracks.yaml | 2 +-
15 files changed, 62 insertions(+), 16 deletions(-)
diff --git a/README.md b/README.md
index 4d544690..711f72a8 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 f2a5b2f2..bb647b2a 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 3299ac0a..8cecf8b6 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 b2227dcc..7f43b8c0 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 c4c1298b..897a8e01 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 430a98af..7addde2b 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 b37ac926..55720f20 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 58ad8d0c..439861f3 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 4bdc2491..9d4962b2 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 7896e7f7..a2bc0954 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 509964e4..e57d7226 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 496db8bd..e690e9d3 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 8ed22a47..5e094b6e 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 11c740c4..3c5d45c5 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 add4be12..6391d6ec 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'
--
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