source codes for BTR2017.<\/p>\n
\r\nOnly in btr2017\/fawkes-robotino\/bin: debug.log\r\ndiff -r btr2017\/fawkes-robotino\/bin\/gazsim.bash btr2018\/fawkes-robotino\/bin\/gazsim.bash\r\n38,46d37\r\n< --team-cyan Set cyan team name\r\n< --team-magenta\t\t Set magenta team name\r\n< --start-game Automatically run game after initialization\r\n< (if used with -t go into PRODUCTION phase,\r\n< otherwise the phase will be EXPLORATION,\r\n< optionally, "--start-game=PHASE" may be given\r\n< to set the phase explicitly)\r\n< Typically requires at least --team-cyan.\r\n< --rviz Start Rviz\r\n75,78d65\r\n< START_GAME=\r\n< TEAM_CYAN=\r\n< TEAM_MAGENTA=\r\n< RVIZ=false\r\n80c67\r\n< OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:,start-game::,team-cyan:,team-magenta:,rviz" -- "$@")\r\n---\r\n> OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:" -- "$@")\r\n170,186d156\r\n< \t --team-cyan)\r\n< \t TEAM_CYAN="$OPTARG"\r\n< \t ;;\r\n< \t --team-magenta)\r\n< \t TEAM_MAGENTA="$OPTARG"\r\n< \t ;;\r\n< \t --start-game)\r\n< \t\t\t if [ -n "$OPTARG" ]; then\r\n< \t\t\t\t\t START_GAME="$OPTARG"\r\n< \t\t\t else\r\n< \t\t\t\t\t if [ -n "$SKIP_EXPLORATION" ]; then\r\n< \t\t\t\t\t\t\t START_GAME="PRODUCTION"\r\n< \t\t\t\t\t else\r\n< \t\t\t\t\t\t\t START_GAME="EXPLORATION"\r\n< \t\t\t\t\t fi\r\n< \t\t\t fi\r\n< \t ;;\r\n196,198d165\r\n< --rviz)\r\n< RVIZ=true\r\n< ;;\r\n236d202\r\n< killall rviz\r\n254c220\r\n< rm \/dev\/shm\/*fawkes* 2>&1 >\/dev\/null\r\n---\r\n> rm \/dev\/shm\/*fawkes*\r\n310,315d275\r\n< if $RVIZ\r\n< then\r\n< # OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"$startup_script_location -x rviz $KEEP\\"'"\r\n< OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"export TAB_START_TIME=$(date +%s); $script_path\/wait-at-first-start.bash 7; $startup_script_location -x rviz $KEEP\\"'"\r\n< fi \r\n< \r\n317c277\r\n< echo $OPEN_COMMAND\r\n---\r\n> #echo $OPEN_COMMAND\r\n323c283\r\n< \tsleep 5s\r\n---\r\n> \tsleep 15s\r\n331,338d290\r\n< \t\tif [ -n "$START_GAME" ]; then\r\n< \t\t\t\tif [ ! -x $LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct ]; then\r\n< \t\t\t\t\t\techo "rcll-refbox-instruct not found, not built or old version?"\r\n< \t\t\t\telse\r\n< \t\t\t\t\t\techo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"\r\n< \t\t\t\t\t\t$LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct -p $START_GAME -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}\r\n< \t\t\t\tfi\r\n< \t\tfi\r\ndiff -r btr2017\/fawkes-robotino\/bin\/gazsim-publish-initial-pose.bash btr2018\/fawkes-robotino\/bin\/gazsim-publish-initial-pose.bash\r\n76c76\r\n< \t\t $set_pose -r localhost:1921 -t 2.0 -- 4.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t\t $set_pose -r localhost:1921 -t 2.0 -- 3.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n79c79\r\n< \t\t $set_pose -r localhost:1922 -t 2.0 -- 5.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1922 -t 2.0 -- 4.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n82c82\r\n< \t\t $set_pose -r localhost:1923 -t 2.0 -- 6.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1923 -t 2.0 -- 5.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n85c85\r\n< \t\t $set_pose -r localhost:1924 -t 2.0 -- -4.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1924 -t 2.0 -- -3.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n88c88\r\n< \t\t $set_pose -r localhost:1925 -t 2.0 -- -5.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1925 -t 2.0 -- -4.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n91c91\r\n< \t\t $set_pose -r localhost:1926 -t 2.0 -- -6.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1926 -t 2.0 -- -5.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\ndiff -r btr2017\/fawkes-robotino\/bin\/gazsim-startup.bash btr2018\/fawkes-robotino\/bin\/gazsim-startup.bash\r\n36,37d35\r\n< ROS:\r\n< --rviz start RVIZ\r\n159c157\r\n< \t( gzserver $REPLAY $GAZEBO_WORLD_PATH & ); sleep 10s; gzclient\r\n---\r\n> \tgazebo $REPLAY $GAZEBO_WORLD_PATH\r\n209,212d206\r\n< rviz )\r\n< export ROS_MASTER_URI="http:\/\/localhost:11321"\r\n< rviz \r\n< ;; \r\nOnly in btr2017\/fawkes-robotino\/bin: rviz.bash\r\nOnly in btr2017\/fawkes-robotino\/bin: startBTR.sh\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/amcl.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/amcl.yaml\r\n10,11c10\r\n< \r\n< #map_file: maps\/halle.png\r\n---\r\n> map_file: maps\/halle.png\r\n13,28d11\r\n< # resolution: 0.05\r\n< \r\n< # -------- UTSUMI THESIS --------\r\n< # map_file: maps\/map1-432.png\r\n< # resolution: 0.0484\r\n< \r\n< # -------- LLSF 2017 --------\r\n< # map_file: maps\/llsf-2017-map.png\r\n< # resolution: 0.05\r\n< \r\n< # -------- RCLL 2017 --------\r\n< # map_file: maps\/rcll-2017-map.png\r\n< # resolution: 0.05\r\n< \r\n< # -------- 4-floor --------\r\n< map-file: maps\/1-4-floor-map.png\r\n36,43c19,20\r\n< # origin_x: -7.0 \/\/ setting of version 2015\r\n< # origin_y: -1.1 \/\/ setting of version 2015\r\n< # origin_x: -8.0 \/\/ setting of version LLSF 2017\r\n< # origin_y: 0.0 \/\/ setting of version LLSF 2017\r\n< # origin_x: -9.5 \/\/ setting of version RCLL 2017\r\n< # origin_y: -2.0 \/\/ setting of version RCLL 2017\r\n< origin_x: 14.9\r\n< origin_y: 22.4\r\n---\r\n> origin_x: 0.0\r\n> origin_y: 0.0\r\n54c31\r\n< \r\n---\r\n> \r\n59,60c36\r\n< # laser_max_range: 15.0\r\n< laser_max_range: 5.0\r\n---\r\n> laser_max_range: 15.0\r\n116,117c92\r\n< # laser_interface_id: Laser urg-filtered\r\n< laser_interface_id: Laser sweep-filtered\r\n---\r\n> laser_interface_id: Laser urg-filtered\r\n138,158c113,115\r\n< #init_pose_x: 4.5\r\n< #init_pose_y: -0.5\r\n< #init_pose_a: 1.57\r\n< \r\n< # -----Initial pose 1-432 (x, y, yaw)-----\r\n< # init_pose_x: 3.97\r\n< # init_pose_y: -0.48\r\n< # init_pose_a: 1.57\r\n< \r\n< # ----- Initial pose RCLL 2017 -----\r\n< # init_pose_x: 4.5\r\n< # init_pose_y: 0.5\r\n< # init_pose_a: 3.14 #1.57\r\n< \r\n< # -----Initial pose 1-4floor (x, y, yaw) -----\r\n< init_pose_x: -8\r\n< init_pose_y: -21.5\r\n< init_pose_a: 3.14\r\n< # init_pose_x:\r\n< # init_pose_y:\r\n< # init_pose_a: \r\n---\r\n> init_pose_x: 4.5\r\n> init_pose_y: -0.5\r\n> init_pose_a: 1.57\r\n192,193c149\r\n< \r\n< #map_file: maps\/halle-wall.png\r\n---\r\n> map_file: maps\/halle-wall.png\r\n195,210d150\r\n< #resolution: 0.05\r\n< \r\n< # -------- UTSUMI THESIS --------\r\n< # map_file: maps\/map1-432.png\r\n< # resolution: 0.0484\r\n< \r\n< # -------- LLSF 2017 --------\r\n< # map_file: maps\/llsf-2017-wall.png\r\n< # resolution: 0.05\r\n< \r\n< # -------- RCLL 2017 --------\r\n< # map_file: maps\/rcll-2017-wall.png\r\n< # resolution: 0.05\r\n< \r\n< # -------- 4-floor --------\r\n< map_file: maps\/1-4floor-wall.png\r\n218,225c158,159\r\n< # origin_x: -6.7 \/\/ setting of version 2015\r\n< # origin_y: -1.1 \/\/ setting of version 2015\r\n< # origin_x: -8.0 \/\/ setting of version LLSF 2017\r\n< # origin_y: 0.0 \/\/ setting of version LLSF 2017\r\n< # origin_x: -9.5 \/\/ setting of version RCLL 2017\r\n< # origin_y: -2.0 \/\/ setting of version RCLL 2017\r\n< origin_x: 14.9\r\n< origin_y: 22.4\r\n---\r\n> origin_x: 0.0\r\n> origin_y: 0.0\r\n226a161\r\n> \r\n262a198\r\n> \r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/bbsync.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/bbsync.yaml\r\n71c71\r\n< # mps-laser: Laser360Interface::Laser MPS\r\n---\r\n> mps-laser: Laser360Interface::Laser MPS\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper-ichikawa.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper_vision.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper.yaml-ichikawa\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper.yaml.ichikawa\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: btr_gripper.yaml-max\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: clips-agent-4-floor.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: clips-agent-gazebo.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: clips-agent-rcll2017.yaml\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/clips-agent.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/clips-agent.yaml\r\n45,46c45\r\n< # agent: rcll2016\/rcll2016\r\n< agent: rcll2017\/btr2017\r\n---\r\n> agent: rcll2016\/rcll2016\r\n52,53c51\r\n< # rcll2016:\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n60,61c58\r\n< # peer-address: 172.26.255.255\r\n< peer-address: 127.0.0.1\r\n---\r\n> peer-address: 172.26.255.255\r\n66,68c63\r\n< team-name: BabyTigers\r\n< # crypto-key: L4rZV6Bk\r\n< # crypto-key: oQIFRx7m\r\n---\r\n> team-name: Carologistics\r\n133,138c128,130\r\n< # row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]\r\n< # row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]\r\n< # row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]\r\n< row-high: ["C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18"]\r\n< row-mid: ["C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18"]\r\n< row-low: ["C_Z62" ,"C_Z72", "C_Z73", "C_Z74", "C_Z75", "C_Z76", "C_Z77", "C_Z78", "C_Z68", "C_Z67", "C_Z66", "C_Z65", "C_Z64", "C_Z63", "C_Z53", "C_Z54", "C_Z55", "C_Z56", "C_Z57", "C_Z58", "C_Z48", "C_Z47", "C_Z46", "C_Z45", "C_Z44", "C_Z43", "C_Z42", "C_Z32", "C_Z33", "C_Z34", "C_Z35", "C_Z36", "C_Z37", "C_Z38", "C_Z28", "C_Z27", "C_Z26", "C_Z25", "C_Z24", "C_Z23", "C_Z22", "C_Z12", "C_Z13", "C_Z14", "C_Z15", "C_Z16", "C_Z17", "C_Z18"]\r\n---\r\n> row-high: ["Z16", "Z3", "Z2", "Z1", "Z13", "Z14", "Z15", "Z4"]\r\n> row-mid: ["Z9", "Z10", "Z11", "Z12", "Z8", "Z7", "Z6", "Z5"]\r\n> row-low: ["Z17", "Z18", "Z19", "Z20", "Z24", "Z23", "Z22", "Z21"]\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: clips-agent.yaml.7-29\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/clusterdetector.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/clusterdetector.yaml\r\n9,10c9\r\n< # laser_interface: Laser urg\r\n< laser_interface: Laser sweep\r\n---\r\n> laser_interface: Laser urg\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/colli.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/colli.yaml\r\n22,23c22\r\n< # security_distance: 0\r\n< security_distance: 0.1\r\n---\r\n> security_distance: 0\r\n93,94d91\r\n< # width: 8 \r\n< # height: 8\r\n160c157\r\n< shape: 2\r\n---\r\n> shape: 1\r\n174c171\r\n< laser_offset_x_from_middle: 0.25\r\n---\r\n> laser_offset_x_from_middle: 0.19\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/dynamixel.yaml\r\n61c61\r\n< servos: []\r\n---\r\n> servos: [1, 2]\r\n68c68\r\n< autorecover_enabled: true\r\n---\r\n> autorecover_enabled: false\r\n70,75d69\r\n< \r\n< # set return_level\r\n< # 0: SRL_RESPONDE_NONE\r\n< # 1: SRL_RESPOND_READ\r\n< # 2: SRL_RESPOND_ALL\r\n< return_level: 1\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/firevision.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/firevision.yaml\r\n20,22c20,22\r\n< conveyor:\r\n< string: v4l2:conveyor:device=\/dev\/video_conveyor\r\n< frame: !frame base_link\r\n---\r\n> # conveyor:\r\n> # string: v4l2:conveyor:device=\/dev\/video_conveyor\r\n> # frame: !frame base_link\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/gazsim.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/gazsim.yaml\r\n137,138c137,138\r\n< team-cyan-name: "BabyTigers"\r\n< team-magenta-name: "Carologistics"\r\n---\r\n> team-cyan-name: "Carologistics"\r\n> team-magenta-name: "Carologistics-2"\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/joystick.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/joystick.yaml\r\n68,70c68\r\n< # deadman_button_mask: 4294965631\r\n< deadman_button_mask: 4294967295\r\n< \r\n---\r\n> deadman_button_mask: 4294965631\r\n134,135c132\r\n< # laser_interface_id: Laser urg-filtered\r\n< laser_interface_id: Laser sweep-filtered\r\n---\r\n> laser_interface_id: Laser urg-filtered\r\nOnly in btr2017\/fawkes-robotino\/cfg\/conf.d: joystick.yaml-ichikawa\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/laser-cluster.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/laser-cluster.yaml\r\n15,16c15\r\n< # input_cloud: urg-filtered\r\n< input_cloud: sweep-filtered\r\n---\r\n> input_cloud: urg-filtered\r\n84,85c83\r\n< # input_cloud: urg-filtered\r\n< input_cloud: sweep-filtered\r\n---\r\n> input_cloud: urg-filtered\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/laser-filter.