add rwt_nav package

README.md

@@ -39,3 +39,4 @@ PROJECTS
 * [rwt_plot](rwt_plot/README.md)
 * [rwt_speech_recognition](rwt_speech_recognition/README.md)
 * [rwt_steer](rwt_steer/README.md)
+* [rwt_nav](rwt_nav/README.md)

rwt_nav/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(rwt_nav)
+
+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_nav/README.md

@@ -0,0 +1,29 @@
+# rwt_nav
+
+## Usage
+
+```bash
+roslaunch rwt_nav rwt_nav.launch
+```
+
+Open your browser, and access to: `http://<your host name>:8000/rwt_nav/`
+
+for example : `http://localhost:8000/rwt_nav/`
+
+To view live location of robot :
+
+```bash
+rosrun robot_pose_publisher robot_pose_publisher
+```
+
+- Current position of the robot is shown by yellow arrow.
+- Ctrl + mouse movement = Zoom
+- Shift + mouse movement = Pan
+
+Launch the amcl node and move_base node.
+
+Click anywhere on the map to give goal position and direction.
+
+- Goal will be marked with red arrow.
+
+![rwt_nav.png](images/rwt_nav.png)

rwt_nav/launch/rwt_nav.launch

@@ -0,0 +1,18 @@
+<launch>
+
+  <arg name="launch_roswww" default="true" />
+  <arg name="launch_rosbridge_websocket" default="true" />
+
+  <include file="$(find roswww)/launch/roswww.launch"
+           if="$(arg launch_roswww)">
+    <arg name="port" value="8000" />
+  </include>
+
+  <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch"
+           if="$(arg launch_rosbridge_websocket)">
+    <arg name="port" value="9090" />
+  </include>
+
+  <node name="robot_pose_publisher" pkg="robot_pose_publisher" type="robot_pose_publisher" />
+
+</launch>

rwt_nav/package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<package>
+  <name>rwt_nav</name>
+  <version>0.0.3</version>
+  <description>The rwt_nav package</description>
+
+  <author email="[email protected]">Yug Ajmera</author>
+  <author email="[email protected]">Shingo Kitagawa</author>
+  <maintainer email="[email protected]">Yug Ajmera</maintainer>
+  <maintainer email="[email protected]">Shingo Kitagawa</maintainer>
+
+  <url type="website">http://wiki.ros.org/rwt_nav</url>
+  <url type="bugtracker">https://github.com/tork-a/visualization_rwt/issues</url>
+  <url type="repository">https://github.com/tork-a/visualization_rwt</url>
+
+  <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>robot_pose_publisher</run_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>
+  </export>
+</package>