diff --git a/Robot_Development/catkin_ws/build/CMakeCache.txt b/Robot_Development/catkin_ws/build/CMakeCache.txt
index 7b086f27a1f1618695755b4ab0cf926b7e551639..65b5101a2a694456f70f2c480223f29edd494864 100644
--- a/Robot_Development/catkin_ws/build/CMakeCache.txt
+++ b/Robot_Development/catkin_ws/build/CMakeCache.txt
@@ -277,8 +277,7 @@ camera_calibration_parsers_DIR:PATH=/opt/ros/kinetic/share/camera_calibration_pa
//Value Computed by CMake
camera_info_manager_BINARY_DIR:STATIC=/home/nvidia/catkin_ws/build/libraries/image_common/camera_info_manager
-//The directory containing a CMake configuration file for camera_info_manager.
-camera_info_manager_DIR:PATH=/home/nvidia/catkin_ws/devel/share/camera_info_manager/cmake
+camera_info_manager_DIR:PATH=
//Dependencies for the target
camera_info_manager_LIB_DEPENDS:STATIC=general;/opt/ros/kinetic/lib/libcamera_calibration_parsers.so;general;image_transport;general;/opt/ros/kinetic/lib/libmessage_filters.so;general;/usr/lib/aarch64-linux-gnu/libtinyxml2.so;general;/opt/ros/kinetic/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/aarch64-linux-gnu/libdl.so;general;/opt/ros/kinetic/lib/libroscpp.so;general;/usr/lib/aarch64-linux-gnu/libboost_signals.so;general;/opt/ros/kinetic/lib/librosconsole.so;general;/opt/ros/kinetic/lib/librosconsole_log4cxx.so;general;/opt/ros/kinetic/lib/librosconsole_backend_interface.so;general;/usr/lib/aarch64-linux-gnu/liblog4cxx.so;general;/usr/lib/aarch64-linux-gnu/libboost_regex.so;general;/opt/ros/kinetic/lib/libroscpp_serialization.so;general;/opt/ros/kinetic/lib/libxmlrpcpp.so;general;/opt/ros/kinetic/lib/librostime.so;general;/opt/ros/kinetic/lib/libcpp_common.so;general;/usr/lib/aarch64-linux-gnu/libboost_thread.so;general;/usr/lib/aarch64-linux-gnu/libboost_chrono.so;general;/usr/lib/aarch64-linux-gnu/libboost_date_time.so;general;/usr/lib/aarch64-linux-gnu/libboost_atomic.so;general;/usr/lib/aarch64-linux-gnu/libpthread.so;general;/usr/lib/aarch64-linux-gnu/libconsole_bridge.so;general;/opt/ros/kinetic/lib/libroslib.so;general;/opt/ros/kinetic/lib/librospack.so;general;/usr/lib/aarch64-linux-gnu/libpython2.7.so;general;/usr/lib/aarch64-linux-gnu/libboost_filesystem.so;general;/usr/lib/aarch64-linux-gnu/libboost_program_options.so;general;/usr/lib/aarch64-linux-gnu/libboost_system.so;general;/usr/lib/aarch64-linux-gnu/libtinyxml.so;
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//ADVANCED property for variable: CMAKE_NM
CMAKE_NM-ADVANCED:INTERNAL=1
//number of local generators
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diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake b/Robot_Development/catkin_ws/build/CMakeFiles/Makefile.cmake
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"/home/nvidia/catkin_ws/devel/share/image_transport/cmake/image_transportConfig.cmake"
"/home/nvidia/catkin_ws/src/CMakeLists.txt"
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"/home/nvidia/catkin_ws/src/rosjet/jet_serial/CMakeLists.txt"
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- "/home/nvidia/catkin_ws/src/usb_cam/CMakeLists.txt"
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"/opt/ros/kinetic/share/camera_calibration_parsers/cmake/camera_calibration_parsersConfig.cmake"
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- $(CMAKE_COMMAND) -E cmake_progress_start /home/nvidia/catkin_ws/build/CMakeFiles 0
-.PHONY : usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/rule
-
-# Convenience name for target.
-std_srvs_generate_messages_py: usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/rule
-
-.PHONY : std_srvs_generate_messages_py
-
-# clean rule for target.
-usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/clean:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/clean
-.PHONY : usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/clean
-
-# clean rule for target.
-clean: usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/clean
-
-.PHONY : clean
-
#=============================================================================
# Directory level rules for directory rosjet/jet_control
diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt b/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
index 7aba5c180d28660fbe27838b6cd9b8aec2d1e8f5..33b7a08c46116a524039c1e24f65d2b0e89a70af 100644
--- a/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
+++ b/Robot_Development/catkin_ws/build/CMakeFiles/TargetDirectories.txt
@@ -138,20 +138,6 @@
/home/nvidia/catkin_ws/build/libraries/image_common/camera_info_manager/CMakeFiles/_run_tests_camera_info_manager_rostest.dir
/home/nvidia/catkin_ws/build/libraries/image_common/camera_info_manager/CMakeFiles/install/strip.dir
/home/nvidia/catkin_ws/build/libraries/image_common/camera_info_manager/CMakeFiles/_run_tests_camera_info_manager_rostest_tests_unit_test.test.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/install.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/rebuild_cache.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/edit_cache.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/std_srvs_generate_messages_lisp.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/std_srvs_generate_messages_eus.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/std_srvs_generate_messages_nodejs.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/usb_cam_node.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/usb_cam.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/list_install_components.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/std_srvs_generate_messages_cpp.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/install/strip.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/install/local.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir
-/home/nvidia/catkin_ws/build/usb_cam/CMakeFiles/test.dir
/home/nvidia/catkin_ws/build/rosjet/jet_control/CMakeFiles/list_install_components.dir
/home/nvidia/catkin_ws/build/rosjet/jet_control/CMakeFiles/install.dir
/home/nvidia/catkin_ws/build/rosjet/jet_control/CMakeFiles/rebuild_cache.dir
diff --git a/Robot_Development/catkin_ws/build/CMakeFiles/progress.marks b/Robot_Development/catkin_ws/build/CMakeFiles/progress.marks
index e85087affded170efcbc6f9672a6fc671d839ed0..f64f5d8d85ac0230d36724bd7e6ba351a95b4942 100644
--- a/Robot_Development/catkin_ws/build/CMakeFiles/progress.marks
+++ b/Robot_Development/catkin_ws/build/CMakeFiles/progress.marks
@@ -1 +1 @@
-31
+27
diff --git a/Robot_Development/catkin_ws/build/CTestTestfile.cmake b/Robot_Development/catkin_ws/build/CTestTestfile.cmake
index 6efac9deeb73a9c037497ff053e76f2cdf1fb339..913365b831f0dff6b428677196b522c7e2ddd6e5 100644
--- a/Robot_Development/catkin_ws/build/CTestTestfile.cmake
+++ b/Robot_Development/catkin_ws/build/CTestTestfile.cmake
@@ -14,5 +14,4 @@ subdirs(rosjet/jet_driver)
subdirs(rosjet/jet_navigation)
subdirs(libraries/image_common/image_transport)
subdirs(libraries/image_common/camera_info_manager)
-subdirs(usb_cam)
subdirs(rosjet/jet_control)
diff --git a/Robot_Development/catkin_ws/build/Makefile b/Robot_Development/catkin_ws/build/Makefile
index f73c9c47a6d7ea94fb28d67b9b739665417d8755..f56389a82c3d5e4667294318fe70466286d3382a 100644
--- a/Robot_Development/catkin_ws/build/Makefile
+++ b/Robot_Development/catkin_ws/build/Makefile
@@ -893,97 +893,6 @@ _run_tests_camera_info_manager_rostest_tests_unit_test.test/fast:
$(MAKE) -f libraries/image_common/camera_info_manager/CMakeFiles/_run_tests_camera_info_manager_rostest_tests_unit_test.test.dir/build.make libraries/image_common/camera_info_manager/CMakeFiles/_run_tests_camera_info_manager_rostest_tests_unit_test.test.dir/build
.PHONY : _run_tests_camera_info_manager_rostest_tests_unit_test.test/fast
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_lisp
-
-# Build rule for target.
-std_srvs_generate_messages_lisp: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_lisp
-.PHONY : std_srvs_generate_messages_lisp
-
-# fast build rule for target.
-std_srvs_generate_messages_lisp/fast:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_lisp.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_lisp.dir/build
-.PHONY : std_srvs_generate_messages_lisp/fast
-
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_eus
-
-# Build rule for target.
-std_srvs_generate_messages_eus: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_eus
-.PHONY : std_srvs_generate_messages_eus
-
-# fast build rule for target.
-std_srvs_generate_messages_eus/fast:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_eus.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_eus.dir/build
-.PHONY : std_srvs_generate_messages_eus/fast
-
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_nodejs
-
-# Build rule for target.