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/laser-filter.yaml\r\n11,13c11,12\r\n< # in\/urg: Laser360Interface::Laser urg\r\n< # in\/sick-tim55x: Laser360Interface::Laser tim55x 360\r\n< in\/sweep: Laser360Interface::Laser sweep\r\n---\r\n> #in\/urg: Laser360Interface::Laser urg\r\n> in\/sick-tim55x: Laser360Interface::Laser tim55x 360\r\n16,17c15\r\n< # out\/filtered: Laser360Interface::Laser urg-filtered\r\n< out\/filtered: Laser360Interface::Laser sweep-filtered\r\n---\r\n> out\/filtered: Laser360Interface::Laser urg-filtered\r\n36c34\r\n< active: false\r\n---\r\n> active: true\r\n39,41c37,38\r\n< # in\/urg: Laser360Interface::Laser urg\r\n< in\/sweep: Laser360Interface::Laser sweep\r\n< # in\/sick-tim55x: Laser1080Interface::Laser tim55x\r\n---\r\n> #in\/urg: Laser360Interface::Laser urg\r\n> in\/sick-tim55x: Laser1080Interface::Laser tim55x\r\n65,66c62\r\n< # in\/filtered: Laser360Interface::Laser urg-filtered\r\n< in\/filtered: Laser360Interface::Laser sweep-filtered\r\n---\r\n> in\/filtered: Laser360Interface::Laser urg-filtered\r\n93c89\r\n< active: false\r\n---\r\n> active: true\r\n96,97c92,93\r\n< in\/urg: Laser360Interface::Laser urg\r\n< # in\/sick-tim55x: Laser1080Interface::Laser tim55x\r\n---\r\n> #in\/urg: Laser360Interface::Laser urg\r\n> in\/sick-tim55x: Laser1080Interface::Laser tim55x\r\n109a106\r\n> in\/urg: Laser360Interface::Laser urg-filtered\r\n111,112d107\r\n< # in\/urg: Laser360Interface::Laser urg-filtered\r\n< in\/sweep: Laser360Interface::Laser sweep-filtered\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/laser-lines.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/laser-lines.yaml\r\n40c40\r\n< # input_cloud: filtered-1080\r\n---\r\n> input_cloud: filtered-1080\r\n42,43d41\r\n< # input_cloud: urg-filtered\r\n< input_cloud: sweep-filtered\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/laser.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/laser.yaml\r\n9a10\r\n> # Enable this configuration?\r\n11a13\r\n> # Configuration is for Hokuyo URG laser range finder using URG library\r\n14,23d15\r\n< device: \/dev\/ttyACM0\r\n< frame: !frame base_laser \r\n< \r\n< sweep:\r\n< # Enable this configuration?\r\n< active: true\r\n< \r\n< # Configuration is for Sweep using URG library\r\n< type: sweep\r\n< \r\n25,27c17\r\n< device: \/dev\/ttyUSB1\r\n< # serial: 115200\r\n< serial: DM00LK5N\r\n---\r\n> device: \/dev\/ttyACM0\r\n33c23\r\n< active: false\r\n---\r\n> active: true\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/meta_plugins.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/meta_plugins.yaml\r\n9d8\r\n< m-btr-joystick: webview,joystick,dynamixel,btr_gripper # , btr-gripper\r\n12,14c11,12\r\n< m-fv-vision: m-bare,m-fv,machine-signal,tag_vision,conveyor_vision,fvretriever #,machine-signal\r\n< get_pic: webview,ros,m-fv,tag_vision\r\n< m-clips: clips,clips-motor-switch,clips-protobuf,clips-webview,clips-navgraph,clips-tf,potential_field\r\n---\r\n> m-fv-vision: m-bare,m-fv,machine-signal,tag_vision,fvretriever\r\n> m-clips: clips,clips-motor-switch,clips-protobuf,clips-webview,clips-navgraph,clips-tf\r\n16c14\r\n< m-skiller: ros,m-fv-vision,navgraph,navgraph-generator,navgraph-generator-mps,skiller\r\n---\r\n> m-skiller: ros,m-fv-vision,ros-pcl,navgraph,navgraph-generator,navgraph-generator-mps,mps-laser-gen,skiller\r\n18,23c16\r\n< m-btr: ros,m-bare,m-fv,navgraph,navgraph-generator,navgraph-generator-mps,skiller,m-clips,clips-agent,joystick,dynamixel,ax12_gripper\r\n< m-wataru: ros,m-bare,m-fv,navgraph,navgraph-generator,navgraph-generator-mps,skiller,m-clips,clips-agent,joystick,dynamixel,btr_gripper,static-transforms,tag_vision,conveyor_vision,machine-signal,fvretriever\r\n< # m-kei: joystick,dynamixel,btr_gripper,webview\r\n< m-kei: webview,m-fv,btr_gripper_vision\r\n< m-pi: webview,m-fv,btr_vision,btr_gripper_vision\r\n< # ,tag_vision\r\n---\r\n> \r\n26,32c19,22\r\n< \r\n< utsumi-meta-potential: gazebo,static-transforms,gazsim-robotino,gazsim-laser,laser-filter,laser-pointclouds,laser-cluster,gazsim-timesource,gazsim-gripper,gazsim-conveyor,webview,ros,amcl\r\n< \r\n< \r\n< gazsim-meta-robotino: gazebo,static-transforms,gazsim-robotino,gazsim-laser,laser-filter,laser-pointclouds,laser-cluster,gazsim-timesource,gazsim-gripper,gazsim-conveyor,webview\r\n< gazsim-meta-robotino-ros: gazsim-meta-robotino,ros,ros-clock,robotino-ros-joints,ros-odometry,ros-tf,ros-laserscan,ros-move-base,amcl,navgraph,navgraph-generator,navgraph-generator-mps,map-lasergen,laser-lines,colli,gazsim-vis-localization,skiller,potential_field\r\n< gazsim-meta-robotino-no-ros: gazsim-meta-robotino,amcl,navgraph,navgraph-generator,navgraph-generator-mps,map-lasergen,laser-lines,colli,gazsim-vis-localization,skiller,potential_field\r\n---\r\n> #\r\n> gazsim-meta-robotino: gazebo,static-transforms,gazsim-robotino,gazsim-laser,laser-filter,laser-pointclouds,laser-cluster,gazsim-timesource,gazsim-gripper,gazsim-conveyor,laser_front_dist,webview\r\n> gazsim-meta-robotino-ros: gazsim-meta-robotino,ros,ros-clock,robotino-ros-joints,ros-odometry,ros-tf,ros-laserscan,ros-move-base,amcl,navgraph,navgraph-generator,navgraph-generator-mps,map-lasergen,laser-lines,colli,gazsim-vis-localization,skiller\r\n> gazsim-meta-robotino-no-ros: gazsim-meta-robotino,amcl,navgraph,navgraph-generator,navgraph-generator-mps,map-lasergen,laser-lines,colli,gazsim-vis-localization,skiller\r\n38c28\r\n< gazsim-iitsuka: static-transforms,plugin-templete,ros,gazsim-laser,laser-filter,laser-pointclouds,laser-cluster,gazsim-robotino,amcl,navgraph,navgraph-generator \r\n---\r\n> \r\n42c32\r\n< m-base-bare: imu,robotino,webview,static-transforms\r\n---\r\n> m-base-bare: imu,robotino,webview,static-transforms,motor-led\r\n45c35\r\n< m-base-gripper: dynamixel,ax12_gripper\r\n---\r\n> m-base-gripper: arduino,dynamixel,ax12_gripper\r\n48,56c38\r\n< m-base-laser-btr: laser,laser-filter,map-lasergen,m-base-ros,laser-pointclouds,laser-lines,map-lasergen\r\n< \r\n< m-base-full: m-base-bare,m-base-laser,m-base-gripper,m-base-ros,colli,amcl,potential_field\r\n< # m-base-btr: gazsim-meta-robotino-ros,webview,m-base-ros,colli,amcl\r\n< m-base-btr: m-base-bare,m-base-ros,m-base-laser-btr,colli,amcl,m-base-laser-btr,potential_field #,m-base-joy\r\n< # m-base-btr: m-base-bare,m-base-ros,m-base-laser-btr,colli,amcl,m-base-bare,m-base-laser-btr\r\n< \r\n< m-base-kizuna: m-base-bare,m-base-laser,m-base-ros,colli,amcl #,m-base-joy\r\n< m-check: m-base-bare\r\n---\r\n> m-base-full: m-base-bare,m-base-laser,m-base-gripper,m-base-ros,colli,amcl,m-base-joy,laser_front_dist\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/navgraph-generator.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/navgraph-generator.yaml\r\n58,68d57\r\n< # Save a generated navgraph automatically to disk.\r\n< \r\n< # This can be enabled, e.g., for later debugging or during automated\r\n< # experiments.\r\n< save-to-file:\r\n< enable: true\r\n< # Filename, if starting with a slash (\/), absolute path is assumed,\r\n< # otherwise, it is assumed to be relative to the config directory.\r\n< # Path may not contain two consecutive dots (..).\r\n< filename: navgraph-generated.yaml\r\n< \r\n80,83c69\r\n< # base-graph: navgraph-basis.yaml\r\n< base-graph: navgraph-2017.yaml\r\n< # base-graph: navgraph-basis-1-432.yaml\r\n< \r\n---\r\n> base-graph: navgraph-basis.yaml\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/navgraph.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/navgraph.yaml\r\n19,20d18\r\n< # graph_file: navgraph-btr.yaml\r\n< # graph_file: navgraph-basis-1-432.yaml\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/openprs-agent.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/openprs-agent.yaml\r\n23,24c23\r\n< # agent: llsf2014\r\n< agent: rcll2017\r\n---\r\n> agent: llsf2014\r\n27,28c26\r\n< # llsf2014:\r\n< rcll2017:\r\n---\r\n> llsf2014:\r\n44c42\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\n49c47\r\n< peer-address: 172.26.255.255\r\n---\r\n> peer-address: 137.226.233.255\r\n56,57c54\r\n< # peer-private-key: randomkey\r\n< peer-private-key: oQIFRx7m\r\n---\r\n> peer-private-key: randomkey\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/robotino.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/robotino.yaml\r\n14,15c14\r\n< # driver: direct\r\n< driver: openrobotino\r\n---\r\n> driver: direct\r\n36c35\r\n< quit_on_disconnect: false\r\n---\r\n> quit_on_disconnect: true\r\n80,81c79\r\n< # acceleration-limits: [-11500, 11500]\r\n< acceleration-limits: [-2875, 2875]\r\n---\r\n> acceleration-limits: [-11500, 11500]\r\n83,84c81\r\n< # rpm-max: 3000\r\n< rpm-max: 200\r\n---\r\n> rpm-max: 3000\r\n95c92\r\n< gear: 16.0\r\n---\r\n> gear: 32.0\r\n133c130\r\n< # mode: copy\r\n---\r\n> #mode: copy\r\n159c156\r\n< enable_gripper: false\r\n---\r\n> enable_gripper: true\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/conf.d\/ros.yaml btr2018\/fawkes-robotino\/cfg\/conf.d\/ros.yaml\r\n36,38d35\r\n< \r\n< navgraph-breakout:\r\n< action-topic: place_goto\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/config.yaml btr2018\/fawkes-robotino\/cfg\/config.yaml\r\n24d23\r\n< # max_thread_time: 0\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_1.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_1.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_2.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_2.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_3.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_3.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_4.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_4.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_5.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_5.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_6.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/clips-sim-comp\/host_robotino_6.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_1.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_1.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n38c38\r\n< row: MID\r\n---\r\n> row: HIGH\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\n70c70\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_2.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_2.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\n70c70\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_3.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_3.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\n70c70\r\n< team-name: BabyTigers\r\n---\r\n> team-name: Carologistics\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_4.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_4.yaml\r\n34c34\r\n< rcll2017777777:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\n70c70\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_5.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_5.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\n70c70\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_6.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/default\/host_robotino_6.yaml\r\n34c34\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n46c46\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\n70c70\r\n< team-name: BabyTigers-2\r\n---\r\n> team-name: Carologistics-2\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/gazsim-configurations\/gazsim-config-override.yaml btr2018\/fawkes-robotino\/cfg\/gazsim-configurations\/gazsim-config-override.yaml\r\n37c37\r\n< rcll2017:\r\n---\r\n> rcll2016:\r\n82,87c82,87\r\n< map_file: maps\/llsf-2017-map.png\r\n< origin_x: -8.0\r\n< origin_y: 0.0\r\n< map-lasergen\/map_file: maps\/llsf-2017-wall.png\r\n< map-lasergen\/origin_x: -8.0\r\n< map-lasergen\/origin_y: 0.0\r\n---\r\n> map_file: maps\/rc-2016.png\r\n> origin_x: -7.0\r\n> origin_y: -1.1\r\n> map-lasergen\/map_file: maps\/rc-2016-wall.png\r\n> map-lasergen\/origin_x: -7.0\r\n> map-lasergen\/origin_y: -1.1\r\nOnly in btr2017\/fawkes-robotino\/cfg\/gazsim-configurations: gazsim-config-override.yaml.iitsuka\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: 1-4floor-map.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: 1-4floor-wall.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: 1-4.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: llsf-2017-map.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: llsf-2017-wall.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: llsf-2017-wall.simple.png\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/maps\/llsf-map.yaml btr2018\/fawkes-robotino\/cfg\/maps\/llsf-map.yaml\r\n1,10c1\r\n< #image: llsf-map-2015.png\r\n< #resolution: 0.05\r\n< #origin: [-7.0, -1.0, 0.0]\r\n< #occupied_thresh: 0.65\r\n< #free_thresh: 0.196\r\n< #negate: 0\r\n< \r\n< # image: map1-432.png\r\n< image: llsf-2017-map.png \r\n< # resolution: 0.0484\r\n---\r\n> image: llsf-map-2015.png\r\n12,13c3\r\n< # origin: [-0.96, -1.89, 0.0]\r\n< origin: [-7.0, 0.0, 0.0]\r\n---\r\n> origin: [-7.0, -1.0, 0.0]\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: map1-432.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: map-4-floor.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: map-4-floor-wall.