New Packages added

README.md

@@ -38,3 +38,6 @@ PROJECTS
 * [rwt_moveit](rwt_moveit/README.rst)
 * [rwt_plot](rwt_plot/README.md)
 * [rwt_speech_recognition](rwt_speech_recognition/README.md)
+* [rwt_steer](rwt_steer/README.md)
+* [rwt_map](rwt_map/README.md)
+* [rwt_nav](rwt_nav/README.md)

rwt_map/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rwt_map)
+
+find_package(catkin REQUIRED COMPONENTS
+  rosbridge_server
+  roswww
+  rwt_utils_3rdparty
+)
+
+catkin_package(
+  CATKIN_DEPENDS rosbridge_server roswww rwt_utils_3rdparty
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+)
+
+install(DIRECTORY www/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/www
+)

rwt_map/README.md

@@ -0,0 +1,36 @@
+rwt_map
+====================
+
+Usage
+-----
+```
+roslaunch rwt_map rwt_map.launch 
+```
+Launch your gmapping node which provides `/map` topic.
+
+Open your browser, and access to:
+
+`http://<your host name>:8000/rwt_map/`
+
+for example : `http://localhost:8000/rwt_map/`
+
+- Control using Joystick
+- Add camera topic
+- Press Load video button
+- View the map built in real time
+- Ctrl + mouse movement = Zoom
+- Shift + mouse movement = Pan
+
+To view live location of robot :
+```
+rosrun robot_pose_publisher robot_pose_publisher
+```
+- Current position of the robot is shown by Red Arrow 
+
+Once the map is created,
+```
+rosrun map_server map_saver ~/catkin_ws/src/rwt_nav/maps/name_of_map
+```
+
+![rwt_map.png](images/rwt_map.png)
+

rwt_map/launch/rwt_map.launch

@@ -0,0 +1,19 @@
+<launch>
+  <arg name="launch_roswww" default="true" />
+  <include file="$(find roswww)/launch/roswww.launch"
+           if="$(arg launch_roswww)">
+    <arg name="port" value="8000" />
+  </include>
+
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch">
+    <arg name="port" value="9090" />
+  </include>
+
+  <node pkg="web_video_server" type="web_video_server"
+        name="web_video_server"
+        output="screen"
+        clear_params="true">
+   <param name="port" value="8080" />
+  </node>
+
+</launch>

rwt_map/package.xml

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<package>
+  <name>rwt_map</name>
+  <version>0.0.3</version>
+  <description>The rwt_map package</description>
+  <author>Yug Ajmera</author>
+  <maintainer email="[email protected]">Yug Ajmera</maintainer>
+
+  <license>BSD</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rosbridge_server</build_depend>
+  <build_depend>web_video_server</build_depend>
+  <build_depend>rwt_utils_3rdparty</build_depend>
+  <build_depend>roswww</build_depend>
+
+  <run_depend>rosbridge_server</run_depend>
+  <run_depend>rwt_utils_3rdparty</run_depend>
+  <run_depend>web_video_server</run_depend>
+  <run_depend>roswww</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>