-std_srvs_generate_messages_nodejs: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_nodejs
-.PHONY : std_srvs_generate_messages_nodejs
-
-# fast build rule for target.
-std_srvs_generate_messages_nodejs/fast:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_nodejs.dir/build
-.PHONY : std_srvs_generate_messages_nodejs/fast
-
-#=============================================================================
-# Target rules for targets named usb_cam_node
-
-# Build rule for target.
-usb_cam_node: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 usb_cam_node
-.PHONY : usb_cam_node
-
-# fast build rule for target.
-usb_cam_node/fast:
- $(MAKE) -f usb_cam/CMakeFiles/usb_cam_node.dir/build.make usb_cam/CMakeFiles/usb_cam_node.dir/build
-.PHONY : usb_cam_node/fast
-
-#=============================================================================
-# Target rules for targets named usb_cam
-
-# Build rule for target.
-usb_cam: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 usb_cam
-.PHONY : usb_cam
-
-# fast build rule for target.
-usb_cam/fast:
- $(MAKE) -f usb_cam/CMakeFiles/usb_cam.dir/build.make usb_cam/CMakeFiles/usb_cam.dir/build
-.PHONY : usb_cam/fast
-
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_cpp
-
-# Build rule for target.
-std_srvs_generate_messages_cpp: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_cpp
-.PHONY : std_srvs_generate_messages_cpp
-
-# fast build rule for target.
-std_srvs_generate_messages_cpp/fast:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_cpp.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_cpp.dir/build
-.PHONY : std_srvs_generate_messages_cpp/fast
-
-#=============================================================================
-# Target rules for targets named std_srvs_generate_messages_py
-
-# Build rule for target.
-std_srvs_generate_messages_py: cmake_check_build_system
- $(MAKE) -f CMakeFiles/Makefile2 std_srvs_generate_messages_py
-.PHONY : std_srvs_generate_messages_py
-
-# fast build rule for target.
-std_srvs_generate_messages_py/fast:
- $(MAKE) -f usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/build.make usb_cam/CMakeFiles/std_srvs_generate_messages_py.dir/build
-.PHONY : std_srvs_generate_messages_py/fast
-
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@@ -1053,13 +962,6 @@ help:
@echo "... run_tests_camera_info_manager_rostest_tests_unit_test.test"
@echo "... _run_tests_camera_info_manager_rostest"
@echo "... _run_tests_camera_info_manager_rostest_tests_unit_test.test"
- @echo "... std_srvs_generate_messages_lisp"
- @echo "... std_srvs_generate_messages_eus"
- @echo "... std_srvs_generate_messages_nodejs"
- @echo "... usb_cam_node"
- @echo "... usb_cam"
- @echo "... std_srvs_generate_messages_cpp"
- @echo "... std_srvs_generate_messages_py"
.PHONY : help
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/generate_cached_setup.py b/Robot_Development/catkin_ws/build/catkin_generated/generate_cached_setup.py
index fff31836e08739aa031e869e1913173e417860b7..611bcb4af358d7807ab9cbe58926f39c0c435494 100644
--- a/Robot_Development/catkin_ws/build/catkin_generated/generate_cached_setup.py
+++ b/Robot_Development/catkin_ws/build/catkin_generated/generate_cached_setup.py
@@ -12,7 +12,7 @@ try:
from catkin.environment_cache import generate_environment_script
except ImportError:
# search for catkin package in all workspaces and prepend to path
- for workspace in "/opt/ros/kinetic".split(';'):
+ for workspace in "/home/nvidia/catkin_ws/devel;/opt/ros/kinetic".split(';'):
python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
if os.path.isdir(os.path.join(python_path, 'catkin')):
sys.path.insert(0, python_path)
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/installspace/_setup_util.py b/Robot_Development/catkin_ws/build/catkin_generated/installspace/_setup_util.py
index 247588e19cb0a8edf2442030d809e2f3b539acc8..9d0167bd6998e719ca0be5d5b8fbd5af9f378da7 100755
--- a/Robot_Development/catkin_ws/build/catkin_generated/installspace/_setup_util.py
+++ b/Robot_Development/catkin_ws/build/catkin_generated/installspace/_setup_util.py
@@ -262,7 +262,7 @@ if __name__ == '__main__':
sys.exit(1)
# environment at generation time
- CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
+ CMAKE_PREFIX_PATH = '/home/nvidia/catkin_ws/devel;/opt/ros/kinetic'.split(';')
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
if base_path not in CMAKE_PREFIX_PATH:
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
index c84b2db4b048352ff623e0cd88c0e40e532f8dd6..0a32bfe6dc5b42cef293a99d9d8ab5404bec0e8b 100644
--- a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
+++ b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.cmake
@@ -40,10 +40,6 @@ list(APPEND CATKIN_ORDERED_PACKAGES "camera_info_manager")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "libraries/image_common/camera_info_manager")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
-list(APPEND CATKIN_ORDERED_PACKAGES "usb_cam")
-list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "usb_cam")
-list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
-list(APPEND CATKIN_ORDERED_PACKAGES_BUILD_TYPE "catkin")
list(APPEND CATKIN_ORDERED_PACKAGES "jet_control")
list(APPEND CATKIN_ORDERED_PACKAGE_PATHS "rosjet/jet_control")
list(APPEND CATKIN_ORDERED_PACKAGES_IS_META "False")
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.py b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.py
index 981cf685a4614cb21906b5b3ac2514f70f6d3a5d..8a9d1da3b08f3cacafafb19d3094133894d1fa4f 100644
--- a/Robot_Development/catkin_ws/build/catkin_generated/order_packages.py
+++ b/Robot_Development/catkin_ws/build/catkin_generated/order_packages.py
@@ -2,4 +2,4 @@
source_root_dir = "/home/nvidia/catkin_ws/src"
whitelisted_packages = "".split(';') if "" != "" else []
blacklisted_packages = "".split(';') if "" != "" else []
-underlay_workspaces = "/opt/ros/kinetic".split(';') if "/opt/ros/kinetic" != "" else []
+underlay_workspaces = "/home/nvidia/catkin_ws/devel;/opt/ros/kinetic".split(';') if "/home/nvidia/catkin_ws/devel;/opt/ros/kinetic" != "" else []
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/setup_cached.sh b/Robot_Development/catkin_ws/build/catkin_generated/setup_cached.sh
index dea9ebc0449e12741cd36f4d9f3daa36d850b830..153d4c89d0a54b43facef34465998aa56bc5c38e 100755
--- a/Robot_Development/catkin_ws/build/catkin_generated/setup_cached.sh
+++ b/Robot_Development/catkin_ws/build/catkin_generated/setup_cached.sh
@@ -7,9 +7,4 @@
# new environment variables
# modified environment variables
-export CMAKE_PREFIX_PATH="/home/nvidia/catkin_ws/devel:$CMAKE_PREFIX_PATH"
-export LD_LIBRARY_PATH="/home/nvidia/catkin_ws/devel/lib:$LD_LIBRARY_PATH"
-export PKG_CONFIG_PATH="/home/nvidia/catkin_ws/devel/lib/pkgconfig:$PKG_CONFIG_PATH"
-export PWD="/home/nvidia/catkin_ws/build"
-export ROSLISP_PACKAGE_DIRECTORIES="/home/nvidia/catkin_ws/devel/share/common-lisp"
-export ROS_PACKAGE_PATH="/home/nvidia/catkin_ws/src:$ROS_PACKAGE_PATH"
\ No newline at end of file
+export PWD="/home/nvidia/catkin_ws/build"
\ No newline at end of file
diff --git a/Robot_Development/catkin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp b/Robot_Development/catkin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp
index 247588e19cb0a8edf2442030d809e2f3b539acc8..9d0167bd6998e719ca0be5d5b8fbd5af9f378da7 100755
--- a/Robot_Development/catkin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp
+++ b/Robot_Development/catkin_ws/build/catkin_generated/stamps/Project/_setup_util.py.stamp
@@ -262,7 +262,7 @@ if __name__ == '__main__':
sys.exit(1)
# environment at generation time
- CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
+ CMAKE_PREFIX_PATH = '/home/nvidia/catkin_ws/devel;/opt/ros/kinetic'.split(';')