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: rcll-2017-map.png\r\nOnly in btr2017\/fawkes-robotino\/cfg\/maps: rcll-2017-wall.png\r\nOnly in btr2017\/fawkes-robotino\/cfg: navgraph-2017.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg: navgraph-basis-1-432.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg: navgraph-basis-4-floor2.yaml\r\nOnly in btr2017\/fawkes-robotino\/cfg: navgraph-basis-4-floor.yaml\r\ndiff -r btr2017\/fawkes-robotino\/cfg\/navgraph-basis.yaml btr2018\/fawkes-robotino\/cfg\/navgraph-basis.yaml\r\n56c56\r\n< pos: [4.3, 0.55]\r\n---\r\n> pos: [3.3, -0.55]\r\n61c61\r\n< pos: [4.3, 0.75]\r\n---\r\n> pos: [3.3, 0.75]\r\n67c67\r\n< pos: [-4.3, 0.55]\r\n---\r\n> pos: [-3.3, -0.55]\r\n72c72\r\n< pos: [-4.3, 0.75]\r\n---\r\n> pos: [-3.3, 0.75]\r\ndiff -r btr2017\/fawkes-robotino\/etc\/buildsys\/config.mk btr2018\/fawkes-robotino\/etc\/buildsys\/config.mk\r\n50,57c50\r\n< CFLAGS_EXTRA += -m64 -mtune=generic -g -Wall -Werror -O3\r\n< \r\n< # for Raspberry Pi\r\n< ifeq ($(shell hostname),pi-01)\r\n< CFLAGS_EXTRA = -Wno-strict-aliasing\r\n< LDFLAGS_EXTRA = \r\n< endif\r\n< \r\n---\r\n> CFLAGS_EXTRA += -g -Wall -Werror -O3\r\ndiff -r btr2017\/fawkes-robotino\/etc\/scripts\/gazsim.bash btr2018\/fawkes-robotino\/etc\/scripts\/gazsim.bash\r\n38,46d37\r\n< --team-cyan Set cyan team name\r\n< --team-magenta\t\t Set magenta team name\r\n< --start-game Automatically run game after initialization\r\n< (if used with -t go into PRODUCTION phase,\r\n< otherwise the phase will be EXPLORATION,\r\n< optionally, "--start-game=PHASE" may be given\r\n< to set the phase explicitly)\r\n< Typically requires at least --team-cyan.\r\n< --rviz Start Rviz\r\n75,78d65\r\n< START_GAME=\r\n< TEAM_CYAN=\r\n< TEAM_MAGENTA=\r\n< RVIZ=false\r\n80c67\r\n< OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:,start-game::,team-cyan:,team-magenta:,rviz" -- "$@")\r\n---\r\n> OPTS=$(getopt -o "hx:c:lrksn:e:dm:aof:p:gvt" -l "ros,ros-launch-main:,ros-launch:" -- "$@")\r\n170,186d156\r\n< \t --team-cyan)\r\n< \t TEAM_CYAN="$OPTARG"\r\n< \t ;;\r\n< \t --team-magenta)\r\n< \t TEAM_MAGENTA="$OPTARG"\r\n< \t ;;\r\n< \t --start-game)\r\n< \t\t\t if [ -n "$OPTARG" ]; then\r\n< \t\t\t\t\t START_GAME="$OPTARG"\r\n< \t\t\t else\r\n< \t\t\t\t\t if [ -n "$SKIP_EXPLORATION" ]; then\r\n< \t\t\t\t\t\t\t START_GAME="PRODUCTION"\r\n< \t\t\t\t\t else\r\n< \t\t\t\t\t\t\t START_GAME="EXPLORATION"\r\n< \t\t\t\t\t fi\r\n< \t\t\t fi\r\n< \t ;;\r\n196,198d165\r\n< --rviz)\r\n< RVIZ=true\r\n< ;;\r\n236d202\r\n< killall rviz\r\n254c220\r\n< rm \/dev\/shm\/*fawkes* 2>&1 >\/dev\/null\r\n---\r\n> rm \/dev\/shm\/*fawkes*\r\n310,315d275\r\n< if $RVIZ\r\n< then\r\n< # OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"$startup_script_location -x rviz $KEEP\\"'"\r\n< OPEN_COMMAND="$OPEN_COMMAND --tab -e 'bash -c \\"export TAB_START_TIME=$(date +%s); $script_path\/wait-at-first-start.bash 7; $startup_script_location -x rviz $KEEP\\"'"\r\n< fi \r\n< \r\n317c277\r\n< echo $OPEN_COMMAND\r\n---\r\n> #echo $OPEN_COMMAND\r\n323c283\r\n< \tsleep 5s\r\n---\r\n> \tsleep 15s\r\n331,338d290\r\n< \t\tif [ -n "$START_GAME" ]; then\r\n< \t\t\t\tif [ ! -x $LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct ]; then\r\n< \t\t\t\t\t\techo "rcll-refbox-instruct not found, not built or old version?"\r\n< \t\t\t\telse\r\n< \t\t\t\t\t\techo "Starting game (Phase: $START_GAME ${TEAM_CYAN:+Cyan: ${TEAM_CYAN}}${TEAM_MAGENTA:+ Magenta: ${TEAM_MAGENTA}})"\r\n< \t\t\t\t\t\t$LLSF_REFBOX_DIR\/bin\/rcll-refbox-instruct -p $START_GAME -s RUNNING ${TEAM_CYAN:+-c ${TEAM_CYAN}}${TEAM_MAGENTA:+-m ${TEAM_MAGENTA}}\r\n< \t\t\t\tfi\r\n< \t\tfi\r\ndiff -r btr2017\/fawkes-robotino\/etc\/scripts\/gazsim-publish-initial-pose.bash btr2018\/fawkes-robotino\/etc\/scripts\/gazsim-publish-initial-pose.bash\r\n76c76\r\n< \t\t $set_pose -r localhost:1921 -t 2.0 -- 4.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t\t $set_pose -r localhost:1921 -t 2.0 -- 3.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n79c79\r\n< \t\t $set_pose -r localhost:1922 -t 2.0 -- 5.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1922 -t 2.0 -- 4.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n82c82\r\n< \t\t $set_pose -r localhost:1923 -t 2.0 -- 6.5 0.5 -1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1923 -t 2.0 -- 5.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n85c85\r\n< \t\t $set_pose -r localhost:1924 -t 2.0 -- -4.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1924 -t 2.0 -- -3.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n88c88\r\n< \t\t $set_pose -r localhost:1925 -t 2.0 -- -5.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1925 -t 2.0 -- -4.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\n91c91\r\n< \t\t $set_pose -r localhost:1926 -t 2.0 -- -6.5 0.5 1.57 0.0 0.0 0.7 0.7\r\n---\r\n> \t\t $set_pose -r localhost:1926 -t 2.0 -- -5.5 -0.5 0.0 0.0 0.0 0.7 0.7\r\ndiff -r btr2017\/fawkes-robotino\/etc\/scripts\/gazsim-startup.bash btr2018\/fawkes-robotino\/etc\/scripts\/gazsim-startup.bash\r\n36,37d35\r\n< ROS:\r\n< --rviz start RVIZ\r\n159c157\r\n< \t( gzserver $REPLAY $GAZEBO_WORLD_PATH & ); sleep 10s; gzclient\r\n---\r\n> \tgazebo $REPLAY $GAZEBO_WORLD_PATH\r\n209,212d206\r\n< rviz )\r\n< export ROS_MASTER_URI="http:\/\/localhost:11321"\r\n< rviz \r\n< ;; \r\nOnly in btr2017\/fawkes-robotino\/etc\/scripts: rviz.bash\r\nOnly in btr2017\/fawkes-robotino\/etc\/scripts: startBTR.sh\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/cfg\/conf.d\/navgraph-generator.yaml btr2018\/fawkes-robotino\/fawkes\/cfg\/conf.d\/navgraph-generator.yaml\r\n4c4\r\n< doc-url: !url http:\/\/trac.fawkesrobotics.org\/wiki\/Plugins\/navgraph-generator\r\n---\r\n> doc-url: !url http:\/\/trac.fawkesrobotics.org\/wiki\/Plugins\/laser-cluster\r\n52,62d51\r\n< \r\n< # Save a generated navgraph automatically to disk.\r\n< \r\n< # This can be enabled, e.g., for later debugging or during automated\r\n< # experiments.\r\n< save-to-file:\r\n< enable: false\r\n< # Filename, if starting with a slash (\/), absolute path is assumed,\r\n< # otherwise, it is assumed to be relative to the config directory.\r\n< # Path may not contain two consecutive dots (..).\r\n< filename: navgraph-generated.yaml\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/cfg\/conf.d\/navgraph.yaml btr2018\/fawkes-robotino\/fawkes\/cfg\/conf.d\/navgraph.yaml\r\n51,57d50\r\n< # Allow that there are multiple graph segments without interconnect.\r\n< # This can also be useful, for example, if there are explicitly unconnected\r\n< # nodes in the graph, for example to store semantic information but which\r\n< # need not be traveled to.\r\n< # This flag is used during loading the graph_file initially, only.\r\n< allow_multi_graph: false\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/etc\/buildsys\/ext\/__gmsl btr2018\/fawkes-robotino\/fawkes\/etc\/buildsys\/ext\/__gmsl\r\n8c8\r\n< # Copyright (c) 2005-2014 John Graham-Cumming\r\n---\r\n> # Copyright (c) 2005-2007 John Graham-Cumming\r\n45,47c45\r\n< gmsl_version := 1 1 7\r\n< \r\n< __gmsl_name := GNU Make Standard Library\r\n---\r\n> gmsl_version := 1 0 9\r\n52a51,54\r\n> __gmsl_name := GNU Make Standard Library\r\n> __gmsl_warning = $(warning $(__gmsl_name): $1)\r\n> __gmsl_error = $(error $(__gmsl_name): $1)\r\n> \r\n55,56d56\r\n< else\r\n< __gmsl_warning = $(if $1,$(warning $(__gmsl_name): $1))\r\n58d57\r\n< \r\n61,62d59\r\n< else\r\n< __gmsl_error = $(if $1,$(error $(__gmsl_name): $1))\r\n78,85d74\r\n< # See if spaces are valid in variable names (this was the case until\r\n< # GNU Make 3.82)\r\n< ifeq ($(MAKE_VERSION),3.82)\r\n< __gmsl_spaced_vars := $(false)\r\n< else\r\n< __gmsl_spaced_vars := $(true)\r\n< endif\r\n< \r\n93,105d81\r\n< # If this is being run with Electric Cloud's emake then warn that\r\n< # their $(eval) support is incomplete in 1.x, 2.x, 3.x, 4.x and 5.0,\r\n< # 5.1, 5.2 and 5.3\r\n< \r\n< ifdef ECLOUD_BUILD_ID\r\n< __gmsl_emake_major := $(word 1,$(subst ., ,$(EMAKE_VERSION)))\r\n< __gmsl_emake_minor := $(word 2,$(subst ., ,$(EMAKE_VERSION)))\r\n< ifneq ("$(findstring $(__gmsl_emake_major),1 2 3 4)$(findstring $(__gmsl_emake_major)$(__gmsl_emake_minor),50 51 52 53)","")\r\n< $(warning You are using a version of Electric Cloud's emake which has incomplete $$(eval) support)\r\n< __gmsl_have_eval := $(false)\r\n< endif\r\n< endif\r\n< \r\n118c94\r\n< $(call __gmsl_warning,Your make version $(MAKE_VERSION) does not support $$$$(eval): some functions disabled)\r\n---\r\n> $(call __gmsl_warning,GNU Make $(MAKE_VERSION) does not support $$(eval): some functions disabled)\r\n121,124d96\r\n< __gmsl_dollar := $$\r\n< __gmsl_hash := \\#\r\n< \r\n< # ----------------------------------------------------------------------------\r\n131c103\r\n< gmsl_compatible = $(strip \\\r\n---\r\n> gmsl_compatible = \\\r\n140c112\r\n< $(call lte,$(word 3,$1),$(word 3,$(gmsl_version))))))))\r\n---\r\n> $(call lte,$(word 3,$1),$(word 3,$(gmsl_version)))))))\r\n245,246c217,218\r\n< pairmap = $(strip $(__gmsl_tr3)\\\r\n< $(if $2$3,$(call $1,$(call first,$2),$(call first,$3)) \\\r\n---\r\n> pairmap = $(__gmsl_tr3)\\\r\n> $(strip $(if $2$3,$(call $1,$(call first,$2),$(call first,$3)) \\\r\n279,280c251\r\n< reverse =$(__gmsl_tr1)$(strip $(if $1,$(call reverse,$(call rest,$1)) \\\r\n< $(call first,$1)))\r\n---\r\n> reverse =$(__gmsl_tr1)$(if $1,$(call reverse,$(call rest,$1)) $(call first,$1))\r\n287,288c258\r\n< uniq = $(strip $(__gmsl_tr1) $(if $1,$(firstword $1) \\\r\n< $(call uniq,$(filter-out $(firstword $1),$1))))\r\n---\r\n> uniq = $(__gmsl_tr1)$(if $1,$(call uniq,$(call chop,$1)) $(if $(filter $(call last,$1),$(call chop,$1)),,$(call last,$1)))\r\n312c282\r\n< seq = $(__gmsl_tr2)$(if $(subst x$1,,x$2)$(subst x$2,,x$1),$(false),$(true))\r\n---\r\n> seq = $(__gmsl_tr2)$(if $(filter-out xx,x$(subst $1,,$2)$(subst $2,,$1)x),$(false),$(true))\r\n350,351c320\r\n< tr = $(strip $(__gmsl_tr3)$(call assert_no_dollar,$0,$1$2$3) \\\r\n< $(eval __gmsl_t := $3) \\\r\n---\r\n> tr = $(__gmsl_tr3)$(strip $(eval __gmsl_t := $3) \\\r\n372c341\r\n< uc = $(__gmsl_tr1)$(call assert_no_dollar,$0,$1)$(call tr,$([a-z]),$([A-Z]),$1)\r\n---\r\n> uc = $(__gmsl_tr1)$(call tr,$([a-z]),$([A-Z]),$1)\r\n379c348\r\n< lc = $(__gmsl_tr1)$(call assert_no_dollar,$0,$1)$(call tr,$([A-Z]),$([a-z]),$1)\r\n---\r\n> lc = $(__gmsl_tr1)$(call tr,$([A-Z]),$([a-z]),$1)\r\n386,390d354\r\n< \r\n< # This results in __gmsl_tab containing a tab\r\n< \r\n< __gmsl_tab :=\t#\r\n< \r\n392c356\r\n< __gmsl_characters += a b c d e f g h i j k l m n o p q r s t u v w x y z\r\n---\r\n> __gmsl_characters += a b c d e f g h i j k l m n o p q r s t u v w y z\r\n396a361,367\r\n> # Aside: if you read the above you might think that the lower-case\r\n> # letter x is missing, and that that's an error. It is missing, but\r\n> # it's not an error. __gmsl_characters is used by the strlen\r\n> # function. strlen works by transforming every character and space\r\n> # into the letter x and then counting the x's. Since there's no need\r\n> # to transform x into x I omitted it.