update some format

HANDS-FREE · Feb 16, 2020 · db1d424 · db1d424
1 parent 441cebd
commit db1d424
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diff --git a/...ree_bringup/script/rosbag_topic_patrol.sh → Dataset/script/rosbag_topic_patrol.sh b/...ree_bringup/script/rosbag_topic_patrol.sh → Dataset/script/rosbag_topic_patrol.sh
diff --git a/...ringup/script/rosbag_topic_with_kinect.sh → Dataset/script/rosbag_topic_with_kinect.sh b/...ringup/script/rosbag_topic_with_kinect.sh → Dataset/script/rosbag_topic_with_kinect.sh
diff --git a/...bringup/script/rosbag_topic_with_xtion.sh → Dataset/script/rosbag_topic_with_xtion.sh b/...bringup/script/rosbag_topic_with_xtion.sh → Dataset/script/rosbag_topic_with_xtion.sh
diff --git a/Documentation/auto_install_all_ubuntu14.04.sh b/Documentation/auto_install_all_ubuntu14.04.sh
@@ -43,12 +43,8 @@ source ~/.bashrc
 echo HandsFree 相关程序已经安装完毕
 echo 安装路径为：~/handsfree
 
-cd ~/handsfree/handsfree_ros_ws/src/handsfree/Documentation/script
-sudo cp ./handsfree-serial.rules /etc/udev/rules.d/
-sudo service udev reload
-sudo service udev restart
-
-sudo usermod -a -G dialout $USER
+echo 设置usb规则
+cd ~/handsfree/handsfree_ros_ws/src/handsfree/Documentation/
+bash set_usb_env.sh
 
 sudo cp /opt/ros/indigo/share/laser_filters/laser_filters_plugins.xml /opt/ros/indigo/share/laser_filters_jsk_patch/
-
diff --git a/Documentation/auto_install_all_ubuntu16.04.sh b/Documentation/auto_install_all_ubuntu16.04.sh
@@ -47,9 +47,6 @@ source ~/.bashrc
 echo HandsFree 相关程序已经安装完毕
 echo 安装路径为：~/handsfree
 
-cd ~/handsfree/handsfree_ros_ws/src/handsfree/Documentation/script
-sudo cp ./handsfree-serial.rules /etc/udev/rules.d/
-sudo service udev reload
-sudo service udev restart
-
-sudo usermod -a -G dialout $USER
+echo 设置usb规则
+cd ~/handsfree/handsfree_ros_ws/src/handsfree/Documentation/
+bash set_usb_env.sh
diff --git a/Documentation/orbbec/56-orbbec-usb.rules b/Documentation/orbbec/56-orbbec-usb.rules
@@ -0,0 +1,63 @@
+SUBSYSTEM=="usb", ATTR{idProduct}=="0401", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra" 
+SUBSYSTEM=="usb", ATTR{idProduct}=="0402", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0403", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_pro"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0404", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0407", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra_mini_s"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0501", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0502", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0504", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0505", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0508", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0509", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="050f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0510", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0511", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0512", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0513", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0514", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0515", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0516", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0517", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0518", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0519", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="051f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0520", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0604", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0605", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="super"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0606", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="luna"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0607", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="ado"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0608", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra d-u"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0609", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="p2"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="alien"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="deeyea"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astrauvc"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astra pro plus"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="060f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0610", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0611", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0612", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0613", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0614", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0615", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0616", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0617", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0618", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0619", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061a", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061b", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061c", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061d", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061e", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="061f", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
+SUBSYSTEM=="usb", ATTR{idProduct}=="0620", ATTR{idVendor}=="2bc5", MODE:="0666", OWNER:="root", GROUP:="video", SYMLINK+="astradepth"
diff --git a/Documentation/script/ros_indigo_base.sh b/Documentation/script/ros_indigo_base.sh
@@ -3,7 +3,7 @@
 install_command="sudo apt-get install -y"
 
 sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 sudo apt-get update
 $install_command ros-indigo-desktop-full
 sudo rosdep init

diff --git a/Documentation/script/ros_kinetic_base.sh b/Documentation/script/ros_kinetic_base.sh
@@ -3,7 +3,7 @@
 install_command="sudo apt-get install -y"
 
 sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
-sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
 sudo apt-get update
 $install_command ros-kinetic-desktop-full
 sudo rosdep init

diff --git a/Documentation/set_usb_env.sh b/Documentation/set_usb_env.sh
@@ -1,6 +1,7 @@
 #!/bin/bash
 
 sudo cp ./script/handsfree-serial.rules /etc/udev/rules.d/
+sudo cp ./orbbec/56-orbbec-usb.rules /etc/udev/rules.d/56-orbbec-usb.rules
 sudo service udev reload
 sudo service udev restart
 

diff --git a/handsfree_2dnav/CMakeLists.txt b/handsfree_2dnav/CMakeLists.txt
@@ -3,3 +3,9 @@ project(handsfree_2dnav)
 
 find_package(catkin REQUIRED)
 
+catkin_package()
+
+install(DIRECTORY launch map move_base_config rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/handsfree_ar_tags/CMakeLists.txt b/handsfree_ar_tags/CMakeLists.txt
@@ -5,3 +5,19 @@ project(handsfree_ar_tags)
 find_package(catkin REQUIRED)
 
 catkin_package()
+
+install(DIRECTORY config data launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(FILES ar_tags.rviz readme
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
+install(PROGRAMS
+  nodes/ar_follower.py
+  nodes/ar_tags_cog.py
+  nodes/head_tracker.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
diff --git a/handsfree_bringup/CMakeLists.txt b/handsfree_bringup/CMakeLists.txt
@@ -13,3 +13,7 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
+install(DIRECTORY demo driver robot_para rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/hokuyo/laser_filter_mallbot.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/hokuyo/laser_filter_mallbot.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/hokuyo/laser_filter_mallbot_v1.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/hokuyo/laser_filter_mallbot_v1.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/lslidar/laser_filter_mallbot.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/lslidar/laser_filter_mallbot.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/lslidar/laser_filter_mallbot_v1.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/lslidar/laser_filter_mallbot_v1.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/rplidar/laser_filter_mallbot.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/rplidar/laser_filter_mallbot.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/rplidar/laser_filter_mallbot_v1.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/rplidar/laser_filter_mallbot_v1.yaml
diff --git a/handsfree_bringup/robot_para/laser_filter_yaml/xtion/laser_filter_mallbot.yaml b/handsfree_bringup/robot_para/laser_filter_yaml/xtion/laser_filter_mallbot.yaml
diff --git a/handsfree_bringup/robot_para/laser_tf/mallbot_tf.xml b/handsfree_bringup/robot_para/laser_tf/mallbot_tf.xml
diff --git a/handsfree_bringup/robot_para/laser_tf/mallbot_v1_tf.xml b/handsfree_bringup/robot_para/laser_tf/mallbot_v1_tf.xml
diff --git a/handsfree_bringup/robot_para/velocity_smoother/mallbot_v1.yaml b/handsfree_bringup/robot_para/velocity_smoother/mallbot_v1.yaml
diff --git a/handsfree_camera/CMakeLists.txt b/handsfree_camera/CMakeLists.txt
@@ -6,3 +6,7 @@ find_package(catkin REQUIRED)
 
 catkin_package()
 
+install(DIRECTORY launch monocular rgb-d rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+