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
if base_path not in CMAKE_PREFIX_PATH:
diff --git a/Robot_Development/catkin_ws/build/catkin_make.cache b/Robot_Development/catkin_ws/build/catkin_make.cache
index 99c5fca8a13ece1c830b3d09c700466db828ad63..43e1c734561fb43f90545d78c05da11cf32661f7 100644
--- a/Robot_Development/catkin_ws/build/catkin_make.cache
+++ b/Robot_Development/catkin_ws/build/catkin_make.cache
@@ -1,2 +1,2 @@
-lane_demo:lane_detection:libraries/image_common/camera_info_manager:libraries/image_common/image_transport:rosjet/jet_bringup:rosjet/jet_control:rosjet/jet_description:rosjet/jet_driver:rosjet/jet_navigation:rosjet/jet_serial:usb_cam
+lane_demo:lane_detection:libraries/image_common/camera_info_manager:libraries/image_common/image_transport:rosjet/jet_bringup:rosjet/jet_control:rosjet/jet_description:rosjet/jet_driver:rosjet/jet_navigation:rosjet/jet_serial
-DCATKIN_DEVEL_PREFIX=/home/nvidia/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/nvidia/catkin_ws/install -G Unix Makefiles
\ No newline at end of file
diff --git a/Robot_Development/catkin_ws/build/cmake_install.cmake b/Robot_Development/catkin_ws/build/cmake_install.cmake
index 5c376900076050ad7b677c43e3a83910d4113b2f..5c19ef9221588c1a47e598f354c19b7e509948f5 100644
--- a/Robot_Development/catkin_ws/build/cmake_install.cmake
+++ b/Robot_Development/catkin_ws/build/cmake_install.cmake
@@ -126,7 +126,6 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
include("/home/nvidia/catkin_ws/build/rosjet/jet_navigation/cmake_install.cmake")
include("/home/nvidia/catkin_ws/build/libraries/image_common/image_transport/cmake_install.cmake")
include("/home/nvidia/catkin_ws/build/libraries/image_common/camera_info_manager/cmake_install.cmake")
- include("/home/nvidia/catkin_ws/build/usb_cam/cmake_install.cmake")
include("/home/nvidia/catkin_ws/build/rosjet/jet_control/cmake_install.cmake")
endif()
diff --git a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/CXX.includecache b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/CXX.includecache
index 248a862c5e69d69f610099f85bf0bf0e6c6fc08b..b1cf10b38759c2e8cba304b3a77d3184b16a5acd 100644
--- a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/CXX.includecache
+++ b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/CXX.includecache
@@ -17,6 +17,8 @@ std_msgs/Int16.h
/home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/Int16.h
std_msgs/UInt64.h
/home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/UInt64.h
+std_msgs/Float64.h
+/home/nvidia/catkin_ws/src/lane_demo/src/std_msgs/Float64.h
/opt/ros/kinetic/include/geometry_msgs/Twist.h
string
@@ -700,6 +702,22 @@ ros/forwards.h
/opt/ros/kinetic/include/rosconsole/macros_generated.h
+/opt/ros/kinetic/include/std_msgs/Float64.h
+string
+-
+vector
+-
+map
+-
+ros/types.h
+-
+ros/serialization.h
+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
+-
+
/opt/ros/kinetic/include/std_msgs/Int16.h
string
-
diff --git a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.internal b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.internal
index 526bb1edf3b7d6dfe0de24539c81ef54b24ffbed..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 100644
--- a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.internal
+++ b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.internal
@@ -1,68 +0,0 @@
-# CMAKE generated file: DO NOT EDIT!
-# Generated by "Unix Makefiles" Generator, CMake Version 3.5
-
-lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o
- /home/nvidia/catkin_ws/src/lane_demo/src/lane_demo.cpp
- /opt/ros/kinetic/include/geometry_msgs/Twist.h
- /opt/ros/kinetic/include/geometry_msgs/Vector3.h
- /opt/ros/kinetic/include/ros/advertise_options.h
- /opt/ros/kinetic/include/ros/advertise_service_options.h
- /opt/ros/kinetic/include/ros/assert.h
- /opt/ros/kinetic/include/ros/builtin_message_traits.h
- /opt/ros/kinetic/include/ros/common.h
- /opt/ros/kinetic/include/ros/console.h
- /opt/ros/kinetic/include/ros/console_backend.h
- /opt/ros/kinetic/include/ros/datatypes.h
- /opt/ros/kinetic/include/ros/duration.h
- /opt/ros/kinetic/include/ros/exception.h
- /opt/ros/kinetic/include/ros/exceptions.h
- /opt/ros/kinetic/include/ros/forwards.h
- /opt/ros/kinetic/include/ros/init.h
- /opt/ros/kinetic/include/ros/macros.h
- /opt/ros/kinetic/include/ros/master.h
- /opt/ros/kinetic/include/ros/message.h
- /opt/ros/kinetic/include/ros/message_event.h
- /opt/ros/kinetic/include/ros/message_forward.h
- /opt/ros/kinetic/include/ros/message_operations.h
- /opt/ros/kinetic/include/ros/message_traits.h
- /opt/ros/kinetic/include/ros/names.h
- /opt/ros/kinetic/include/ros/node_handle.h
- /opt/ros/kinetic/include/ros/param.h
- /opt/ros/kinetic/include/ros/parameter_adapter.h
- /opt/ros/kinetic/include/ros/platform.h
- /opt/ros/kinetic/include/ros/publisher.h
- /opt/ros/kinetic/include/ros/rate.h
- /opt/ros/kinetic/include/ros/ros.h
- /opt/ros/kinetic/include/ros/roscpp_serialization_macros.h
- /opt/ros/kinetic/include/ros/rostime_decl.h
- /opt/ros/kinetic/include/ros/serialization.h
- /opt/ros/kinetic/include/ros/serialized_message.h
- /opt/ros/kinetic/include/ros/service.h
- /opt/ros/kinetic/include/ros/service_callback_helper.h
- /opt/ros/kinetic/include/ros/service_client.h
- /opt/ros/kinetic/include/ros/service_client_options.h
- /opt/ros/kinetic/include/ros/service_server.h
- /opt/ros/kinetic/include/ros/service_traits.h
- /opt/ros/kinetic/include/ros/single_subscriber_publisher.h
- /opt/ros/kinetic/include/ros/spinner.h
- /opt/ros/kinetic/include/ros/static_assert.h
- /opt/ros/kinetic/include/ros/steady_timer.h
- /opt/ros/kinetic/include/ros/steady_timer_options.h
- /opt/ros/kinetic/include/ros/subscribe_options.h
- /opt/ros/kinetic/include/ros/subscriber.h
- /opt/ros/kinetic/include/ros/subscription_callback_helper.h
- /opt/ros/kinetic/include/ros/this_node.h
- /opt/ros/kinetic/include/ros/time.h
- /opt/ros/kinetic/include/ros/timer.h
- /opt/ros/kinetic/include/ros/timer_options.h
- /opt/ros/kinetic/include/ros/topic.h
- /opt/ros/kinetic/include/ros/transport_hints.h
- /opt/ros/kinetic/include/ros/types.h
- /opt/ros/kinetic/include/ros/wall_timer.h
- /opt/ros/kinetic/include/ros/wall_timer_options.h
- /opt/ros/kinetic/include/rosconsole/macros_generated.h
- /opt/ros/kinetic/include/std_msgs/Int16.h
- /opt/ros/kinetic/include/std_msgs/String.h
- /opt/ros/kinetic/include/std_msgs/UInt64.h
- /opt/ros/kinetic/include/xmlrpcpp/XmlRpcDecl.h
- /opt/ros/kinetic/include/xmlrpcpp/XmlRpcValue.h
diff --git a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.make b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.make
index 96246cc94dee125148a631ebfaafb1ab4711928a..eb41427b60a2f3136a46d4ad8eeb2108304957c0 100644
--- a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.make
+++ b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/depend.make
@@ -60,6 +60,7 @@ lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/ros/wall_timer.h
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/ros/wall_timer_options.h
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/rosconsole/macros_generated.h
+lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/std_msgs/Float64.h
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/std_msgs/Int16.h
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/std_msgs/String.h
lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o: /opt/ros/kinetic/include/std_msgs/UInt64.h
diff --git a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o
index 0f013079fe494ec364b6e6dfb179d9eaa1d1b609..8df85e6fb68ba8dc4b8d52d46a7e363c555fcbc2 100644
Binary files a/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o and b/Robot_Development/catkin_ws/build/lane_demo/CMakeFiles/lane_demo.dir/src/lane_demo.cpp.o differ