\r\n> \r\n402c373\r\n< strlen = $(__gmsl_tr1)$(call assert_no_dollar,$0,$1)$(strip $(eval __temp := $(subst $(__gmsl_space),x,$1))$(foreach a,$(__gmsl_characters),$(eval __temp := $$(subst $$a,x,$(__temp))))$(eval __temp := $(subst x,x ,$(__temp)))$(words $(__temp)))\r\n---\r\n> strlen = $(strip $(eval __temp := $(subst $(__gmsl_space),x,$1))$(foreach a,$(__gmsl_characters),$(eval __temp := $$(subst $$a,x,$(__temp))))$(eval __temp := $(subst x,x ,$(__temp)))$(words $(__temp)))\r\n410a382,385\r\n> # This results in __gmsl_tab containing a tab\r\n> \r\n> __gmsl_tab :=\t#\r\n> \r\n414,415c389,390\r\n< # 2: Start position (first character is 1)\r\n< # 3: End position (inclusive)\r\n---\r\n> # \t 2: Start position (first character is 1)\r\n> #\t 3: End position (inclusive)\r\n420c395\r\n< substr = $(if $2,$(__gmsl_tr3)$(call assert_no_dollar,$0,$1$2$3)$(strip $(eval __temp := $$(subst $$(__gmsl_space),\\A7 ,$$1))$(foreach a,$(__gmsl_characters),$(eval __temp := $$(subst $$a,$$a$$(__gmsl_space),$(__temp))))$(eval __temp := $(wordlist $2,$3,$(__temp))))$(subst \\A7,$(__gmsl_space),$(subst $(__gmsl_space),,$(__temp))))\r\n---\r\n> substr = $(strip $(eval __temp := $$(subst $$(__gmsl_space),\\A7 ,$$1))$(foreach a,$(__gmsl_characters),$(eval __temp := $$(subst $$a,$$a$$(__gmsl_space),$(__temp))))$(eval __temp := $(wordlist $2,$3,$(__temp))))$(subst \\A7,$(__gmsl_space),$(subst $(__gmsl_space),,$(__temp)))\r\n459c434\r\n< # Function: set_is_member, set_is_not_member\r\n---\r\n> # Function: set_is_member\r\n462,463c437\r\n< # Returns: (set_is_member) Returns $(true) if the element is in the set\r\n< # (set_is_not_member) Returns $(false) if the element is in the set\r\n---\r\n> # Returns: Returns $(true) if the element is in the set\r\n465,466c439\r\n< set_is_member = $(__gmsl_tr2)$(if $(filter $1,$2),$(true),$(false))\r\n< set_is_not_member = $(__gmsl_tr2)$(if $(filter $1,$2),$(false),$(true))\r\n---\r\n> set_is_member = $(if $(filter $1,$2),$(true),$(false))\r\n474c447\r\n< set_union = $(__gmsl_tr2)$(sort $1 $2)\r\n---\r\n> set_union = $(sort $1 $2)\r\n482c455\r\n< set_intersection = $(__gmsl_tr2)$(filter $1,$2)\r\n---\r\n> set_intersection = $(filter $1,$2)\r\n490c463\r\n< set_is_subset = $(__gmsl_tr2)$(call set_equal,$(call set_intersection,$1,$2),$1)\r\n---\r\n> set_is_subset = $(call set_equal,$(call set_intersection,$1,$2),$1)\r\n498c471\r\n< set_equal = $(__gmsl_tr2)$(call seq,$1,$2)\r\n---\r\n> set_equal = $(call seq,$1,$2)\r\n505c478,486\r\n< # For example the number 4 is x x x x. \r\n---\r\n> # For example the number 4 is x x x x. The maximum integer that the\r\n> # library can handle as _input_ is __gmsl_input_int which is defined\r\n> # here as 65536\r\n> \r\n> __gmsl_sixteen := x x x x x x x x x x x x x x x x\r\n> __gmsl_input_int := $(foreach a,$(__gmsl_sixteen), \\\r\n> $(foreach b,$(__gmsl_sixteen), \\\r\n> $(foreach c,$(__gmsl_sixteen), \\\r\n> $(__gmsl_sixteen)))))\r\n520,522c501\r\n< __int_encode = $(if $1,$(if $(call seq,$(words $(wordlist 1,$1,$2)),$1),$(wordlist 1,$1,$2),$(call __int_encode,$1,$(if $2,$2 $2,x))))\r\n< __strip_leading_zero = $(if $1,$(if $(call seq,$(patsubst 0%,%,$1),$1),$1,$(call __strip_leading_zero,$(patsubst 0%,%,$1))),0)\r\n< int_encode = $(__gmsl_tr1)$(call __int_encode,$(call __strip_leading_zero,$1))\r\n---\r\n> int_encode = $(__gmsl_tr1)$(wordlist 1,$1,$(__gmsl_input_int))\r\n551c530\r\n< int_plus = $(strip $(__gmsl_tr2)$1 $2)\r\n---\r\n> int_plus = $(__gmsl_tr2)$1 $2\r\n568,570c547,549\r\n< int_subtract = $(strip $(__gmsl_tr2)$(if $(call int_gte,$1,$2), \\\r\n< $(filter-out xx,$(join $1,$2)), \\\r\n< $(call __gmsl_warning,Subtraction underflow)))\r\n---\r\n> int_subtract = $(__gmsl_tr2)$(if $(call int_gte,$1,$2), \\\r\n> $(filter-out xx,$(join $1,$2)), \\\r\n> $(call __gmsl_warning,Subtraction underflow))\r\n587c566\r\n< int_multiply = $(strip $(__gmsl_tr2)$(foreach a,$1,$2))\r\n---\r\n> int_multiply = $(__gmsl_tr2)$(foreach a,$1,$2)\r\n604c583\r\n< int_divide = $(__gmsl_tr2)$(strip $(if $1,$(if $2, \\\r\n---\r\n> int_divide = $(__gmsl_tr2)$(if $2, \\\r\n607c586\r\n< $(call __gmsl_error,Division by zero))))\r\n---\r\n> $(call __gmsl_error,Division by zero))\r\n691c670\r\n< int_inc = $(strip $(__gmsl_tr1)$1 x)\r\n---\r\n> int_inc = $(__gmsl_tr1)$1 x\r\n705,707c684,686\r\n< int_dec = $(__gmsl_tr1)$(strip \\\r\n< $(if $(call sne,0,$(words $1)), \\\r\n< $(wordlist 2,$(words $1),$1)))\r\n---\r\n> int_dec = $(__gmsl_tr1)$(strip $(if $(call sne,0,$(words $1)), \\\r\n> $(wordlist 2,$(words $1),$1), \\\r\n> $(call __gmsl_warning,Decrement underflow)))\r\n723c702\r\n< int_double = $(strip $(__gmsl_tr1)$1 $1)\r\n---\r\n> int_double = $(__gmsl_tr1)$1 $1\r\n747,780d725\r\n< # ----------------------------------------------------------------------------\r\n< # Function: sequence\r\n< # Arguments: 1: An integer\r\n< # 2: An integer\r\n< # Returns: The sequence [arg1, arg2] of integers if arg1 < arg2 or\r\n< # [arg2, arg1] if arg2 > arg1. If arg1 == arg1 return [arg1]\r\n< # ----------------------------------------------------------------------------\r\n< sequence = $(__gmsl_tr2)$(strip $(if $(call lte,$1,$2), \\\r\n< $(call __gmsl_sequence_up,$1,$2), \\\r\n< $(call __gmsl_sequence_dn,$2,$1)))\r\n< \r\n< __gmsl_sequence_up = $(if $(call seq,$1,$2),$1,$1 $(call __gmsl_sequence_up,$(call inc,$1),$2))\r\n< __gmsl_sequence_dn = $(if $(call seq,$1,$2),$1,$2 $(call __gmsl_sequence_dn,$1,$(call dec,$2)))\r\n< \r\n< # ----------------------------------------------------------------------------\r\n< # Function: dec2hex, dec2bin, dec2oct\r\n< # Arguments: 1: An integer\r\n< # Returns: The decimal argument converted to hexadecimal, binary or\r\n< # octal\r\n< # ----------------------------------------------------------------------------\r\n< \r\n< __gmsl_digit = $(subst 15,f,$(subst 14,e,$(subst 13,d,$(subst 12,c,$(subst 11,b,$(subst 10,a,$1))))))\r\n< \r\n< dec2hex = $(call __gmsl_dec2base,$(call int_encode,$1),$(call int_encode,16))\r\n< dec2bin = $(call __gmsl_dec2base,$(call int_encode,$1),$(call int_encode,2))\r\n< dec2oct = $(call __gmsl_dec2base,$(call int_encode,$1),$(call int_encode,8))\r\n< \r\n< __gmsl_base_divide = $(subst $2,X ,$1)\r\n< __gmsl_q = $(strip $(filter X,$1))\r\n< __gmsl_r = $(words $(filter x,$1))\r\n< \r\n< __gmsl_dec2base = $(eval __gmsl_temp := $(call __gmsl_base_divide,$1,$2))$(call __gmsl_dec2base_,$(call __gmsl_q,$(__gmsl_temp)),$(call __gmsl_r,$(__gmsl_temp)),$2)\r\n< __gmsl_dec2base_ = $(if $1,$(call __gmsl_dec2base,$(subst X,x,$1),$3))$(call __gmsl_digit,$2)\r\n< \r\n786,789d730\r\n< # Magic string that is very unlikely to appear in a key or value\r\n< \r\n< __gmsl_aa_magic := faf192c8efbc25c27992c5bc5add390393d583c6\r\n< \r\n795c736\r\n< # Returns: Nothing\r\n---\r\n> # Returns: None\r\n797,801c738\r\n< set = $(__gmsl_tr3)$(call assert_no_space,$0,$1$2)$(call assert_no_dollar,$0,$1$2$3)$(eval __gmsl_aa_$1_$(__gmsl_aa_magic)_$2_gmsl_aa_$1 := $3)\r\n< \r\n< # Only used internally by memoize function\r\n< \r\n< __gmsl_set = $(call set,$1,$2,$3)$3\r\n---\r\n> set = $(__gmsl_tr3)$(eval __gmsl_aa_$1_$2 = $3)\r\n809c746,747\r\n< get = $(strip $(__gmsl_tr2)$(call assert_no_space,$0,$1$2)$(call assert_no_dollar,$0,$1$2)$(__gmsl_aa_$1_$(__gmsl_aa_magic)_$2_gmsl_aa_$1))\r\n---\r\n> get = $(__gmsl_tr2)$(if $(filter-out undefined,$(origin __gmsl_aa_$1_$2)), \\\r\n> $(__gmsl_aa_$1_$2))\r\n816,817c754,755\r\n< keys = $(__gmsl_tr1)$(call assert_no_space,$0,$1)$(call assert_no_dollar,$0,$1)$(sort $(patsubst __gmsl_aa_$1_$(__gmsl_aa_magic)_%_gmsl_aa_$1,%, \\\r\n< $(filter __gmsl_aa_$1_$(__gmsl_aa_magic)_%_gmsl_aa_$1,$(.VARIABLES))))\r\n---\r\n> keys = $(__gmsl_tr1)$(sort $(patsubst __gmsl_aa_$1_%,%, \\\r\n> $(filter __gmsl_aa_$1_%,$(.VARIABLES))))\r\n825c763\r\n< defined = $(__gmsl_tr2)$(call assert_no_space,$0,$1$2)$(call assert_no_dollar,$0,$1$2)$(call sne,$(call get,$1,$2),)\r\n---\r\n> defined = $(__gmsl_tr2)$(call sne,$(call get,$1,$2),)\r\n841c779\r\n< push = $(__gmsl_tr2)$(call assert_no_space,$0,$1$2)$(call assert_no_dollar,$0,$1$2)$(eval __gmsl_stack_$1 := $2 $(if $(filter-out undefined,\\\r\n---\r\n> push = $(__gmsl_tr2)$(eval __gmsl_stack_$1 := $2 $(if $(filter-out undefined,\\\r\n849c787\r\n< pop = $(__gmsl_tr1)$(call assert_no_space,$0,$1)$(call assert_no_dollar,$0,$1)$(strip $(if $(filter-out undefined,$(origin __gmsl_stack_$1)), \\\r\n---\r\n> pop = $(__gmsl_tr1)$(if $(filter-out undefined,$(origin __gmsl_stack_$1)), \\\r\n851c789\r\n< $(eval __gmsl_stack_$1 := $(call rest,$(__gmsl_stack_$1)))))\r\n---\r\n> $(eval __gmsl_stack_$1 := $(call rest,$(__gmsl_stack_$1))))\r\n858c796\r\n< peek = $(__gmsl_tr1)$(call assert_no_space,$0,$1)$(call assert_no_dollar,$0,$1)$(call first,$(__gmsl_stack_$1))\r\n---\r\n> peek = $(__gmsl_tr1)$(call first,$(__gmsl_stack_$1))\r\n865,888c803\r\n< depth = $(__gmsl_tr1)$(call assert_no_space,$0,$1)$(call assert_no_dollar,$0,$1)$(words $(__gmsl_stack_$1))\r\n< \r\n< endif # __gmsl_have_eval\r\n< \r\n< ifdef __gmsl_have_eval\r\n< # ###########################################################################\r\n< # STRING CACHE\r\n< # ###########################################################################\r\n< \r\n< # ----------------------------------------------------------------------------\r\n< # Function: memoize\r\n< # Arguments: 1. Name of the function to be called if the string\r\n< # has not been previously seen\r\n< # 2. A string\r\n< # Returns: Returns the result of a memo function (which the user must\r\n< # define) on the passed in string and remembers the result.\r\n< #\r\n< # Example: Set memo = $(shell echo "$1" | md5sum) to make a cache\r\n< # of MD5 hashes of strings. $(call memoize,memo,foo bar baz)\r\n< # ----------------------------------------------------------------------------\r\n< __gmsl_memoize = $(subst $(__gmsl_space),\\A7,$1)cc2af1bb7c4482f2ba75e338b963d3e7$(subst $(__gmsl_space),\\A7,$2)\r\n< memoize = $(__gmsl_tr2)$(strip $(if $(call defined,__gmsl_m,$(__gmsl_memoize)),\\\r\n< $(call get,__gmsl_m,$(__gmsl_memoize)), \\\r\n< $(call __gmsl_set,__gmsl_m,$(__gmsl_memoize),$(call $1,$2))))\r\n---\r\n> depth = $(__gmsl_tr1)$(words $(__gmsl_stack_$1))\r\n912c827\r\n< assert = $(if $2,$(if $1,,$(call __gmsl_error,Assertion failure: $2)))\r\n---\r\n> assert = $(if $1,,$(call __gmsl_error,Assertion failure: $2))\r\n920,940c835\r\n< assert_exists = $(if $0,$(call assert,$(wildcard $1),file '$1' missing))\r\n< \r\n< # ----------------------------------------------------------------------------\r\n< # Function: assert_no_dollar\r\n< # Arguments: 1: Name of a function being executd\r\n< # 2: Arguments to check\r\n< # Returns: None\r\n< # ----------------------------------------------------------------------------\r\n< assert_no_dollar = $(call __gmsl_tr2)$(call assert,$(call not,$(findstring $(__gmsl_dollar),$2)),$1 called with a dollar sign in argument)\r\n< \r\n< # ----------------------------------------------------------------------------\r\n< # Function: assert_no_space\r\n< # Arguments: 1: Name of a function being executd\r\n< # 2: Arguments to check\r\n< # Returns: None\r\n< # ----------------------------------------------------------------------------\r\n< ifeq ($(__gmsl_spaced_vars),$(false))\r\n< assert_no_space = $(call assert,$(call not,$(findstring $(__gmsl_aa_magic),$(subst $(__gmsl_space),$(__gmsl_aa_magic),$2))),$1 called with a space in argument)\r\n< else\r\n< assert_no_space =\r\n< endif\r\n---\r\n> assert_exists = $(call assert,$(wildcard $1),file '$1' missing)\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/logging\/console.cpp btr2018\/fawkes-robotino\/fawkes\/src\/libs\/logging\/console.cpp\r\n56,57d55\r\n< \/\/ make buffer line-buffered\r\n< setvbuf(outf_, NULL, _IOLBF, 0);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/logging\/file.cpp btr2018\/fawkes-robotino\/fawkes\/src\/libs\/logging\/file.cpp\r\n60,61d59\r\n< \/\/ make buffer line-buffered\r\n< setvbuf(log_file, NULL, _IOLBF, 0);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/navgraph\/yaml_navgraph.cpp btr2018\/fawkes-robotino\/fawkes\/src\/libs\/navgraph\/yaml_navgraph.cpp\r\n288d287\r\n< * @param allow_multi_graph if true, allows multiple disconnected graph segments\r\n293c292\r\n< load_yaml_navgraph(std::string filename, bool allow_multi_graph)\r\n---\r\n> load_yaml_navgraph(std::string filename)\r\n355c354\r\n< graph->calc_reachability(allow_multi_graph);\r\n---\r\n> graph->calc_reachability();\r\n418d416\r\n< if (node.unconnected()) out << YAML::LocalTag("unconnected");\r\n447,456d444\r\n< if (edge.has_property("insert-mode")) {\r\n< \t std::string insert_mode = edge.property("insert-mode");\r\n< \t if (insert_mode == "force") {\r\n< \t\t out << YAML::LocalTag("allow-intersection");\r\n< \t } else if (insert_mode == "no-intersection") {\r\n< \t\t out << YAML::LocalTag("no-intersection");\r\n< \t } else if (insert_mode == "split-intersection") {\r\n< \t\t out << YAML::LocalTag("split-intersection");\r\n< \t }\r\n< }\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/navgraph\/yaml_navgraph.h btr2018\/fawkes-robotino\/fawkes\/src\/libs\/navgraph\/yaml_navgraph.h\r\n35c35\r\n< extern NavGraph * load_yaml_navgraph(std::string filename, bool allow_multi_graph = false);\r\n---\r\n> extern NavGraph * load_yaml_navgraph(std::string filename);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/protobuf_comm\/peer.cpp btr2018\/fawkes-robotino\/fawkes\/src\/libs\/protobuf_comm\/peer.cpp\r\n63,64c63\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port))\r\n84,85c83\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port))\r\n100,101c98\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port))\r\n123,124c120\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port))\r\n141d136\r\n< resolve_retry_timer_(io_service_),\r\n158,159c153\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), recv_on_port))\r\n180d173\r\n< resolve_retry_timer_(io_service_),\r\n195,196c188\r\n< socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port)),\r\n< resolve_retry_timer_(io_service_)\r\n---\r\n> socket_(io_service_, ip::udp::endpoint(ip::udp::v4(), port))\r\n215d206\r\n< resolve_retry_timer_(io_service_),\r\n239d229\r\n< resolve_retry_timer_(io_service_),\r\n264,266d253\r\n< send_to_address_ = address;\r\n< send_to_port_ = send_to_port;\r\n< \r\n275,276c262,267\r\n< outbound_ready_ = outbound_active_ = false;\r\n< start_resolve();\r\n---\r\n> outbound_active_ = true;\r\n> ip::udp::resolver::query query(address, boost::lexical_cast<std::string>(send_to_port));\r\n> resolver_.async_resolve(query,\r\n> \t\t\t boost::bind(&ProtobufBroadcastPeer::handle_resolve, this,\r\n> \t\t\t\t boost::asio::placeholders::error,\r\n> \t\t\t\t boost::asio::placeholders::iterator));\r\n288d278\r\n< \tresolve_retry_timer_.cancel();\r\n395c385\r\n< outbound_ready_ = true;\r\n---\r\n> outbound_active_ = false;\r\n398,400c388\r\n< sig_send_error_("Resolving endpoint failed, retrying");\r\n< resolve_retry_timer_.expires_from_now(boost::posix_time::seconds(2));\r\n< resolve_retry_timer_.async_wait(boost::bind(&ProtobufBroadcastPeer::retry_resolve, this, _1));\r\n---\r\n> sig_send_error_("Resolving endpoint failed");\r\n406,421d393\r\n< ProtobufBroadcastPeer::retry_resolve(const boost::system::error_code &ec)\r\n< {\r\n< \tif (! ec) start_resolve();\r\n< }\r\n< \r\n< void\r\n< ProtobufBroadcastPeer::start_resolve()\r\n< {\r\n< ip::udp::resolver::query query(send_to_address_, boost::lexical_cast<std::string>(send_to_port_));\r\n< resolver_.async_resolve(query,\r\n< \t\t\t boost::bind(&ProtobufBroadcastPeer::handle_resolve, this,\r\n< \t\t\t\t boost::asio::placeholders::error,\r\n< \t\t\t\t boost::asio::placeholders::iterator));\r\n< }\r\n< \r\n< void\r\n682c654\r\n< if (outbound_queue_.empty() || outbound_active_ || ! outbound_ready_) return;\r\n---\r\n> if (outbound_queue_.empty() || outbound_active_) return;\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/libs\/protobuf_comm\/peer.h btr2018\/fawkes-robotino\/fawkes\/src\/libs\/protobuf_comm\/peer.h\r\n164,165d163\r\n< void start_resolve();\r\n< void retry_resolve(const boost::system::error_code &ec);\r\n176d173\r\n< boost::asio::deadline_timer resolve_retry_timer_;\r\n186d182\r\n< unsigned int send_to_port_;\r\n191,192c187\r\n< bool outbound_ready_;\r\n< \r\n---\r\n> \r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/libs: sweep\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins: 40laser\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.cpp\r\n88d87\r\n< cfg_return_level_\t\t\t= config->get_uint((cfg_prefix_ + "return_level").c_str());\r\n148,152d146\r\n< unsigned char cfg_return_levels_[] = {DynamixelChain::SRL_RESPOND_NONE, \r\n< \t \t\t\t\tDynamixelChain::SRL_RESPOND_READ,\r\n< \t\t\t\t\tDynamixelChain::SRL_RESPOND_ALL};\r\n< \r\n< \/* \r\n155,157d148\r\n< *\/\r\n< chain_->set_status_return_level(DynamixelChain::BROADCAST_ID, cfg_return_levels_[cfg_return_level_]);\r\n< \r\n446c437\r\n< \/\/ logger->log_info(name(), "Received message of type %s, enqueueing", message->type());\r\n---\r\n> logger->log_info(name(), "Received message of type %s, enqueueing", message->type());\r\n873,874c864,865\r\n< logger->log_warn(name(), "Position out of bounds (id %d), min: %u max: %u des: %i",\r\n< \t\t servo_id, pos_min, pos_max, pos);\r\n---\r\n> logger->log_warn(name(), "Position out of bounds, min: %u max: %u des: %i",\r\n> \t\t pos_min, pos_max, pos);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.h btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/driver_thread.h\r\n132d131\r\n< unsigned char cfg_return_level_;\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/servo_chain.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/dynamixel\/servo_chain.cpp\r\n201,204c201,202\r\n< \/\/ cfsetospeed(¶m, B57600);\r\n< \/\/ cfsetispeed(¶m, B57600);\r\n< cfsetospeed(¶m, B1000000);\r\n< cfsetispeed(¶m, B1000000);\r\n---\r\n> cfsetospeed(¶m, B57600);\r\n> cfsetispeed(¶m, B57600);\r\n1260d1257\r\n< printf("DynamixelChain write_table_value P_RETURN_LEVEL = %d\\n", status_return_level);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/gazebo\/gazsim-comm\/gazsim_comm_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/gazebo\/gazsim-comm\/gazsim_comm_thread.cpp\r\n25,26c25\r\n< #include "gazsim_comm_thread.h"\r\n< \r\n---\r\n> #include <aspect\/blocked_timing.h>\r\n29c28,29\r\n< #include <utils\/time\/wait.h>\r\n---\r\n> #include <stdlib.h>\r\n> #include "gazsim_comm_thread.h"\r\n31d30\r\n< #include <cstdlib>\r\n42c41,42\r\n< : Thread("GazsimCommThread", Thread::OPMODE_CONTINUOUS)\r\n---\r\n> : Thread("GazsimCommThread", Thread::OPMODE_WAITFORWAKEUP),\r\n> BlockedTimingAspect(BlockedTimingAspect::WAKEUP_HOOK_WORLDSTATE)\r\n44d43\r\n< \tset_prepfin_conc_loop(true);\r\n116d114\r\n< peers_[i]->signal_send_error().connect(boost::bind(&GazsimCommThread::peer_send_error, this, addresses_[i], send_ports_[i], _1));\r\n122d119\r\n< peers_crypto1_[i]->signal_send_error().connect(boost::bind(&GazsimCommThread::peer_send_error, this, addresses_[i], send_ports_crypto1_[i], _1));\r\n129d125\r\n< peers_crypto2_[i]->signal_send_error().connect(boost::bind(&GazsimCommThread::peer_send_error, this, addresses_[i], send_ports_crypto2_[i], _1));\r\n132,134d127\r\n< \r\n< wait_ = new TimeWait(clock, 15000000);\r\n< \r\n146d138\r\n< delete wait_;\r\n153,165c145,180\r\n< \twait_->mark_start();\r\n< \tauto i = peer_resolve_errors_.begin();\r\n< \tfawkes::Time now(clock);\r\n< \tnow.stamp_systime();\r\n< \twhile (i != peer_resolve_errors_.end()) {\r\n< \t\tif (now - &i->second >= 5.0) {\r\n< \t\t\tlogger->log_info(name(), "Peer %s:%u has recovered", i->first.first.c_str(), i->first.second);\r\n< \t\t\ti = peer_resolve_errors_.erase(i);\r\n< \t\t} else {\r\n< \t\t\t++i;\r\n< \t\t}\r\n< \t}\r\n< \twait_->wait_systime();\r\n---\r\n> }\r\n> \r\n> \/**\r\n> * Receive and forward msg\r\n> * @param endpoint port msg received from\r\n> * @param component_id message_component_id\r\n> * @param msg_type msg_type\r\n> * @param msg Message\r\n> *\/\r\n> void\r\n> GazsimCommThread::receive_msg(boost::asio::ip::udp::endpoint &endpoint,\r\n> \t\t uint16_t component_id, uint16_t msg_type,\r\n> \t\t std::shared_ptr<google::protobuf::Message> msg)\r\n> {\r\n> \/\/logger->log_info(name(), "Got Peer Message from port %d", endpoint.port());\r\n> unsigned int incoming_peer_port = endpoint.port(); \/\/this is suprisingly the send-port\r\n> \r\n> if(!initialized_)\r\n> {\r\n> return;\r\n> }\r\n> \r\n> \/\/simulate package loss\r\n> double rnd = ((double) rand()) \/ ((double) RAND_MAX); \/\/0.0 <= rnd <= 1.0\r\n> if(rnd < package_loss_)\r\n> {\r\n> return;\r\n> }\r\n> \/\/send message to all other peers\r\n> for(unsigned int i = 0; i < peers_.size(); i++)\r\n> {\r\n> if(send_ports_[i] != incoming_peer_port)\r\n> {\r\n> peers_[i]->send(msg);\r\n> }\r\n> }\r\n177,178c192,193\r\n< protobuf_comm::frame_header_t &header,\r\n< void * data, size_t length)\r\n---\r\n> \t\t\t\t protobuf_comm::frame_header_t &header, void * data,\r\n> \t\t\t\t size_t length)\r\n222,246d236\r\n< }\r\n< \r\n< void\r\n< GazsimCommThread::peer_send_error(std::string address, unsigned int port, std::string err)\r\n< {\r\n< \tif (err.find("Resolving endpoint failed") == 0) {\r\n< \t\tauto key = std::make_pair(address, port);\r\n< \t\tif (peer_resolve_errors_.find(key) == peer_resolve_errors_.end()) {\r\n< \t\t\tlogger->log_warn(name(), "Cannot resolve %s:%u (muting warning for 1 min)",\r\n< \t\t\t address.c_str(), port);\r\n< \t\t\tfawkes::Time now(clock);\r\n< \t\t\tnow.stamp_systime();\r\n< \t\t\tpeer_resolve_errors_[key] = now;\r\n< \t\t} else {\r\n< \t\t\tfawkes::Time now(clock);\r\n< \t\t\tnow.stamp_systime();\r\n< \t\t\tif (now - &peer_resolve_errors_[key] >= 60.0) {\r\n< \t\t\t\tlogger->log_warn(name(), "Still cannot resolve %s:%u (muting warning again for 1 min)",\r\n< \t\t\t\t address.c_str(), port);\r\n< \t\t\t\tpeer_resolve_errors_[key].stamp_systime();\r\n< \t\t\t}\r\n< \t\t}\r\n< \t} else {\r\n< \t\tlogger->log_warn(name(), "Peer send error for %s:%u: %s", address.c_str(), port, err.c_str());\r\n< \t}\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/gazebo\/gazsim-comm\/gazsim_comm_thread.h btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/gazebo\/gazsim-comm\/gazsim_comm_thread.h\r\n31c31\r\n< #include <aspect\/clock.h>\r\n---\r\n> #include <aspect\/blocked_timing.h>\r\n35a36\r\n> #include <list>\r\n37,40d37\r\n< #include <vector>\r\n< #include <string>\r\n< #include <utility>\r\n< #include <map>\r\n45,47d41\r\n< namespace fawkes {\r\n< \tclass TimeWait;\r\n< }\r\n50a45\r\n> public fawkes::BlockedTimingAspect,\r\n52,53c47\r\n< \tpublic fawkes::LoggingAspect,\r\n< \tpublic fawkes::ClockAspect\r\n---\r\n> public fawkes::LoggingAspect\r\n62a57,59\r\n> void receive_msg(boost::asio::ip::udp::endpoint &endpoint,\r\n> \t\t uint16_t component_id, uint16_t msg_type,\r\n> \t\t std::shared_ptr<google::protobuf::Message> msg);\r\n67,68d63\r\n< void peer_send_error(std::string address, unsigned int port, std::string err);\r\n< \r\n90a86\r\n> \/\/helper variables\r\n92,94d87\r\n< \r\n< fawkes::TimeWait *wait_;\r\n< std::map<std::pair<std::string, unsigned int>, fawkes::Time> peer_resolve_errors_;\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/laser.mk btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/laser.mk\r\n60c60\r\n< ifeq ($(HAVE_LIBUSB),1)\r\n---\r\n> ifeq ($(HAVE_LIBUSB),1)\r\n65,70c65,70\r\n< SWEEP_REQ_BOOST_LIBS = thread asio system\r\n< HAVE_SWEEP_BOOST_LIBS = $(call boost-have-libs,$(SWEEP_REQ_BOOST_LIBS))\r\n< ifeq ($(HAVE_SWEEP_BOOST_LIBS),1)\r\n< CFLAGS_SWEEP_BOOST = -DHAVE_SWEEP_BOOST \\\r\n< \t\t\t $(call boost-libs-cflags,$(SWEEP_REQ_BOOST_LIBS))\r\n< LDFLAGS_SWEEP_BOOST = $(call boost-libs-ldflags,$(SWEEP_REQ_BOOST_LIBS)) \\\r\n---\r\n> SICK_TIM55X_REQ_BOOST_LIBS = thread asio system\r\n> HAVE_SICK_TIM55X_BOOST_LIBS = $(call boost-have-libs,$(SICK_TIM55X_REQ_BOOST_LIBS))\r\n> ifeq ($(HAVE_SICK_TIM55X_BOOST_LIBS),1)\r\n> CFLAGS_SICK_TIM55X_BOOST = -DHAVE_SICK55X_BOOST \\\r\n> \t\t\t $(call boost-libs-cflags,$(SICK_TIM55X_REQ_BOOST_LIBS))\r\n> LDFLAGS_SICK_TIM55X_BOOST = $(call boost-libs-ldflags,$(SICK_TIM55X_REQ_BOOST_LIBS)) \\\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/laser_plugin.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/laser_plugin.cpp\r\n24,38d23\r\n< \/*\r\n< #include <sweep\/sweep\/config.h>\r\n< #include <sweep\/sweep\/sweep.h>\r\n< #include <sweep\/serial.hpp>\r\n< #include <sweep\/protocol.hpp>\r\n< #include <sweep\/error.hpp>\r\n< #include <sweep\/queue.hpp>\r\n< *\/\r\n< #include <sweep\/build\/include\/sweep\/config.h>\r\n< #include <sweep\/include\/sweep\/sweep.h>\r\n< #include <sweep\/include\/serial.hpp>\r\n< #include <sweep\/include\/queue.hpp>\r\n< #include <sweep\/include\/protocol.hpp>\r\n< #include <sweep\/include\/error.hpp>\r\n< \r\n51c36,39\r\n< # include "sweep_aqt.h"\r\n---\r\n> # include "sick_tim55x_usb_aqt.h"\r\n> #endif\r\n> #ifdef HAVE_SICK55X_BOOST\r\n> # include "sick_tim55x_ethernet_aqt.h"\r\n122,123c110,117\r\n< \t if ( type == "sweep" ) {\r\n< \t aqt = new SweepAcquisitionThread(cfg_name, cfg_prefix);\r\n---\r\n> \t if ( type == "TiM55x-USB" ) {\r\n> \t aqt = new SickTiM55xUSBAcquisitionThread(cfg_name, cfg_prefix);\r\n> \t } else \r\n> #endif\r\n> \r\n> #ifdef HAVE_SICK55X_BOOST\r\n> \t if ( type == "TiM55x-Ethernet" ) {\r\n> \t aqt = new SickTiM55xEthernetAcquisitionThread(cfg_name, cfg_prefix);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/Makefile btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/laser\/Makefile\r\n21c21\r\n< \t Laser1080Interface sweep\r\n---\r\n> \t Laser1080Interface\r\n53,55c53,55\r\n< # ifneq ($(HAVE_LIBUSB)$(HAVE_SWEEP_BOOST_LIBS),0)\r\n< # OBJS_laser += sweep_common_aqt.o\r\n< # endif\r\n---\r\n> ifneq ($(HAVE_LIBUSB)$(HAVE_SICK_TIM55X_BOOST_LIBS),0)\r\n> OBJS_laser += sick_tim55x_common_aqt.o\r\n> endif\r\n57,58c57,58\r\n< OBJS_laser += sweep_aqt.o\r\n< CFLAGS += $(CFLAGS_LIBUSB) -std=c++11\r\n---\r\n> OBJS_laser += sick_tim55x_usb_aqt.o\r\n> CFLAGS += $(CFLAGS_LIBUSB)\r\n62a63,69\r\n> ifeq ($(HAVE_SICK_TIM55X_BOOST_LIBS),1)\r\n> OBJS_laser += sick_tim55x_ethernet_aqt.o\r\n> CFLAGS += $(CFLAGS_SICK_TIM55X_BOOST)\r\n> LDFLAGS += $(LDFLAGS_SICK_TIM55X_BOOST)\r\n> else\r\n> WARN_TARGETS_SICK_TIM55X_BOOST = $(foreach l,$(SICK_TIM55X_REQ_BOOST_LIBS),$(if $(call boost-have-lib,$l),, warning_sick_55x_boost_$l))\r\n> endif\r\n89c96,99\r\n< \t$(SILENT)echo -e "$(INDENT_PRINT)--> $(TYELLOW)No support for Sweep-USB$(TNORMAL) (libusb not found)"\r\n---\r\n> \t$(SILENT)echo -e "$(INDENT_PRINT)--> $(TYELLOW)No support for Sick TiM55x-USB$(TNORMAL) (libusb not found)"\r\n> \r\n> $(WARN_TARGETS_SICK_TIM55X_BOOST): warning_sick_tim55x_boost_%:\r\n> \t$(SILENT)echo -e "$(INDENT_PRINT)--> $(TYELLOW)No suport for TiM55x-Ethernet$(TNORMAL) (Boost library $* not found)"\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser: README.txt\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser: sweep_aqt.cpp\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser: sweep_aqt.h\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/laser-filter\/filters\/map_filter.