diff --git a/Robot_Development/catkin_ws/build/lane_demo/catkin_generated/installspace/lane_demoConfig.cmake b/Robot_Development/catkin_ws/build/lane_demo/catkin_generated/installspace/lane_demoConfig.cmake
index 06974190f07e7e78577bf7eca5d63f979623bc83..ac25874fd6ad9802cb6d932a838d4158d83edbe2 100644
--- a/Robot_Development/catkin_ws/build/lane_demo/catkin_generated/installspace/lane_demoConfig.cmake
+++ b/Robot_Development/catkin_ws/build/lane_demo/catkin_generated/installspace/lane_demoConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake b/Robot_Development/catkin_ws/build/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake
index ed2a7cc49c2328d54fc83212dd150dc153cec4a6..924f66e5eb22bd52450aa23f57c855c3b75bec31 100644
--- a/Robot_Development/catkin_ws/build/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake
+++ b/Robot_Development/catkin_ws/build/lane_detection/catkin_generated/installspace/lane_detectionConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/libraries/image_common/camera_info_manager/catkin_generated/installspace/camera_info_managerConfig.cmake b/Robot_Development/catkin_ws/build/libraries/image_common/camera_info_manager/catkin_generated/installspace/camera_info_managerConfig.cmake
index 84676d72d72e26ddd2a5518445717989ad06acd0..96f1ef963e4e48c9738ce45d07602e9b30e6cde6 100644
--- a/Robot_Development/catkin_ws/build/libraries/image_common/camera_info_manager/catkin_generated/installspace/camera_info_managerConfig.cmake
+++ b/Robot_Development/catkin_ws/build/libraries/image_common/camera_info_manager/catkin_generated/installspace/camera_info_managerConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/libraries/image_common/image_transport/catkin_generated/installspace/image_transportConfig.cmake b/Robot_Development/catkin_ws/build/libraries/image_common/image_transport/catkin_generated/installspace/image_transportConfig.cmake
index fb8c45fb82e117825ffc41600d3714ef33629527..08835c0f19e0a12ef55e66d6668b7c09f3f9ebcf 100644
--- a/Robot_Development/catkin_ws/build/libraries/image_common/image_transport/catkin_generated/installspace/image_transportConfig.cmake
+++ b/Robot_Development/catkin_ws/build/libraries/image_common/image_transport/catkin_generated/installspace/image_transportConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_bringup/catkin_generated/installspace/jet_bringupConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_bringup/catkin_generated/installspace/jet_bringupConfig.cmake
index 1d628e3a5a4acfc7d338419a81ae77e7183a34f1..44e3c703cd03958491cbd8952c9aaad69a714afe 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_bringup/catkin_generated/installspace/jet_bringupConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_bringup/catkin_generated/installspace/jet_bringupConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_control/catkin_generated/installspace/jet_controlConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_control/catkin_generated/installspace/jet_controlConfig.cmake
index 284271e260df737601b5d0f79478b0f0cc2a2e17..dbbd8575f11b1b11380675fc42598973bd00291d 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_control/catkin_generated/installspace/jet_controlConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_control/catkin_generated/installspace/jet_controlConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_description/catkin_generated/installspace/jet_descriptionConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_description/catkin_generated/installspace/jet_descriptionConfig.cmake
index c2bbd4d44724e85798e10d530c56a71996b96d4d..4cb2cd998dc8dd56fb9b6417239ef30c532fc648 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_description/catkin_generated/installspace/jet_descriptionConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_description/catkin_generated/installspace/jet_descriptionConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_driver/catkin_generated/installspace/jet_driverConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_driver/catkin_generated/installspace/jet_driverConfig.cmake
index fbbac8f6c29ef2c00aabd06215fa4e0a9eefbc22..5c543219d99b5469ae3f099766f8ab06c2bc2c00 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_driver/catkin_generated/installspace/jet_driverConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_driver/catkin_generated/installspace/jet_driverConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_navigation/catkin_generated/installspace/jet_navigationConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_navigation/catkin_generated/installspace/jet_navigationConfig.cmake
index 0fc8190d4cdaf903115153eb26a7477f2ec12aca..7a80d3634b06d59afc90eeae22edb4659f7f67ce 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_navigation/catkin_generated/installspace/jet_navigationConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_navigation/catkin_generated/installspace/jet_navigationConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/build/rosjet/jet_serial/catkin_generated/installspace/jet_serialConfig.cmake b/Robot_Development/catkin_ws/build/rosjet/jet_serial/catkin_generated/installspace/jet_serialConfig.cmake
index ca6ed6707fc1f1e80872431d6bbf84b4de158633..76bca410a62dab9d776363fcd74b438a6a413be2 100644
--- a/Robot_Development/catkin_ws/build/rosjet/jet_serial/catkin_generated/installspace/jet_serialConfig.cmake
+++ b/Robot_Development/catkin_ws/build/rosjet/jet_serial/catkin_generated/installspace/jet_serialConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/install/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/install/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/_setup_util.py b/Robot_Development/catkin_ws/devel/_setup_util.py
index 247588e19cb0a8edf2442030d809e2f3b539acc8..9d0167bd6998e719ca0be5d5b8fbd5af9f378da7 100755
--- a/Robot_Development/catkin_ws/devel/_setup_util.py
+++ b/Robot_Development/catkin_ws/devel/_setup_util.py
@@ -262,7 +262,7 @@ if __name__ == '__main__':
sys.exit(1)
# environment at generation time
- CMAKE_PREFIX_PATH = '/opt/ros/kinetic'.split(';')
+ CMAKE_PREFIX_PATH = '/home/nvidia/catkin_ws/devel;/opt/ros/kinetic'.split(';')
# prepend current workspace if not already part of CPP
base_path = os.path.dirname(__file__)
if base_path not in CMAKE_PREFIX_PATH:
diff --git a/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo b/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo
index eed045d1ee0600574c80a29983b06ed0e44e40ed..82bc15b162c34b55be5e9404dad1c3241142a40c 100755
Binary files a/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo and b/Robot_Development/catkin_ws/devel/lib/lane_demo/lane_demo differ
diff --git a/Robot_Development/catkin_ws/devel/share/camera_info_manager/cmake/camera_info_managerConfig.cmake b/Robot_Development/catkin_ws/devel/share/camera_info_manager/cmake/camera_info_managerConfig.cmake
index d01ea34c102da66386e9fa9827479d80e19f89cc..8d79d566f45632b480c874a0eeb87d14decd1c5b 100644
--- a/Robot_Development/catkin_ws/devel/share/camera_info_manager/cmake/camera_info_managerConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/camera_info_manager/cmake/camera_info_managerConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/image_transport/cmake/image_transportConfig.cmake b/Robot_Development/catkin_ws/devel/share/image_transport/cmake/image_transportConfig.cmake
index d4b3d9cc13a8898066b7557883cc397143016761..53491f934761b382e8636bbd9605e199a1ad934c 100644
--- a/Robot_Development/catkin_ws/devel/share/image_transport/cmake/image_transportConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/image_transport/cmake/image_transportConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_bringup/cmake/jet_bringupConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_bringup/cmake/jet_bringupConfig.cmake
index cbd131a673c42164521cb373e82332aaec5f27de..c727258c6a9b7ec7ca6926a09c68fcc1277d3028 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_bringup/cmake/jet_bringupConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_bringup/cmake/jet_bringupConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_control/cmake/jet_controlConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_control/cmake/jet_controlConfig.cmake
index 536b09663a2b0e3e66616ac9b0c94fc703f4879d..876db1432aad854da64a78a5b9cca010996a7669 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_control/cmake/jet_controlConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_control/cmake/jet_controlConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_description/cmake/jet_descriptionConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_description/cmake/jet_descriptionConfig.cmake
index 94fe8db2f04170481b24afe11f8f50cfc2ff27c9..d0f5b833e6fff6556927840d52dd122fb4321e93 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_description/cmake/jet_descriptionConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_description/cmake/jet_descriptionConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_driver/cmake/jet_driverConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_driver/cmake/jet_driverConfig.cmake
index a66461124bfcf29f60759fb86621c304655553d9..9e02546de6c0728bd3a163eb691d8b2b4141c4a9 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_driver/cmake/jet_driverConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_driver/cmake/jet_driverConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_navigation/cmake/jet_navigationConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_navigation/cmake/jet_navigationConfig.cmake
index 0fcc55609583d6500b6365a3e36a771d204f5f8f..c6532669e84405fc67e3bb9112d6681087697bfa 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_navigation/cmake/jet_navigationConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_navigation/cmake/jet_navigationConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/jet_serial/cmake/jet_serialConfig.cmake b/Robot_Development/catkin_ws/devel/share/jet_serial/cmake/jet_serialConfig.cmake
index a59378663f2f1f9e75f1691f87408807e913c5a3..185e680021212161403ef25cb2527c124a73d541 100644
--- a/Robot_Development/catkin_ws/devel/share/jet_serial/cmake/jet_serialConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/jet_serial/cmake/jet_serialConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/lane_demo/cmake/lane_demoConfig.cmake b/Robot_Development/catkin_ws/devel/share/lane_demo/cmake/lane_demoConfig.cmake
index 56ea0a58b088e5c08d21e5e0c3f0bdeb48016934..1c18f3d2e18ef325203f100191b7fa12330fddc9 100644
--- a/Robot_Development/catkin_ws/devel/share/lane_demo/cmake/lane_demoConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/lane_demo/cmake/lane_demoConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/devel/share/lane_detection/cmake/lane_detectionConfig.cmake b/Robot_Development/catkin_ws/devel/share/lane_detection/cmake/lane_detectionConfig.cmake
index f8f06d26260ba9ad5d69f29fc0e0ab146f3efc2b..336dc8e93858b80381f2c36918c266a0b7327117 100644
--- a/Robot_Development/catkin_ws/devel/share/lane_detection/cmake/lane_detectionConfig.cmake
+++ b/Robot_Development/catkin_ws/devel/share/lane_detection/cmake/lane_detectionConfig.cmake
@@ -129,7 +129,7 @@ foreach(library ${libraries})
set(lib_path "")
set(lib "${library}-NOTFOUND")
# since the path where the library is found is returned we have to iterate over the paths manually
- foreach(path /home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
+ foreach(path /home/nvidia/catkin_ws/devel/lib;/home/nvidia/catkin_ws/devel/lib;/opt/ros/kinetic/lib)
find_library(lib ${library}
PATHS ${path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
diff --git a/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp b/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
index d9ffec31cf6e1b193b2b099c341731be87ab4710..76b1477d7e1f5af518c09fb54403d7d4dd4ad390 100644
--- a/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
+++ b/Robot_Development/catkin_ws/src/lane_demo/src/lane_demo.cpp
@@ -3,14 +3,15 @@
#include "geometry_msgs/Twist.h"
#include "std_msgs/Int16.h"
#include "std_msgs/UInt64.h"
-
+#include "std_msgs/Float64.h"
+#include <math.h>
#define LINEAR_SPEED 0.7
-#define ANGULAR_SPEED 0.5
+#define ANGULAR_SPEED 1.75
#define TURN_DURATION 500
-#define OBJECT_DIST_NEAR 30
+#define OBJECT_DIST_NEAR 35
#define OBJECT_DIST_SAFE 60
-enum STATE { FORWARD, REVERSE, TURN };
+enum STATE { FORWARD, STOP};
class SenseAndAvoid
{
@@ -21,7 +22,11 @@ class SenseAndAvoid
void leftEncoderCallback(const std_msgs::UInt64::ConstPtr& msg);
void rightEncoderCallback(const std_msgs::UInt64::ConstPtr& msg);
void sonarCallback(const std_msgs::Int16::ConstPtr& msg);
- void chatterCallback(const std_msgs::String::ConstPtr& msg);
+ void sonar_1Callback(const std_msgs::Int16::ConstPtr& msg);
+ void sonar_3Callback(const std_msgs::Int16::ConstPtr& msg);
+ void Lanes(const std_msgs::String::ConstPtr& msg);
+ void Lane_Distance(const std_msgs::Float64::ConstPtr& msg);
+ void errorCallback();
ros::NodeHandle nh;
@@ -30,11 +35,15 @@ class SenseAndAvoid
ros::Subscriber left_encoder_sub;
ros::Subscriber right_encoder_sub;
ros::Subscriber sonar_sub;
- ros::Subscriber sub;
+ ros::Subscriber sonar_1_sub;
+ ros::Subscriber sonar_3_sub;
+ ros::Subscriber lanes_sub;
+ ros::Subscriber lane_distance_sub;
geometry_msgs::Twist vel_msg;
- int left_count, right_count;
+ int left_count, right_count, left_sonar, right_sonar;
+ float lane_distance, Kp, Kv, Kd, integral_error, cur_error, derivative_error, prev_error;
STATE state;
};
@@ -42,18 +51,34 @@ SenseAndAvoid::SenseAndAvoid()
{
left_encoder_sub = nh.subscribe<std_msgs::UInt64>("/arduino/encoder_left_value", 10, &SenseAndAvoid::leftEncoderCallback, this);
right_encoder_sub = nh.subscribe<std_msgs::UInt64>("/arduino/encoder_right_value", 10, &SenseAndAvoid::rightEncoderCallback, this);
- sonar_sub = nh.subscribe<std_msgs::Int16>("/arduino/sonar_1", 10, &SenseAndAvoid::sonarCallback, this);
+ sonar_sub = nh.subscribe<std_msgs::Int16>("/arduino/sonar_2", 10, &SenseAndAvoid::sonarCallback, this);
+ sonar_1_sub = nh.subscribe<std_msgs::Int16>("/arduino/sonar_1", 10, &SenseAndAvoid::sonar_1Callback, this);
+ sonar_3_sub = nh.subscribe<std_msgs::Int16>("/arduino/sonar_3", 10, &SenseAndAvoid::sonar_3Callback, this);
vel_pub = nh.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
- sub = nh.subscribe<std_msgs::String>("chatter", 10, &SenseAndAvoid::chatterCallback, this);
+ lanes_sub = nh.subscribe<std_msgs::String>("/lanes", 10, &SenseAndAvoid::Lanes, this);
+ lane_distance_sub = nh.subscribe<std_msgs::Float64>("/lane_distance", 10, &SenseAndAvoid::Lane_Distance, this);
state = FORWARD;
left_count = 0;
right_count = 0;
+ cur_error = 0;
+ Kp = .016;
+ Kv = 0;
+ Kd = 0.035;
+}
+
+void SenseAndAvoid::Lanes(const std_msgs::String::ConstPtr& msg)
+{
+ if(msg->data.compare("No Lanes") == 0)
+ {
+ state = STOP;
+ }
}
-void SenseAndAvoid::chatterCallback(const std_msgs::String::ConstPtr& msg)
+void SenseAndAvoid::Lane_Distance(const std_msgs::Float64::ConstPtr& msg)
{
- ROS_INFO("I heard: [%s]", msg->data.c_str());
+ lane_distance = msg->data;
}
+
void SenseAndAvoid::leftEncoderCallback(const std_msgs::UInt64::ConstPtr& msg)
{
left_count += msg->data;
@@ -64,41 +89,35 @@ void SenseAndAvoid::rightEncoderCallback(const std_msgs::UInt64::ConstPtr& msg)
right_count += msg->data;
}
+void SenseAndAvoid::sonar_1Callback(const std_msgs::Int16::ConstPtr& msg)
+{
+ left_sonar = msg->data;