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/laser-filter\/filters\/map_filter.cpp\r\n115,116c115,116\r\n< \/\/logger_->log_debug("map_filter", "Can't transform laser-data using newest tf\\n(%s\\t%s\\t\\%lf)",\r\n< \/\/ frame_map_.c_str(), in[a]->frame.c_str(), in[a]->timestamp->in_sec());\r\n---\r\n> logger_->log_debug("map_filter", "Can't transform laser-data using newest tf\\n(%s\\t%s\\t\\%lf)",\r\n> frame_map_.c_str(), in[a]->frame.c_str(), in[a]->timestamp->in_sec());\r\n118,119c118,119\r\n< logger_->log_warn("map_filter", "Can't transform laser-data (%s -> %s)",\r\n< frame_map_.c_str(), in[a]->frame.c_str());\r\n---\r\n> logger_->log_debug("map_filter", "Can't transform laser-data at all (%s -> %s)",\r\n> frame_map_.c_str(), in[a]->frame.c_str());\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins: laser-kizuna\r\nOnly in btr2017\/fawkes-robotino\/fawkes\/src\/plugins: laser.old\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/Makefile btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/Makefile\r\n46,47c46\r\n< CFLAGS += $(CFLAGS_ROS) $(CFLAGS_TF)\r\n< LDFLAGS += $(LDFLAGS_ROS) $(LDFLAGS_TF)\r\n---\r\n> CFLAGS += $(CFLAGS_ROS)\r\n51,52c50,53\r\n< CFLAGS += -DHAVE_VISUALIZATION $(call ros-pkg-cflags,visualization_msgs)\r\n< LDFLAGS += $(call ros-pkg-lflags,visualization_msgs)\r\n---\r\n> CFLAGS += -DHAVE_VISUALIZATION\r\n> CFLAGS_visualization_thread = $(CFLAGS) $(CFLAGS_TF) \\\r\n> \t\t\t\t $(call ros-pkg-cflags,visualization_msgs)\r\n> LDFLAGS += $(LDFLAGS_ROS) $(call ros-pkg-lflags,visualization_msgs)\r\n62,63c63,66\r\n< CFLAGS += -DHAVE_FAWKES_MSGS $(call ros-pkg-cflags,fawkes_msgs)\r\n< LDFLAGS += $(call ros-pkg-lflags,fawkes_msgs)\r\n---\r\n> CFLAGS += -DHAVE_FAWKES_MSGS\r\n> CFLAGS_rospub_thread = $(CFLAGS) \\\r\n> \t\t\t $(call ros-pkg-cflags,fawkes_msgs)\r\n> LDFLAGS += $(LDFLAGS_ROS) $(call ros-pkg-lflags,fawkes_msgs)\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/navgraph_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/navgraph_thread.cpp\r\n93,97d92\r\n< cfg_allow_multi_graph_ = false;\r\n< try {\r\n< cfg_allow_multi_graph_ = config->get_bool("\/navgraph\/allow_multi_graph");\r\n< } catch (Exception &e) {} \/\/ ignored\r\n< \r\n436,437c431\r\n< return fawkes::LockPtr<NavGraph>(load_yaml_navgraph(filename, cfg_allow_multi_graph_),\r\n< \/* recursive mutex *\/ true);\r\n---\r\n> return fawkes::LockPtr<NavGraph>(load_yaml_navgraph(filename), \/* recursive mutex *\/ true);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/navgraph_thread.h btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/navgraph_thread.h\r\n116d115\r\n< bool cfg_allow_multi_graph_;\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/rospub_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/rospub_thread.cpp\r\n30,31d29\r\n< #include <cmath>\r\n< \r\n54,61c52\r\n< cfg_base_frame_ = config->get_string("\/frames\/base");\r\n< cfg_global_frame_ = config->get_string("\/frames\/fixed");\r\n< \r\n< pub_ = rosnode->advertise<fawkes_msgs::NavGraph>("navgraph", 10, \/* latching *\/ true);\r\n< \tsvs_search_path_ = rosnode->advertiseService("navgraph\/search_path",\r\n< \t &NavGraphROSPubThread::svs_search_path_cb, this);\r\n< \tsvs_get_pwcosts_ = rosnode->advertiseService("navgraph\/get_pairwise_costs",\r\n< \t &NavGraphROSPubThread::svs_get_pwcosts_cb, this);\r\n---\r\n> \tpub_ = rosnode->advertise<fawkes_msgs::NavGraph>("navgraph", 10, \/* latching *\/ true);\r\n71d61\r\n< \tnavgraph->remove_change_listener(this);\r\n73,74d62\r\n< \tsvs_search_path_.shutdown();\r\n< \tsvs_get_pwcosts_.shutdown();\r\n79a68\r\n> \tnavgraph->remove_change_listener(this);\r\n96d84\r\n< \r\n98,99c86\r\n< NavGraphROSPubThread::convert_nodes(const std::vector<fawkes::NavGraphNode> &nodes,\r\n< std::vector<fawkes_msgs::NavGraphNode> &out)\r\n---\r\n> NavGraphROSPubThread::publish_graph()\r\n100a88,92\r\n> \tMutexLocker lock(navgraph.objmutex_ptr());\r\n> \r\n> \tfawkes_msgs::NavGraph ngm;\r\n> \r\n> \tconst std::vector<NavGraphNode> &nodes = navgraph->nodes();\r\n118c110\r\n< \t\tout.push_back(ngn);\r\n---\r\n> \t\tngm.nodes.push_back(ngn);\r\n120,131d111\r\n< }\r\n< \r\n< void\r\n< NavGraphROSPubThread::publish_graph()\r\n< {\r\n< \tMutexLocker lock(navgraph.objmutex_ptr());\r\n< \r\n< \tfawkes_msgs::NavGraph ngm;\r\n< \r\n< \tconst std::vector<NavGraphNode> &nodes = navgraph->nodes();\r\n< \tconvert_nodes(nodes, ngm.nodes);\r\n< \r\n149,276d128\r\n< }\r\n< \r\n< \r\n< bool\r\n< NavGraphROSPubThread::svs_search_path_cb(fawkes_msgs::NavGraphSearchPath::Request &req,\r\n< fawkes_msgs::NavGraphSearchPath::Response &res)\r\n< {\r\n< \tNavGraphNode from, to;\r\n< \r\n< \r\n< \tif (req.from_node.empty()) {\r\n< \t\tfawkes::tf::Stamped<fawkes::tf::Pose> pose;\r\n< \t\tif (! tf_listener->transform_origin(cfg_base_frame_, cfg_global_frame_, pose)) {\r\n< \t\t\tlogger->log_warn(name(),\r\n< \t\t\t "Failed to compute pose, cannot generate plan");\r\n< \r\n< \t\t\tres.ok = false;\r\n< \t\t\tres.errmsg = "Failed to compute pose, cannot generate plan";\r\n< \t\t\treturn true;\r\n< \t\t}\r\n< \r\n< \t\tfrom =\r\n< \t\t\tnavgraph->closest_node(pose.getOrigin().x(), pose.getOrigin().y());\r\n< \t\tif (! from.is_valid()) {\r\n< \t\t\tres.ok = false;\r\n< \t\t\tres.errmsg = "Failed to get closest node to pose";\r\n< \t\t\treturn true;\r\n< \t\t}\r\n< \r\n< \t\tfawkes_msgs::NavGraphNode free_start;\r\n< \t\tfree_start.name = "free-start";\r\n< \t\tfree_start.pose.x = pose.getOrigin().x();\r\n< \t\tfree_start.pose.y = pose.getOrigin().y();\r\n< \t\tfree_start.has_orientation = true;\r\n< \t\tfree_start.pose.theta = tf::get_yaw(pose.getRotation());\r\n< \t\tres.path.push_back(free_start);\r\n< \t} else {\r\n< \t\tfrom = navgraph->node(req.from_node);\r\n< \t\tif (! from.is_valid()) {\r\n< \t\t\tres.ok = false;\r\n< \t\t\tres.errmsg = "Failed to find start node " + req.from_node;\r\n< \t\t\treturn true;\r\n< \t\t}\r\n< \t}\r\n< \r\n< \tNavGraphPath path;\r\n< \r\n< \tif (! req.to_node.empty()) {\r\n< \t\tpath = navgraph->search_path(from.name(), req.to_node);\r\n< \t} else {\r\n< \t\tNavGraphNode close_to_goal = navgraph->closest_node(req.to_pose.x, req.to_pose.y);\r\n< \t\tpath = navgraph->search_path(from, close_to_goal);\r\n< \t\tif (! path.empty()) {\r\n< \t\t\tNavGraphNode free_target("free-target", req.to_pose.x, req.to_pose.y);\r\n< \t\t\tif (std::isfinite(req.to_pose.theta)) {\r\n< \t\t\t\tfree_target.set_property("orientation", (float)req.to_pose.theta);\r\n< \t\t\t}\r\n< \t\t\tpath.add_node(free_target, navgraph->cost(path.nodes().back(), free_target));\r\n< \t\t}\r\n< \t}\r\n< \r\n< \t\/\/ translate path into result\r\n< \tconvert_nodes(path.nodes(), res.path);\r\n< \tres.cost = path.cost();\r\n< \t\r\n< \tres.ok = true;\r\n< \treturn true;\r\n< }\r\n< \r\n< bool\r\n< NavGraphROSPubThread::svs_get_pwcosts_cb(fawkes_msgs::NavGraphGetPairwiseCosts::Request &req,\r\n< fawkes_msgs::NavGraphGetPairwiseCosts::Response &res)\r\n< {\r\n< \tfor (unsigned int i = 0; i < req.nodes.size(); ++i) {\r\n< \t\tfor (unsigned int j = 0; j < req.nodes.size(); ++j) {\r\n< \t\t\tif (i == j) continue;\r\n< \r\n< \t\t\tfawkes::NavGraphNode from_node, to_node;\r\n< \t\t\ttry {\r\n< \t\t\t\tfrom_node = navgraph->node(req.nodes[i]);\r\n< \t\t\t\tto_node = navgraph->node(req.nodes[j]);\r\n< \t\t\t} catch (fawkes::Exception &e) {\r\n< \t\t\t\tres.ok = false;\r\n< \t\t\t\tres.errmsg = "Failed to get path from '" + req.nodes[i] + "' to '" +\r\n< \t\t\t\t\treq.nodes[j] + "': " + e.what_no_backtrace();\r\n< \t\t\t\tres.path_costs.clear();\r\n< \t\t\t\treturn true;\t\t\t\t\t\r\n< \t\t\t}\r\n< \r\n< \t\t\tfawkes::NavGraphNode start_node, goal_node;\r\n< \t\t\t\t\r\n< \t\t\tif (from_node.unconnected()) {\r\n< \t\t\t\tstart_node = navgraph->closest_node_to(from_node.name());\r\n< \t\t\t\t\/\/logger->log_warn(name(), "[F-NavGraph] From node %s is UNCONNECTED, starting instead from %s",\r\n< \t\t\t\t\/\/ from_node.name().c_str(), start_node.name().c_str());\r\n< \t\t\t} else {\r\n< \t\t\t\tstart_node = from_node;\r\n< \t\t\t}\r\n< \t\t\tif (to_node.unconnected()) {\r\n< \t\t\t\tgoal_node = navgraph->closest_node_to(to_node.name());\r\n< \t\t\t\t\/\/logger->log_warn(name(), "[F-NavGraph] To node %s is UNCONNECTED, ending instead at %s",\r\n< \t\t\t\t\/\/ to_node.name().c_str(), goal_node.name().c_str());\r\n< \t\t\t} else {\r\n< \t\t\t\tgoal_node = to_node;\r\n< \t\t\t}\r\n< \t\t\tfawkes::NavGraphPath p = navgraph->search_path(start_node, goal_node);\r\n< \t\t\tif (p.empty()) {\r\n< \t\t\t\tres.ok = false;\r\n< \t\t\t\tres.errmsg = "Failed to get path from '" + start_node.name() + "' to '" + goal_node.name() + "'";\r\n< \t\t\t\tres.path_costs.clear();\r\n< \t\t\t\treturn true;\r\n< \t\t\t}\r\n< \t\t\tfawkes_msgs::NavGraphPathCost pc;\r\n< \t\t\tpc.from_node = req.nodes[i];\r\n< \t\t\tpc.to_node = req.nodes[j];\r\n< \t\t\tpc.cost = p.cost();\r\n< \t\t\tif (from_node.unconnected()) {\r\n< \t\t\t\tpc.cost += navgraph->cost(from_node, start_node);\r\n< \t\t\t}\r\n< \t\t\tif (to_node.unconnected()) {\r\n< \t\t\t\tpc.cost += navgraph->cost(goal_node, to_node);\r\n< \t\t\t}\r\n< \t\t\tres.path_costs.push_back(pc);\r\n< \t\t}\r\n< \t}\r\n< \r\n< \tres.ok = true;\r\n< \treturn true;\t\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/rospub_thread.h btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph\/rospub_thread.h\r\n28c28\r\n< #include <aspect\/tf.h>\r\n---\r\n> #include <aspect\/aspect_provider.h>\r\n35,38d34\r\n< #include <ros\/service_server.h>\r\n< \r\n< #include <fawkes_msgs\/NavGraphSearchPath.h>\r\n< #include <fawkes_msgs\/NavGraphGetPairwiseCosts.h>\r\n45d40\r\n< \tpublic fawkes::TransformAspect,\r\n49a45\r\n> private:\r\n65,71d60\r\n< void convert_nodes(const std::vector<fawkes::NavGraphNode> &nodes,\r\n< std::vector<fawkes_msgs::NavGraphNode> &out);\r\n< \r\n< bool svs_search_path_cb(fawkes_msgs::NavGraphSearchPath::Request &req,\r\n< fawkes_msgs::NavGraphSearchPath::Response &res);\r\n< bool svs_get_pwcosts_cb(fawkes_msgs::NavGraphGetPairwiseCosts::Request &req,\r\n< fawkes_msgs::NavGraphGetPairwiseCosts::Response &res);\r\n74,76d62\r\n< std::string cfg_base_frame_;\r\n< std::string cfg_global_frame_;\r\n< \r\n78,79d63\r\n< ros::ServiceServer svs_search_path_;\r\n< ros::ServiceServer svs_get_pwcosts_;\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph-generator\/navgraph_generator_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph-generator\/navgraph_generator_thread.cpp\r\n5c5\r\n< * Copyright 2015-2017 Tim Niemueller [www.niemueller.de]\r\n---\r\n> * Copyright 2015 Tim Niemueller [www.niemueller.de]\r\n28d27\r\n< #include <navgraph\/yaml_navgraph.h>\r\n105,121d103\r\n< cfg_save_to_file_ = false;\r\n< try {\r\n< cfg_save_to_file_ = config->get_bool(CFG_PREFIX"save-to-file\/enable");\r\n< } catch (Exception &e) {} \/\/ ignore, use default\r\n< if (cfg_save_to_file_) {\r\n< \t cfg_save_filename_ = config->get_string(CFG_PREFIX"save-to-file\/filename");\r\n< \t if (cfg_save_filename_.empty()) {\r\n< \t\t throw Exception("navgraph-generator: invalid empty filename");\r\n< \t }\r\n< \t if (cfg_save_filename_.find("..") != std::string::npos) {\r\n< \t\t throw Exception("navgraph-generator: filename may not contains two consecutive dots (..)");\r\n< \t }\r\n< \t if (cfg_save_filename_[0] != '\/') {\r\n< \t\t cfg_save_filename_ = std::string(CONFDIR) + "\/" + cfg_save_filename_;\r\n< \t }\r\n< }\r\n< \r\n298,302d279\r\n< }\r\n< \r\n< if (cfg_save_to_file_) {\r\n< \t logger->log_debug(name(), " Writing to file '%s'", cfg_save_filename_.c_str());\r\n< \t save_yaml_navgraph(cfg_save_filename_, *navgraph);\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph-generator\/navgraph_generator_thread.h btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/navgraph-generator\/navgraph_generator_thread.h\r\n104,106d103\r\n< bool cfg_save_to_file_;\r\n< std::string cfg_save_filename_;\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/plugins\/robotino\/openrobotino_com_thread.cpp btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/robotino\/openrobotino_com_thread.cpp\r\n279c279\r\n< \tupdate_velocities();\r\n---\r\n> \r\nOnly in btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/ros: navgraph_breakout_plugin.cpp\r\nOnly in btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/ros: navgraph_breakout_thread.cpp\r\nOnly in btr2018\/fawkes-robotino\/fawkes\/src\/plugins\/ros: navgraph_breakout_thread.h\r\ndiff -r btr2017\/fawkes-robotino\/fawkes\/src\/tools\/set_pose\/ffset_pose.cpp btr2018\/fawkes-robotino\/fawkes\/src\/tools\/set_pose\/ffset_pose.cpp\r\n109c109\r\n< ArgumentParser argp(argc, argv, "hr:i:t:f:");\r\n---\r\n> ArgumentParser argp(argc, argv, "hr:i:t:");\r\n172,174c172,174\r\n< \t fprintf(stderr, "Failed to localize %s:%u: %s\\n",\r\n< \t host.c_str(), port, e.what_no_backtrace());\r\n< \t break;\r\n---\r\n> \tfprintf(stderr, "Failed to localize %s:%u: %s\\n",\r\n> \t\thost.c_str(), port, e.what_no_backtrace());\r\n> \tbreak;\r\n176d175\r\n< usleep(1000000);\r\n180c179\r\n< return localized ? 