+}
+
+void SenseAndAvoid::sonar_3Callback(const std_msgs::Int16::ConstPtr& msg)
+{
+ right_sonar = msg->data;
+}
+
void SenseAndAvoid::sonarCallback(const std_msgs::Int16::ConstPtr& msg)
{
- if(state == FORWARD && msg->data < OBJECT_DIST_NEAR && msg->data > 0) {
- ROS_INFO("REVERSE");
- state = REVERSE;
- vel_msg.linear.x = -LINEAR_SPEED;
- vel_msg.angular.z = 0;
- vel_pub.publish(vel_msg);
- }
- else if (state == FORWARD) {
- vel_msg.linear.x = LINEAR_SPEED;
+ if((msg->data < OBJECT_DIST_NEAR || left_sonar < OBJECT_DIST_NEAR || right_sonar < OBJECT_DIST_NEAR) && msg->data > 0 || state == STOP) {
+ ROS_INFO("OBJECT IN THE WAY OR NO LANES, STOP");
+ vel_msg.linear.x = 0;
vel_msg.angular.z = 0;
vel_pub.publish(vel_msg);
}
- else if(state == REVERSE && msg->data > OBJECT_DIST_SAFE) {
- ROS_INFO("TURN");
- state = TURN;
- vel_msg.linear.x = 0;
- vel_msg.angular.z = ANGULAR_SPEED;
- left_count = 0;
- right_count = 0;
- vel_pub.publish(vel_msg);
- }
- else if (state == TURN && left_count > TURN_DURATION) {
- state = FORWARD;
- ROS_INFO("FORWARD");
- vel_msg.linear.x = LINEAR_SPEED;
- vel_msg.angular.z = 0;
- left_count = 0;
- right_count = 0;
- vel_pub.publish(vel_msg);
- }
else
{
- state = FORWARD;
+ ROS_INFO("PID Control");
+ cur_error = lane_distance;
+ ROS_INFO_STREAM(cur_error);
+ integral_error += cur_error;
+ derivative_error = cur_error - prev_error;
+ vel_msg.angular.z = (Kp * cur_error) + (Kv * integral_error) + (Kd * derivative_error);
+ vel_msg.linear.x = LINEAR_SPEED;
+ vel_pub.publish(vel_msg);
+ prev_error = cur_error;
}
}
@@ -106,7 +125,7 @@ void SenseAndAvoid::sonarCallback(const std_msgs::Int16::ConstPtr& msg)
int main(int argc, char **argv)
{
ros::init(argc, argv, "lane_demo");
-
+
SenseAndAvoid lane_demo;
ros::spin();
diff --git a/Robot_Development/catkin_ws/src/lane_detection/src/detect.py b/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
index 3d1b7f651fb0afd336d3e0d7a25b4b6ee7717247..c657ef259f96238320954a9485991ce3f3ae9784 100755
--- a/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
+++ b/Robot_Development/catkin_ws/src/lane_detection/src/detect.py
@@ -1,22 +1,25 @@
-#!/usr/bin/python2
+#!/usr/bin/python
import numpy as np
import rospy
import matplotlib.pyplot as plt
import cv2
+from imutils.video import WebcamVideoStream
+from imutils.video import FPS
from std_msgs.msg import String
from std_msgs.msg import Float64
-pub = rospy.Publisher('chatter', String, queue_size=10)
-rospy.init_node('talker')
-rate = rospy.Rate(10) # 10hz
+pub = rospy.Publisher('lanes', String, queue_size=10)
+pub1 = rospy.Publisher('lane_distance', Float64, queue_size=10)
+rospy.init_node('lane_detection')
+rate = rospy.Rate(1000) # 1000hz
+width = 325
+
-width = 275
# Converts picture to grayscale and applies filter to picture
# params
# pic : a numpy array of pixel values to represent a picture
def formatImg(pic):
-
# Convert picture to gray scale
gray = cv2.cvtColor(pic, cv2.COLOR_BGR2GRAY)
@@ -25,61 +28,63 @@ def formatImg(pic):
return img_filter
+
# pre-processes and performs edge detection on an image
# params
# pic: a numpy array of pixel values for an image in gray scale
def detect_edge(pic):
-
# Perform canny edge detection
img_edge = cv2.Canny(pic, 50, 150)
# return new edge image
return img_edge
+
# Define the region of in which the lanes will be in the cameras view
# params
# pic: original image to apply the pre-set region of interest too
def ROI(pic):
height = pic.shape[0]
- triangle = np.array([[(100, height), (600, height), (350, 100)]])
+ triangle = np.array([[(250, height), (1100, height), (550, 250)]])
mask = np.zeros_like(pic)
cv2.fillPoly(mask, triangle, 255)
roi = cv2.bitwise_and(pic, mask)
return roi
+
# Define the region of in which the lanes will be in the cameras view
# params
# pic: original image to apply the pre-set region of interest too
def ROI_real(pic):
height = pic.shape[0]
- triangle = np.array([[(0, height), (620, height), (430, 250), (150, 250)]])
+ triangle = np.array([[(0, height), (145, 300), (475, 300), (600, height)]], dtype=np.int32)
mask = np.zeros_like(pic)
cv2.fillPoly(mask, triangle, 255)
roi = cv2.bitwise_and(pic, mask)
return roi
+
# Get all possible HoughLines and return them
# params
# edge_pic: the image with the edge detection performed
def getLines(edge_pic):
- return cv2.HoughLinesP(edge_pic, 1, np.pi / 180, 100, maxLineGap=80, minLineLength=20)
+ return cv2.HoughLinesP(edge_pic, 1, np.pi / 180, 50, maxLineGap=80, minLineLength=10)
+
# Apply the passed in lines the the original picture
# params
# original_pic:
# lines: Array of lines in the form (x1, x2, y1, y2)
def applyLines(original_pic, lines):
-
# If there is no lines return the original photo
if lines is None:
return original_pic
# Loop through all possible lines
for line in lines:
-
# parse the array to individual variables
x1, y1, x2, y2 = line.reshape(4)
- #print(line)
+ # print(line)
# Draw the lines on the original picture
cv2.line(original_pic, (x1, y1), (x2, y2), (255, 0, 0), 3)
@@ -88,157 +93,121 @@ def applyLines(original_pic, lines):
return original_pic
-# Find the two average lines given the set of lines
-# params
-# pic: the original image
-# lines: An array of lines in the form (x1, x2, y1, y2)
-def find_poly_lane(pic, lines):
-
- # Collections for the negative and positive sloped lines
- left_lines_points = [[],[]] # Negative slope
- right_lines_points = [[],[]] # Positive slope
- #print("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Start~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
- for line in lines:
- x1, y1, x2, y2 = line[0]
- parameters = np.polyfit((x1, x2), (y1, y2), 1)
- #print("Slope, intercept")
- #print(parameters)
- slope = parameters[0]
- intercept = parameters[1]
-
- if (slope < 1 and slope > -1):
- #print("Line ignored");
- x = 1
-
- elif(slope < 0):
- #print("left insert")
- left_lines_points[0].append(x1)
- left_lines_points[0].append(x2)
- left_lines_points[1].append(y1)
- left_lines_points[1].append(y2)
-
- else:
- #print("right insert")
- right_lines_points[0].append(x1)
- right_lines_points[0].append(x2)
- right_lines_points[1].append(y1)
- right_lines_points[1].append(y2)
-
- #print("POINTS")
- #print(right_lines_points[0])
- #print(left_lines_points[0])
-
- if right_lines_points[0]:
- z = np.polyfit(right_lines_points[0], right_lines_points[1], 1)
- f = np.poly1d(z)
- #print(f)
-
- right_x_new = np.linspace(np.amin(right_lines_points[0]), np.amax(right_lines_points[0]), 150)
- right_y_new = f(right_x_new)
+def find_middle(leftPoints, rightPoints):
+ middle_lines = [[], []]
- else:
- right_x_new = []
- right_y_new = []
+ if leftPoints[1] == []:
+ print(
+ "~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Caught the empty list~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
+ return 0
- if left_lines_points[0]:
- z = np.polyfit(left_lines_points[0], left_lines_points[1], 1)
- f = np.poly1d(z)
- # print(f)
+ elif rightPoints[1] == []:
+ print(
+ "~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Caught the empty list~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
+ return 0
- left_x_new = np.linspace(np.amin(left_lines_points[0]), np.amax(left_lines_points[0]), 150)
- left_y_new = f(left_x_new)
+ else:
+ for x in range(150):
+ midPoint = (rightPoints[0][149 - x] + leftPoints[0][x]) / 2
- else:
- left_x_new = []
- left_y_new = []
+ middle_lines[1].append(leftPoints[1][x])
+ middle_lines[0].append(midPoint)
- #print("New left")
- #print(left_x_new)
- #print(left_y_new)
+ return middle_lines
- return [right_x_new, right_y_new], [left_x_new, left_y_new]
# Find the two average lines given the set of lines
# params
# pic: the original image
# lines: An array of lines in the form (x1, x2, y1, y2)
-# Deprecated???
-def find_average_lane(pic, lines):
-
- # Collections for the negative and positive sloped lines
- left_lines = [] # Negative slope
- left_lines_points = [[],[]] # Negative slope
- right_lines = [] # Positive slope
- right_lines_points = [[],[]] # Positive slope
-
- for line in lines:
- x1, y1, x2, y2 = line[0]
- parameters = np.polyfit((x1, x2), (y1, y2), 1)
- print("Slope, intercept")
- print(parameters)
- slope = parameters[0]
- intercept = parameters[1]
-
- if(slope < 0):
- print("Left insert")
- left_lines.append((slope, intercept))
- left_lines_points[0].append(x1)
- left_lines_points[0].append(x2)
- left_lines_points[1].append(y1)
- left_lines_points[1].append(y2)
-
- else:
- print("Right insert")
- right_lines.append((slope, intercept))
- right_lines_points[0].append(x1)
- right_lines_points[0].append(x2)
- right_lines_points[1].append(y1)
- right_lines_points[1].append(y2)
-
- if not left_lines:
- print("Left is empty")
- left_line = [0, 0, 0, 0]
+def find_poly_lane(pic, lines):
+ # Collections for the negative and positive sloped lines
+ left_lines_points = [[], []] # Negative slope
+ right_lines_points = [[], []] # Positive slope
+ # print("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~Start~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
+ for line in lines:
+ x1, y1, x2, y2 = line[0]
+ parameters = np.polyfit((x1, x2), (y1, y2), 1)
+ # print("Slope, intercept")
+ # print(parameters)
+ slope = parameters[0]
+ intercept = parameters[1]
+
+ if (slope < 1 and slope > -1):
+ # print("Line ignored");
+ x = 1
+
+ elif (slope < 0):
+ # print("left insert")
+ left_lines_points[0].append(x1)
+ left_lines_points[0].append(x2)
+ left_lines_points[1].append(y1)
+ left_lines_points[1].append(y2)
else:
- left_average = np.average(left_lines, axis=0)
- left_line = make_coordinates(pic, left_average)
- print("Left Line: ")
- print(left_line)
+ # print("right insert")
+ right_lines_points[0].append(x1)
+ right_lines_points[0].append(x2)
+ right_lines_points[1].append(y1)
+ right_lines_points[1].append(y2)
- if not right_lines:
- print("Right is emtpy")
- right_line = [0, 0, 0, 0]
+ # print("POINTS")
+ # print(right_lines_points[0])
+ # print(left_lines_points[0])
- else:
- right_average = np.average(right_lines, axis=0)
- right_line = make_coordinates(pic, right_average)
- print("Right line : ")
- print(right_line)
+ if right_lines_points[0]:
+ z = np.polyfit(right_lines_points[0], right_lines_points[1], 1)
+ f = np.poly1d(z)
+ # print(f)
+
+ right_x_new = np.linspace(np.amin(right_lines_points[0]), np.amax(right_lines_points[0]), 150)
+ right_y_new = f(right_x_new)
- print("Left fit")
- print(left_line)
+ else:
+ right_x_new = []
+ right_y_new = []
+
+ if left_lines_points[0]:
+ z = np.polyfit(left_lines_points[0], left_lines_points[1], 1)
+ f = np.poly1d(z)
+ # print(f)
+
+ left_x_new = np.linspace(np.amin(left_lines_points[0]), np.amax(left_lines_points[0]), 150)
+ left_y_new = f(left_x_new)
+
+ else:
+ left_x_new = []
+ left_y_new = []
+
+ # print("New left")
+ ##print(left_x_new)
+ # print(left_y_new)
+
+ return [right_x_new, right_y_new], [left_x_new, left_y_new]
- print("\nRight fit")
- print(right_line)
- return np.array([left_line, right_line])
def make_coordinates(image, line_parameters):
- print(line_parameters)
+ # print(line_parameters)
slope, intercept = line_parameters
y1 = image.shape[0]
- y2 = int(y1*(1/2))
- x1 = int((y1 - intercept)/slope)
+ y2 = int(y1 * (1 / 2))
+ x1 = int((y1 - intercept) / slope)
x2 = int((y2 - intercept) / slope)
return np.array([x1, y1, x2, y2])
+
def detectDeparture(left, car, right):
a = 9999999
- b = 999999
+ b = 999999
+ left_lane = 0
+ right_lane = 0
+
try:
parametersLeft = np.polyfit((left[0][0], left[0][-1]), (left[1][0], left[1][-1]), 1)
leftEq = np.poly1d(parametersLeft)
leftPosition = (310 - parametersLeft[1]) / parametersLeft[0]
a = car - leftPosition
+ left_lane = 1
except IndexError:
print("Left lane does not exist")
@@ -247,73 +216,100 @@ def detectDeparture(left, car, right):
rightEq = np.poly1d(parametersRight)
rightPosition = (310 - parametersRight[1]) / parametersRight[0]
b = rightPosition - car
+ right_lane = 1
except IndexError:
print("Right lane does not exist")
- area = width / 3
- if(area > a):
- print("Drift Left")
- elif(area > b):
- print("Drift right")
- else:
- print("On course")
+ if (left_lane == 0 and right_lane == 0):
+ return "No Lanes"
-video = cv2.VideoCapture(1)
-plt.ion()
-def talker():
- hello_str = "hello world %s" % rospy.get_time()
- rospy.loginfo(hello_str)
- pub.publish(hello_str)
+def detectDepartureNew(midPoints):
+ midx = 300
+ midy = 400
+ for x in range(150):
+ if (myround(midPoints[1][x]) == 400):
+ print(midPoints[0][x] - midx)
+ return midPoints[0][x] - midx
+
+
+def myround(x):
+ return int(5 * round(float(x) / 5))
+
+
+def lane_status(lane_distance):
+ rospy.loginfo(lane_distance)
+ pub1.publish(lane_distance)
rate.sleep()
+
+def lanes_detected(lanes):
+ rospy.loginfo(lanes)
+ pub.publish(lanes)
+ rate.sleep()
+
+
+# video = cv2.VideoCapture("test2.mp4")
+# video = cv2.VideoCapture("highway.mp4")
+
+
+video = WebcamVideoStream(src=1).start()
+plt.ion()
+
while not rospy.is_shutdown():
- ret, frame = video.read()
+ frame = video.read()
+ # gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
+ # frame = cv2.imread("../frame.jpeg")
frame_edge = detect_edge(frame)
- if not ret:
- video = cv2.VideoCapture(1)
- continue
-
new_img = formatImg(frame)
wEdges = detect_edge(new_img)
cropped = ROI_real(wEdges)
-
- lines = getLines(cropped)
+ # cropped = ROI(wEdges)
+ lines = getLines(cropped)
if lines is None:
x = 0
else:
Rpoints, Lpoints = find_poly_lane(new_img, lines)
- #(type(Rpoints[0][0]))
- plt.cla()
- plt.clf()
- plt.scatter(Rpoints[0], Rpoints[1])
- plt.scatter(Lpoints[0], Lpoints[1])
+ Mpoints = find_middle(Lpoints, Rpoints)
- plt.scatter(310, 300)
+ # (type(Rpoints[0][0]))
+ #plt.cla()
+ #plt.clf()
- plt.imshow(frame, zorder=0)
+ #plt.scatter(Rpoints[0], Rpoints[1])
+ #plt.scatter(Lpoints[0], Lpoints[1])
+ lanes = detectDeparture(Lpoints, 400, Rpoints)
+ lanes_detected(lanes)
+ if (Mpoints != 0):
+ #plt.scatter(Mpoints[0], Mpoints[1])
+ lane_distance = detectDepartureNew(Mpoints)
+ lane_status(lane_distance)
- detectDeparture(Lpoints, 310, Rpoints)
+ else:
+ print("No midpoint calculated")
+ # plt.scatter(310, 300)
- plt.pause(.001)
+ #plt.imshow(frame, zorder=0)
+ #plt.pause(.001)
lane = applyLines(frame, lines)
- cv2.imshow("edges", wEdges)
- cv2.imshow("cropped", cropped)
+ # cv2.imshow("edges", wEdges)
+ # cv2.imshow("cropped", cropped)
cv2.imshow("frame", lane)
- key = cv2.waitKey(25)
+ key = cv2.waitKey(1)
if key == 27:
break
+
video.release()
-cv2.destroyAllWindows()
\ No newline at end of file
+cv2.destroyAllWindows()
diff --git a/Robot_Development/catkin_ws/src/lane_detection/src/detect_old.py b/Robot_Development/catkin_ws/src/lane_detection/src/detect_old.py
new file mode 100755
index 0000000000000000000000000000000000000000..032a84c800d13ce16c4e82cab8681da75261f8c4
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_detection/src/detect_old.py
@@ -0,0 +1,282 @@
+ #!/usr/bin/python2
+
+import numpy as np
+#import rospy
+import matplotlib.pyplot as plt
+import cv2
+
+from imutils.video import WebcamVideoStream
+from imutils.video import FPS
+#from std_msgs.msg import String
+#from std_msgs.msg import Float64
+
+#pub = rospy.Publisher('lane_status', String, queue_size=10)
+#rospy.init_node('lane_status')
+#rate = rospy.Rate(100) # 100hz
+width = 325
+
+# Converts picture to grayscale and applies filter to picture
+# param`s
+# pic : a numpy array of pixel values to represent a picture
+def formatImg(pic):
+ # Convert picture to gray scale
+ gray = cv2.cvtColor(pic, cv2.COLOR_BGR2GRAY)
+
+ # Apply filter to image
+ img_filter = cv2.GaussianBlur(gray, (5, 5), 0)
+
+ return img_filter
+
+
+# pre-processes and performs edge detection on an image
+# params
+# pic: a numpy array of pixel values for an image in gray scale
+def detect_edge(pic):
+ # Perform canny edge detection
+ img_edge = cv2.Canny(pic, 50, 150)
+
+ # return new edge image
+ return img_edge
+
+
+# Define the region of in which the lanes will be in the cameras view
+# params