0 : -1;\r\n---\r\n> return 0;\r\nOnly in btr2017\/fawkes-robotino\/lib: libsweep.so\r\nOnly in btr2017\/fawkes-robotino\/lib: libsweep.so.1\r\nOnly in btr2017\/fawkes-robotino\/lib: libsweep.so.1.3.0\r\nOnly in btr2017\/fawkes-robotino\/plugins: pi_gyro.so\r\ndiff -r btr2017\/fawkes-robotino\/src\/agents\/rcll2016\/blackboard-init.clp btr2018\/fawkes-robotino\/src\/agents\/rcll2016\/blackboard-init.clp\r\n34d33\r\n< (blackboard-open "BTRPotentialInterface" "potential_value")\r\n52,54d50\r\n< (unwatch facts BTRPotentialInterface)\r\n< (unwatch rules BTRPotentialInterface-cleanup)\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/agents\/rcll2016\/globals.clp btr2018\/fawkes-robotino\/src\/agents\/rcll2016\/globals.clp\r\n11,14d10\r\n< ; potential variables\r\n< ?*BASE-POTENTIAL-VALUE* = 99.0\r\n< ?*NEW-POTENTIAL-VALUE* = 0.0\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/agents\/rcll2016\/lock-managing.clp btr2018\/fawkes-robotino\/src\/agents\/rcll2016\/lock-managing.clp\r\n97,125c97,98\r\n< ;(defrule lock-getting-master\r\n< ; "If master was not announced within the timeout limit announce self as master."\r\n< ; ?r <- (lock-role SLAVE)\r\n< ; (time $?now)\r\n< ; ?mls <- (master-last-seen $?last&:(timeout ?now ?last (+ ?*CURRENT-MASTER-TIMEOUT* ?*MASTER-TIMEOUT-ROBOT-OFFSET*)))\r\n< ; ?mn <- (master-name ?)\r\n< ; =>\r\n< ; (printout t "MASTER timed out -> Getting MASTER" crlf)\r\n< ; (retract ?r ?mn)\r\n< ; (assert (lock-role MASTER)\r\n< ;\t (master-name (str-cat ?*ROBOT-NAME*)))\r\n< ;)\r\n< \r\n< ;;;;;MASTER\/SLAVE Slection by Potential Value;;;;;\r\n< (defrule lock-binding-potential-value\r\n< "Binding a potential value to the variables"\r\n< (lock-role SLAVE)\r\n< (time $?now)\r\n< ;?bpv <- (BTRPotentialInterface (id "potential_value") (potential_value ?basepotential))\r\n< (BTRPotentialInterface (id "potential_value") (potential_value ?basepotential))\r\n< ?mls <- (master-last-seen $?)\r\n< =>\r\n< (assert (base-potential ?basepotential))\r\n< (bind ?*BASE-POTENTIAL-VALUE* ?basepotential)\r\n< ;(printout t "I'm a SLAVE, and I have BASEPOTENTIAL "?*BASE-POTENTIAL-VALUE* crlf)\r\n< )\r\n< \r\n< (defrule lock-getting-master-by-potential-value\r\n< "If I had the lowest potential value among all bots, announce self as Master."\r\n---\r\n> (defrule lock-getting-master\r\n> "If master was not announced within the timeout limit announce self as master."\r\n128c101\r\n< ?mls <- (master-last-seen $?last&:(timeout ?now ?last (* 10 ?*BASE-POTENTIAL-VALUE*)))\r\n---\r\n> ?mls <- (master-last-seen $?last&:(timeout ?now ?last (+ ?*CURRENT-MASTER-TIMEOUT* ?*MASTER-TIMEOUT-ROBOT-OFFSET*)))\r\n131,132c104,105\r\n< (printout t "I have the lowest potential value -> Getting MASTER, and my base potential value is "?*BASE-POTENTIAL-VALUE* crlf)\r\n< (retract ?r ?mn ?mls)\r\n---\r\n> (printout t "MASTER timed out -> Getting MASTER" crlf)\r\n> (retract ?r ?mn)\r\n134,169c107\r\n< (master-name (str-cat ?*ROBOT-NAME*)))\r\n< (printout t "I'm "?*ROBOT-NAME* crlf)\r\n< )\r\n< \r\n< (defrule lock-random-potential-generator\r\n< "Hey you, I'll fxxk you!"\r\n< (lock-role MASTER)\r\n< (time $?now)\r\n< ;?npv <- (BTRPotentialInterface (id "potential_value") (potential_value ?newpotential))\r\n< (BTRPotentialInterface (id "potential_value") (potential_value ?newpotential))\r\n< =>\r\n< (assert (new-potential ?newpotential))\r\n< (bind ?*NEW-POTENTIAL-VALUE* ?newpotential)\r\n< (printout t "NEW POTENTIAL VALUE is "?*NEW-POTENTIAL-VALUE*" and BASE POTENTIAL VALUE is "?*BASE-POTENTIAL-VALUE* crlf)\r\n< )\r\n< \r\n< (defrule lock-master-reelection\r\n< "If master's potential value got bigger than the value when he got the MASTER role, we reelect a new MASTER"\r\n< ?r <- (lock-role MASTER)\r\n< (time $?now)\r\n< ?mn <- (master-name ?)\r\n< ?bp <- (base-potential ?basepotential)\r\n< ?np <- (new-potential ?newpotential)\r\n< =>\r\n< (if (> ?*NEW-POTENTIAL-VALUE* (+ 0.1 ?*BASE-POTENTIAL-VALUE*))\r\n< then\r\n< (printout t "We reelect a new MASTER! "?*NEW-POTENTIAL-VALUE*" "?*BASE-POTENTIAL-VALUE* crlf)\r\n< (bind ?*BASE-POTENTIAL-VALUE*)\r\n< (bind ?*NEW-POTENTIAL-VALUE*)\r\n< (retract ?r ?mn ?bp ?np)\r\n< (assert (lock-role SLAVE)\r\n< (master-last-seen $?now)\r\n< (master-name ""))\r\n< else\r\n< ;(printout t "I keep my MASTER role new potential"?*NEW-POTENTIAL-VALUE* crlf)\r\n< )\r\n---\r\n> \t (master-name (str-cat ?*ROBOT-NAME*)))\r\nOnly in btr2017\/fawkes-robotino\/src\/agents: rcll2017\r\nOnly in btr2017\/fawkes-robotino\/src\/libs\/interfaces: BTRGripperInterface.h\r\nOnly in btr2017\/fawkes-robotino\/src\/libs\/interfaces: BtrPotentialFieldInterface.h\r\nOnly in btr2017\/fawkes-robotino\/src\/libs\/interfaces: BTRPotentialInterface.h\r\nOnly in btr2017\/fawkes-robotino\/src\/libs\/interfaces: PiGyroInterface.h\r\nOnly in btr2018\/fawkes-robotino\/src\/libs\/interfaces: PolarPosition2DInterface.cpp\r\nOnly in btr2018\/fawkes-robotino\/src\/libs\/interfaces: SignalHintInterface.cpp\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/AttentionMessage.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/AttentionMessage.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/BeaconSignal.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/BeaconSignal.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/ExplorationInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/ExplorationInfo.proto\r\n38d37\r\n< \r\n41a41\r\n> import "Pose2D.proto";\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/GameInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/GameInfo.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/GameState.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/GameState.proto\r\n38d37\r\n< \r\n64a64,73\r\n> \r\n> OPEN_CHALLENGE = 1000;\r\n> NAVIGATION_CHALLENGE = 1001;\r\n> WHACK_A_MOLE_CHALLENGE = 1002;\r\n> }\r\n> \r\n> enum RefBoxMode {\r\n> STANDALONE = 0;\r\n> MASTER = 1;\r\n> SLAVE = 2;\r\n66a76\r\n> \r\n82a93,94\r\n> \r\n> optional RefBoxMode refbox_mode = 7 [default = STANDALONE];\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineCommands.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineCommands.proto\r\n38d37\r\n< \r\n41,42d39\r\n< import "MachineInfo.proto";\r\n< \r\n45a43,90\r\n> \r\n> \/\/ Remove a puck from a machine,\r\n> \/\/ either from RFID sensor or machine\r\n> \/\/ area. Can be overwritten by actual\r\n> \/\/ PLC if that reports there actually\r\n> \/\/ is the very puck.\r\n> message RemovePuckFromMachine {\r\n> enum CompType {\r\n> COMP_ID = 2000;\r\n> MSG_TYPE = 14;\r\n> }\r\n> \r\n> \/\/ Machine to remove puck from\r\n> required string machine_name = 1;\r\n> \/\/ ID of the puck to remove\r\n> required uint32 puck_id = 2;\r\n> }\r\n> \r\n> \r\n> \/\/ Place a puck under an RFID sensor.\r\n> \/\/ Note that this can be overwritten\r\n> \/\/ by actual PLC input.\r\n> message PlacePuckUnderMachine {\r\n> enum CompType {\r\n> COMP_ID = 2000;\r\n> MSG_TYPE = 15;\r\n> }\r\n> \r\n> \/\/ Machine to place puck at\r\n> required string machine_name = 1;\r\n> \/\/ ID of the puck to place\r\n> required uint32 puck_id = 2;\r\n> }\r\n> \r\n> \/\/ Load puck into machine area.\r\n> message LoadPuckInMachine {\r\n> enum CompType {\r\n> COMP_ID = 2000;\r\n> MSG_TYPE = 16;\r\n> }\r\n> \r\n> \/\/ Machine to place puck at\r\n> required string machine_name = 1;\r\n> \/\/ ID of the puck to place\r\n> required uint32 puck_id = 2;\r\n> }\r\n> \r\n> \r\n52d96\r\n< RESET = 15;\r\n78,90d121\r\n< }\r\n< \r\n< \/\/ Set machine lights.\r\n< message SetMachineLights {\r\n< enum CompType {\r\n< COMP_ID = 2000;\r\n< MSG_TYPE = 19;\r\n< }\r\n< \r\n< \/\/ Machine to place puck at\r\n< required string machine_name = 1;\r\n< \/\/ Desired state of the lights\r\n< repeated LightSpec lights = 2;\r\nOnly in btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs: MachineDescription.proto\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineInfo.proto\r\n7d6\r\n< * 2017 Tobias Neumann\r\n39d37\r\n< \r\n47d44\r\n< import "MachineDescription.proto";\r\n51a49,60\r\n> enum LightColor {\r\n> RED = 0;\r\n> YELLOW = 1;\r\n> GREEN = 2;\r\n> }\r\n> \r\n> enum LightState {\r\n> OFF = 0;\r\n> ON = 1;\r\n> BLINK = 2;\r\n> }\r\n> \r\n63,68d71\r\n< enum ExplorationState {\r\n< \tNO_REPORT = 0;\r\n< \tCORRECT_REPORT = 1;\r\n< \tWRONG_REPORT = 2;\r\n< }\r\n< \r\n79a83,84\r\n> optional bool prepared = 15;\r\n> \r\n86d90\r\n< optional uint32 rotation = 12;\r\n88c92\r\n< \/\/ Correctly reported? (zone and type correct)\r\n---\r\n> \/\/ Correctly reported?\r\n95c99,101\r\n< \/\/ Instruction information (only clients)\r\n---\r\n> \r\n> \/\/ Instruction information\r\n> \/\/ only available to clients, not peers\r\n98d103\r\n< optional PrepareInstructionSS instruction_ss = 20;\r\n102,105d106\r\n< \t\/\/ more fine-grained exploration (only clients)\r\n< \toptional ExplorationState exploration_zone_state = 22;\r\n< \toptional ExplorationState exploration_rotation_state = 21;\r\n< \r\n117c118,119\r\n< \/\/ Team color (only broadcast)\r\n---\r\n> \/\/ Team name if all machines belong\r\n> \/\/ only to a single team (broadcast)\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineInstructions.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineInstructions.proto\r\n7d6\r\n< * 2017 Tobias Neumann\r\n39d37\r\n< \r\n42d39\r\n< import "MachineDescription.proto";\r\n49,70c46,48\r\n< message SetSignalLight {\r\n< required LightState red = 2;\r\n< required LightState yellow = 3;\r\n< required LightState green = 4;\r\n< }\r\n< \r\n< message MoveConveyorBelt {\r\n< required ConveyorDirection direction = 2;\r\n< required SensorOnMPS stop_sensor = 3;\r\n< }\r\n< \r\n< message BSPushBase {\r\n< required uint32 slot = 2; \/\/ [0-2] where 0 is on the input side, 1 in the middle and 2 on the output side\r\n< }\r\n< \r\n< message SSTask {\r\n< required SSOp operation = 2;\r\n< required SSSlot slot = 3;\r\n< }\r\n< \r\n< message RSMountRing {\r\n< required uint32 feeder = 2; \/\/ [0,1] where 0 is the feeder closer to the input side and 1 is the feeder closer to the output side\r\n---\r\n> enum MachineSide {\r\n> INPUT = 1;\r\n> OUTPUT = 2;\r\n73,74c51,53\r\n< message CSTask {\r\n< required CSOp operation = 2;\r\n---\r\n> enum CsOp {\r\n> RETRIEVE_CAP = 1;\r\n> MOUNT_CAP = 2;\r\n77,135d55\r\n< message DSActivateGate {\r\n< required uint32 gate = 2; \/\/ [0-2] where 0 is the gate closest to the input, 1 is the gate in the middle and 2 is the last gate from the input\r\n< }\r\n< \r\n< enum InstructMachineSet {\r\n< INSTRUCT_MACHINE_SET_SIGNAL_LIGHT = 1;\r\n< INSTRUCT_MACHINE_MOVE_CONVEYOR = 2;\r\n< INSTRUCT_MACHINE_STOP_CONVEYOR = 3;\r\n< INSTRUCT_MACHINE_WAIT_FOR_PICKUP = 4;\r\n< INSTRUCT_MACHINE_BS = 11;\r\n< INSTRUCT_MACHINE_SS = 12;\r\n< INSTRUCT_MACHINE_RS = 13;\r\n< INSTRUCT_MACHINE_CS = 14;\r\n< INSTRUCT_MACHINE_DS = 15;\r\n< }\r\n< \r\n< message InstructMachine {\r\n< enum CompType {\r\n< COMP_ID = 2000;\r\n< MSG_TYPE = 102;\r\n< }\r\n< \r\n< required uint32 id = 1;\r\n< \/\/ required Team team_color = 2;\r\n< \/\/ Machine name which to instruct\r\n< required string machine = 3;\r\n< \/\/ which MPS comand is set and has to be completed\r\n< required InstructMachineSet set = 4;\r\n< \r\n< optional SetSignalLight light_state = 5;\r\n< optional MoveConveyorBelt conveyor_belt = 6;\r\n< \r\n< optional BSPushBase bs = 11;\r\n< optional SSTask ss = 12;\r\n< optional RSMountRing rs = 13;\r\n< optional CSTask cs = 14;\r\n< optional DSActivateGate ds = 15;\r\n< }\r\n< \r\n< enum MachineReplySet {\r\n< MACHINE_REPLY_FINISHED = 1;\r\n< }\r\n< \r\n< message MachineReply {\r\n< enum CompType {\r\n< COMP_ID = 2000;\r\n< MSG_TYPE = 103;\r\n< }\r\n< \r\n< required uint32 id = 1;\r\n< \/\/ required Team team_color = 2;\r\n< \/\/ Machine name which to instruct\r\n< required string machine = 3;\r\n< \/\/ which MPS comand is set and has to be completed\r\n< required MachineReplySet set = 4;\r\n< }\r\n< \r\n< \r\n< \r\n145,148d64\r\n< message PrepareInstructionSS {\r\n< required SSTask task = 1;\r\n< }\r\n< \r\n154c70\r\n< required CSOp operation = 1;\r\n---\r\n> required CsOp operation = 1;\r\n169d84\r\n< optional PrepareInstructionSS instruction_ss = 8;\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineReport.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/MachineReport.proto\r\n7d6\r\n< * 2017 Tobias Neumann\r\n39d37\r\n< \r\n41a40\r\n> import "MachineInfo.proto";\r\n57,58c56,57\r\n< optional Zone zone = 3;\r\n< optional uint32 rotation = 4; \/\/ [0-360] in deg\r\n---\r\n> required string type = 2;\r\n> required Zone zone = 3;\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/OrderInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/OrderInfo.proto\r\n38d37\r\n< \r\n104,119d102\r\n< }\r\n< \r\n< \r\n< message SetOrderDeliveredByColor {\r\n< enum CompType {\r\n< COMP_ID = 2000;\r\n< MSG_TYPE = 44;\r\n< }\r\n< \r\n< required Team team_color = 1;\r\n< \r\n< \t\/** Colors of delivered product. Zero,\r\n< \t * or more rings orderd from bottom to top *\/\r\n< required BaseColor base_color = 3;\r\n< repeated RingColor ring_colors = 4;\r\n< required CapColor cap_color = 5;\r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/Pose2D.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/Pose2D.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/ProductColor.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/ProductColor.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/RingInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/RingInfo.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/RobotCommands.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/RobotCommands.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/RobotInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/RobotInfo.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/SimTimeSync.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/SimTimeSync.proto\r\n36d35\r\n< \r\n38,43d36\r\n< \r\n< option java_package =\r\n< "org.robocup_logistics.llsf_msgs";\r\n< option java_outer_classname =\r\n< "SimTimeSyncProtos";\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/Team.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/Team.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/Time.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/Time.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/VersionInfo.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/VersionInfo.proto\r\n38d37\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/libs\/llsf_msgs\/Zone.proto btr2018\/fawkes-robotino\/src\/libs\/llsf_msgs\/Zone.proto\r\n7d6\r\n< * 2017 Tobias Neumann\r\n39d37\r\n< \r\n47,168c45,68\r\n< C_Z18 = 1;\r\n< C_Z28 = 2;\r\n< C_Z38 = 3;\r\n< C_Z48 = 4;\r\n< C_Z58 = 5;\r\n< C_Z68 = 6;\r\n< C_Z78 = 7;\r\n< \r\n< C_Z17 = 8;\r\n< C_Z27 = 9;\r\n< C_Z37 = 10;\r\n< C_Z47 = 11;\r\n< C_Z57 = 12;\r\n< C_Z67 = 13;\r\n< C_Z77 = 14;\r\n< \r\n< C_Z16 = 15;\r\n< C_Z26 = 16;\r\n< C_Z36 = 17;\r\n< C_Z46 = 18;\r\n< C_Z56 = 19;\r\n< C_Z66 = 20;\r\n< C_Z76 = 21;\r\n< \r\n< C_Z15 = 22;\r\n< C_Z25 = 23;\r\n< C_Z35 = 24;\r\n< C_Z45 = 25;\r\n< C_Z55 = 26;\r\n< C_Z65 = 27;\r\n< C_Z75 = 28;\r\n< \r\n< C_Z14 = 29;\r\n< C_Z24 = 30;\r\n< C_Z34 = 31;\r\n< C_Z44 = 32;\r\n< C_Z54 = 33;\r\n< C_Z64 = 34;\r\n< C_Z74 = 35;\r\n< \r\n< C_Z13 = 36;\r\n< C_Z23 = 37;\r\n< C_Z33 = 38;\r\n< C_Z43 = 39;\r\n< C_Z53 = 40;\r\n< C_Z63 = 41;\r\n< C_Z73 = 42;\r\n< \r\n< C_Z12 = 43;\r\n< C_Z22 = 44;\r\n< C_Z32 = 45;\r\n< C_Z42 = 46;\r\n< C_Z52 = 47;\r\n< C_Z62 = 48;\r\n< C_Z72 = 49;\r\n< \r\n< C_Z11 = 50;\r\n< C_Z21 = 51;\r\n< C_Z31 = 52;\r\n< C_Z41 = 53;\r\n< \r\n< \r\n< M_Z18 = 101;\r\n< M_Z28 = 102;\r\n< M_Z38 = 103;\r\n< M_Z48 = 104;\r\n< M_Z58 = 105;\r\n< M_Z68 = 106;\r\n< M_Z78 = 107;\r\n< \r\n< M_Z17 = 108;\r\n< M_Z27 = 109;\r\n< M_Z37 = 110;\r\n< M_Z47 = 111;\r\n< M_Z57 = 112;\r\n< M_Z67 = 113;\r\n< M_Z77 = 114;\r\n< \r\n< M_Z16 = 115;\r\n< M_Z26 = 116;\r\n< M_Z36 = 117;\r\n< M_Z46 = 118;\r\n< M_Z56 = 119;\r\n< M_Z66 = 120;\r\n< M_Z76 = 121;\r\n< \r\n< M_Z15 = 122;\r\n< M_Z25 = 123;\r\n< M_Z35 = 124;\r\n< M_Z45 = 125;\r\n< M_Z55 = 126;\r\n< M_Z65 = 127;\r\n< M_Z75 = 128;\r\n< \r\n< M_Z14 = 129;\r\n< M_Z24 = 130;\r\n< M_Z34 = 131;\r\n< M_Z44 = 132;\r\n< M_Z54 = 133;\r\n< M_Z64 = 134;\r\n< M_Z74 = 135;\r\n< \r\n< M_Z13 = 136;\r\n< M_Z23 = 137;\r\n< M_Z33 = 138;\r\n< M_Z43 = 139;\r\n< M_Z53 = 140;\r\n< M_Z63 = 141;\r\n< M_Z73 = 142;\r\n< \r\n< M_Z12 = 143;\r\n< M_Z22 = 144;\r\n< M_Z32 = 145;\r\n< M_Z42 = 146;\r\n< M_Z52 = 147;\r\n< M_Z62 = 148;\r\n< M_Z72 = 149;\r\n< \r\n< M_Z11 = 150;\r\n< M_Z21 = 151;\r\n< M_Z31 = 152;\r\n< M_Z41 = 153;\r\n---\r\n> Z1 = 1;\r\n> Z2 = 2;\r\n> Z3 = 3;\r\n> Z4 = 4;\r\n> Z5 = 5;\r\n> Z6 = 6;\r\n> Z7 = 7;\r\n> Z8 = 8;\r\n> Z9 = 9;\r\n> Z10 = 10;\r\n> Z11 = 11;\r\n> Z12 = 12;\r\n> Z13 = 13;\r\n> Z14 = 14;\r\n> Z15 = 15;\r\n> Z16 = 16;\r\n> Z17 = 17;\r\n> Z18 = 18;\r\n> Z19 = 19;\r\n> Z20 = 20;\r\n> Z21 = 21;\r\n> Z22 = 22;\r\n> Z23 = 23;\r\n> Z24 = 24;\r\ndiff -r btr2017\/fawkes-robotino\/src\/lua\/skills\/robotino\/drive_into_field.lua btr2018\/fawkes-robotino\/src\/lua\/skills\/robotino\/drive_into_field.lua\r\n44c44\r\n< return pose:translation(1) > 1.0\r\n---\r\n> return pose:translation(1) > 0.0\r\n70d69\r\n< printf("Drive into field WAIT: %f", self.timeout_time)\r\n74d72\r\n< printf("Drive into field goto %s", self.fsm.vars.waypoints)\r\ndiff -r btr2017\/fawkes-robotino\/src\/lua\/skills\/robotino\/explore_zone.lua btr2018\/fawkes-robotino\/src\/lua\/skills\/robotino\/explore_zone.lua\r\n76,79c76,79\r\n< local WALL_MIN_X = -6.95\r\n< local WALL_MAX_X = 7.0\r\n< local WALL_MIN_Y = -0.05\r\n< local WALL_MAX_Y = 6.95\r\n---\r\n> local WALL_MIN_X = -5.95\r\n> local WALL_MAX_X = 6.0\r\n> local WALL_MIN_Y = 0.05\r\n> local WALL_MAX_Y = 5.95\r\ndiff -r btr2017\/fawkes-robotino\/src\/lua\/skills\/robotino\/goto.lua btr2018\/fawkes-robotino\/src\/lua\/skills\/robotino\/goto.lua\r\n84c84\r\n< {"INIT", "SKILL_RELGOTO", cond=true, desc="init skill_relgoto"},\r\n---\r\n> {"INIT", "SKILL_RELGOTO", cond=true},\r\n92d91\r\n< printf("goto INIT:init 1")\r\n94c93\r\n< printf("goto INIT:init")\r\n---\r\n> \r\n142,146d140\r\n< \r\n< if self.fsm.vars.place ~= nil then\r\n< printf(" place %s", self.fsm.vars.place)\r\n< end\r\n< printf("goto (%f, %f) delta is (%f, %f)", self.fsm.vars.x, self.fsm.vars.y, self.fsm.vars.rel_x, self.fsm.vars.rel_y)\r\ndiff -r btr2017\/fawkes-robotino\/src\/lua\/skills\/robotino\/relgoto.lua btr2018\/fawkes-robotino\/src\/lua\/skills\/robotino\/relgoto.lua\r\n57d56\r\n< printf("relgoto target_reached to (%f, %f)", fsm.vars.x, fsm.vars.y)\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/agent-monitor\/agent-monitor-processor.cpp btr2018\/fawkes-robotino\/src\/plugins\/agent-monitor\/agent-monitor-processor.cpp\r\n65c65\r\n< own_name_ = config_->get_string("\/clips-agent\/rcll2017\/robot-name");\r\n---\r\n> own_name_ = config_->get_string("\/clips-agent\/llsf2014\/robot-name");\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/ax12_gripper\/ax12_gripper_thread.cpp btr2018\/fawkes-robotino\/src\/plugins\/ax12_gripper\/ax12_gripper_thread.cpp\r\n344c344\r\n< if (joystick_if_->pressed_buttons() & JoystickInterface::BUTTON_1) {\r\n---\r\n> if (joystick_if_->pressed_buttons() & JoystickInterface::BUTTON_13) {\r\n346c346\r\n< } else if (joystick_if_->pressed_buttons() & JoystickInterface::BUTTON_2) {\r\n---\r\n> } else if (joystick_if_->pressed_buttons() & JoystickInterface::BUTTON_12) {\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/ax12_gripper\/ax12_gripper_thread.h btr2018\/fawkes-robotino\/src\/plugins\/ax12_gripper\/ax12_gripper_thread.h\r\n102a103,108\r\n> \/* unsigned char __cfg_left_servo_id; *\/\r\n> \/* unsigned char __cfg_right_servo_id; *\/\r\n> \/* unsigned int __cfg_cw_compl_margin; *\/\r\n> \/* unsigned int __cfg_ccw_compl_margin; *\/\r\n> \/* unsigned int __cfg_cw_compl_slope; *\/\r\n> \/* unsigned int __cfg_ccw_compl_slope; *\/\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: btr_gripper\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: btr_gripper_vision\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: btr_utsumi_clips\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-light-front\/Makefile btr2018\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-light-front\/Makefile\r\n35,39c35\r\n< ifneq ($(shell hostname),pi-01)\r\n< CFLAGS += $(CFLAGS_TF) -mno-avx\r\n< else\r\n< CFLAGS += $(CFLAGS_TF) \r\n< endif\r\n---\r\n> CFLAGS += $(CFLAGS_TF) -mno-avx\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.cpp btr2018\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.cpp\r\n105,106c105,106\r\n< \/\/ place_puck_under_machine_sub_ = gazebo_world_node->Subscribe(config->get_string("\/gazsim\/topics\/place-puck-under-machine"), &GazsimLLSFRbCommThread::on_puck_place_msg, this);\r\n< \/\/ remove_puck_under_machine_sub_ = gazebo_world_node->Subscribe(config->get_string("\/gazsim\/topics\/remove-puck-under-machine"), &GazsimLLSFRbCommThread::on_puck_remove_msg, this);\r\n---\r\n> place_puck_under_machine_sub_ = gazebo_world_node->Subscribe(config->get_string("\/gazsim\/topics\/place-puck-under-machine"), &GazsimLLSFRbCommThread::on_puck_place_msg, this);\r\n> remove_puck_under_machine_sub_ = gazebo_world_node->Subscribe(config->get_string("\/gazsim\/topics\/remove-puck-under-machine"), &GazsimLLSFRbCommThread::on_puck_remove_msg, this);\r\n208,209c208\r\n< \/*\r\n< void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)\r\n---\r\n> void GazsimLLSFRbCommThread::on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg)\r\n219d217\r\n< *\/\r\n221,222c219\r\n< \/*\r\n< void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)\r\n---\r\n> void GazsimLLSFRbCommThread::on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg)\r\n232d228\r\n< *\/\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.h btr2018\/fawkes-robotino\/src\/plugins\/gazebo\/gazsim-llsfrbcomm\/gazsim_llsfrbcomm_thread.h\r\n54,55c54,55\r\n< \/\/ typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr;\r\n< \/\/ typedef const boost::shared_ptr<llsf_msgs::RemovePuckFromMachine const> ConstRemovePuckFromMachinePtr;\r\n---\r\n> typedef const boost::shared_ptr<llsf_msgs::PlacePuckUnderMachine const> ConstPlacePuckUnderMachinePtr;\r\n> typedef const boost::shared_ptr<llsf_msgs::RemovePuckFromMachine const> ConstRemovePuckFromMachinePtr;\r\n110,111c110,111\r\n< \/\/ void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg);\r\n< \/\/ void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg);\r\n---\r\n> void on_puck_place_msg(ConstPlacePuckUnderMachinePtr &msg);\r\n> void on_puck_remove_msg(ConstRemovePuckFromMachinePtr &msg);\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: gripper_tsuji\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/machine-signal\/Makefile btr2018\/fawkes-robotino\/src\/plugins\/machine-signal\/Makefile\r\n31,39d30\r\n< # compile against and link against opencv\r\n< CFLAGS\t += $(CFLAGS_OPENCV)\r\n< LDFLAGS += $(LDFLAGS_OPENCV)\r\n< \r\n< LDFLAGS += "-lopencv_core"\r\n< LDFLAGS += "-lopencv_imgproc"\r\n< LDFLAGS += "-lopencv_objdetect" \r\n< LDFLAGS += "-lopencv_highgui"\r\n< \r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/Makefile btr2018\/fawkes-robotino\/src\/plugins\/Makefile\r\n23d22\r\n< \t btr_gripper \\\r\n26c25\r\n< \t navgraph_broker \\\r\n---\r\n> navgraph_broker \\\r\n34,40c33,34\r\n< \t laser_front_dist \\\r\n< \t mps-laser-gen \\\r\n< \t btr_utsumi_clips \\\r\n< \t potential_field \\\r\n< \t btr_gripper_vision \\\r\n< \t pi_gyro \\\r\n< \t gripper_tsuji\r\n---\r\n> \t\tlaser_front_dist \\\r\n> \t\tmps-laser-gen\r\n44c38\r\n< gazebo: ax12_gripper btr_gripper tag_vision machine-signal arduino\r\n---\r\n> gazebo: ax12_gripper tag_vision machine-signal arduino\r\ndiff -r btr2017\/fawkes-robotino\/src\/plugins\/mps-laser-gen\/Makefile btr2018\/fawkes-robotino\/src\/plugins\/mps-laser-gen\/Makefile\r\n25,26c25\r\n< fawkesblackboard fawkesinterface fawkesrosaspect \\\r\n< \t\t Laser360Interface\r\n---\r\n> fawkesblackboard fawkesinterface fawkesrosaspect\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: pi_gyro\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: potential_field\r\nOnly in btr2018\/fawkes-robotino\/src\/plugins\/robotino_worldmodel\/interfaces: RobotinoWorldModelInterface.cpp\r\nOnly in btr2018\/fawkes-robotino\/src\/plugins\/robotino_worldmodel\/interfaces: RobotinoWorldModelInterface.h_ext\r\nOnly in btr2018\/fawkes-robotino\/src\/plugins\/robotino_worldmodel\/interfaces: RobotinoWorldModelInterface.tolua\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: shimizu2017xR351\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: shimizu2017xR601\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: shimizu2017xR602\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: shimizu2017xR603\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: shimizu2017xR604\r\nOnly in btr2017\/fawkes-robotino\/src\/plugins: ueji_opencv\r\n<\/pre>\n","protected":false},"excerpt":{"rendered":"source codes for BTR2017. Only in btr201 …<\/p>\n