+# pic: original image to apply the pre-set region of interest too
+def ROI(pic):
+ height = pic.shape[0]
+ triangle = np.array([[(0, height), (650, height), (325, 100)]])
+ mask = np.zeros_like(pic)
+ cv2.fillPoly(mask, triangle, 255)
+ roi = cv2.bitwise_and(pic, mask)
+ return roi
+
+
+# Define the region of in which the lanes will be in the cameras view
+# params
+# pic: original image to apply the pre-set region of interest too
+def ROI_real(pic):
+ height = pic.shape[0]
+ triangle = np.array([[(0, height), (145, 300), (475, 300), (600, height)]])
+ mask = np.zeros_like(pic)
+ cv2.fillPoly(mask, triangle, 255)
+ roi = cv2.bitwise_and(pic, mask)
+ return roi
+
+
+# Get all possible HoughLines and return them
+# params
+# edge_pic: the image with the edge detection performed
+def getLines(edge_pic):
+ return cv2.HoughLinesP(edge_pic, 1, np.pi / 180, 100, maxLineGap=80, minLineLength=20)
+
+
+# Apply the passed in lines the the original picture
+# params
+# original_pic:
+# lines: Array of lines in the form (x1, x2, y1, y2)
+def applyLines(original_pic, lines):
+ # If there is no lines return the original photo
+ if lines is None:
+ return original_pic
+
+# print("Frame lines")
+# print(lines)
+
+# lines = lines[0]
+ # Loop through all possible lines
+ for line in lines:
+
+ # parse the array to individual variables
+ x1, y1, x2, y2 = line.reshape(4)
+
+ # Draw the lines on the original picture
+ cv2.line(original_pic, (x1, y1), (x2, y2), (255, 0, 0), 3)
+
+ # return the original picture with the lines drawn on
+ return original_pic
+
+
+# Find the two average lines given the set of lines
+# params
+# pic: the original image
+# lines: An array of lines in the form (x1, x2, y1, y2)
+def find_poly_lane(pic, lines):
+ # Collections for the negative and positive sloped lines
+ left_lines_points = [[], []] # Negative slope
+ right_lines_points = [[], []] # Positive slope
+
+# print("poly")
+# print(lines)
+
+ # lines = lines[0]
+ for line in lines:
+ print("Averaged line")
+ print(line)
+ x1, y1, x2, y2 = line.reshape(4)
+ parameters = np.polyfit((x1, x2), (y1, y2), 1)
+ # print("Slope, intercept")
+ # print(parameters)
+ slope = parameters[0]
+ intercept = parameters[1]
+
+ if (slope < 1 and slope > -1):
+ print("Line ignored");
+ x = 1
+
+ elif (slope < 0):
+ print("left insert")
+ left_lines_points[0].append(x1)
+ left_lines_points[0].append(x2)
+ left_lines_points[1].append(y1)
+ left_lines_points[1].append(y2)
+
+ else:
+ print("right insert")
+ right_lines_points[0].append(x1)
+ right_lines_points[0].append(x2)
+ right_lines_points[1].append(y1)
+ right_lines_points[1].append(y2)
+
+ if right_lines_points[0]:
+ z = np.polyfit(right_lines_points[0], right_lines_points[1], 1)
+ f = np.poly1d(z)
+
+ right_x_new = np.linspace(np.amin(right_lines_points[0]), np.amax(right_lines_points[0]), 150)
+ right_y_new = f(right_x_new)
+
+ else:
+ right_x_new = []
+ right_y_new = []
+
+ if left_lines_points[0]:
+ z = np.polyfit(left_lines_points[0], left_lines_points[1], 1)
+ f = np.poly1d(z)
+
+ left_x_new = np.linspace(np.amin(left_lines_points[0]), np.amax(left_lines_points[0]), 150)
+ left_y_new = f(left_x_new)
+
+ else:
+ left_x_new = []
+ left_y_new = []
+
+ return [right_x_new, right_y_new], [left_x_new, left_y_new]
+
+def make_coordinates(image, line_parameters):
+ slope, intercept = line_parameters
+ y1 = image.shape[0]
+ y2 = int(y1 * (1 / 2))
+ x1 = int((y1 - intercept) / slope)
+ x2 = int((y2 - intercept) / slope)
+ return np.array([x1, y1, x2, y2])
+
+
+def detectDeparture(left, car, right):
+ a = 9999999
+ b = 999999
+
+ try:
+ parametersLeft = np.polyfit((left[0][0], left[0][-1]), (left[1][0], left[1][-1]), 1)
+ leftEq = np.poly1d(parametersLeft)
+ leftPosition = (310 - parametersLeft[1]) / parametersLeft[0]
+ a = car - leftPosition
+ left_lane = 1
+
+ except IndexError:
+ print("Left lane does not exist")
+ left_lane = 0
+ try:
+ parametersRight = np.polyfit((right[0][0], right[0][-1]), (right[1][0], right[1][-1]), 1)
+ rightEq = np.poly1d(parametersRight)
+ rightPosition = (310 - parametersRight[1]) / parametersRight[0]
+ b = rightPosition - car
+ right_lane = 1
+
+ except IndexError:
+ print("Right lane does not exist")
+ right_lane = 0
+ area = width / 4
+
+ #print("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
+ if left_lane == 0 and right_lane == 0:
+ direction = "No lane detected"
+ print("No lanes detected")
+ elif (area > a):
+ direction = "Drift Left"
+ print("Drift left")
+ elif (area > b):
+ direction = "Drift Right"
+ print("Drift right")
+ else:
+ direction = "On Course"
+ print("On course")
+ #print("~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~")
+ return direction
+
+def lane_status(direction):
+ rospy.loginfo(direction)
+ pub.publish(direction)
+ rate.sleep()
+
+
+# For debugging purposes
+# Displays lanes on video feed
+plt.ion()
+
+# Threaded frame capture object
+video = WebcamVideoStream(src=1).start()
+
+# Run until robot is shut down
+#while not rospy.is_shutdown():
+
+while True:
+
+ # Get video frame
+ frame = video.read()
+
+ # Get the edge detection
+ frame_edge = detect_edge(frame)
+
+ new_img = formatImg(frame)
+
+ wEdges = detect_edge(new_img)
+
+ cropped = ROI_real(wEdges)
+
+ lines = getLines(cropped)
+
+ if lines is None:
+ x = 0
+
+ else:
+ Rpoints, Lpoints = find_poly_lane(new_img, lines)
+
+ # plt.cla()
+# plt.clf()
+
+ # plt.scatter(Rpoints[0], Rpoints[1])
+ # plt.scatter(Lpoints[0], Lpoints[1])
+
+ # plt.scatter(310, 400)
+
+ # plt.imshow(frame, zorder=0)
+
+ direction = detectDeparture(Lpoints, 400, Rpoints)
+# lane_status(direction)
+# plt.pause(.001)
+
+ lane = applyLines(frame, lines)
+
+ # Display edge detection
+ #cv2.imshow("edges", wEdges)
+
+ # Display cropped edge detection
+ #cv2.imshow("cropped", cropped)
+
+ # Show original image with all lines detected
+ cv2.imshow("frame", lane)
+
+ key = cv2.waitKey(20)
+ if key == 27:
+ break
+video.release()
+v2.destroyAllWindows()
diff --git a/Robot_Development/catkin_ws/src/lane_detection/src/roi.py b/Robot_Development/catkin_ws/src/lane_detection/src/roi.py
new file mode 100644
index 0000000000000000000000000000000000000000..ea7102918a75e58c4b587b10446877d6a6d07073
--- /dev/null
+++ b/Robot_Development/catkin_ws/src/lane_detection/src/roi.py
@@ -0,0 +1,19 @@
+import matplotlib.pyplot as plt
+import cv2
+
+video = cv2.VideoCapture(1)
+
+plt.ion
+
+while True:
+ ret, frame = video.read()
+
+ key = cv2.waitKey(25)
+ if key == 27:
+ break
+
+ plt.imshow(frame, zorder=0)
+ plt.pause(.001)
+
+video.release()
+cv2.destroyAllWindows()
diff --git a/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch b/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
index 59f4395d5b19c7d344cc5e08afe676bfbfba4bfc..6c064f3d8c5587de05933f7150aa9813c6eb75d9 100644
--- a/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
+++ b/Robot_Development/catkin_ws/src/rosjet/jet_bringup/launch/jet_real.launch
@@ -4,8 +4,8 @@
<include file="$(find jet_serial)/launch/jet_serial.launch" />
<node pkg="joy" type="joy_node" name="joy_node">
- <param name="dev" value="/dev/input/js0" />
- <param name="deadzone" value="0.3" />
+ <param name="dev" value="/dev/input/js4" />
+ <param name="deadzone" value="0.2" />
<param name="autorepeat_rate" value="20" />
</node>
@@ -13,23 +13,15 @@
<param name="axis_linear" value="1" />
<param name="axis_angular" value="0" />
<param name="scale_linear" value="1" />
- <param name="scale_angular" value="2.5" />
+ <param name="scale_angular" value="-2.5" />
</node>
-<!--
- <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
- <param name="video_device" value="/dev/video1" />
- <param name="image_width" value="800" />
- <param name="image_height" value="600" />
- <param name="pixel_format" value="mjpg" />
- <param name="camera_frame_id" value="usb_cam" />
- <param name="io_method" value="mmap"/>
- </node>
--->
+
<include file="$(find jet_description)/launch/jet_upload.launch"/>
<include file="$(find jet_control)/launch/jet_control.launch"/>
<include file="$(find jet_driver)/launch/jet_driver.launch"/>
- <include file="$(find lane_detection)/launch/lane_detection.launch"/>
+ <include file="$(find lane_detection)/launch/lane_detection.launch"/>
+
</launch>