Merge pull request #7 from llDev-Rootll/development

End of Phase 2

.vscode/settings.json

@@ -0,0 +1,64 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "map": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "ratio": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    }
+}

CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(alm)
+
+add_compile_options(-std=c++11)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  actionlib
+  move_base_msgs
+  roscpp
+  tf2
+  tf2_ros
+  std_msgs
+)
+catkin_package()
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(mow src/LawnMower.cpp src/NavigationUtils.cpp)
+add_dependencies(mow ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(mow ${catkin_LIBRARIES})
+
+
+#Testing block for rostest
+if(CATKIN_ENABLE_TESTING)
+ find_package(rostest REQUIRED)
+  add_rostest_gtest(test_mow test/test.launch test/main.cpp)
+  target_link_libraries(test_mow ${catkin_LIBRARIES})
+  add_dependencies(mow test_mow ${catkin_EXPORTED_TARGETS})
+endif()

README.md

@@ -1,5 +1,7 @@
 
-# Autonomous Lawn Mower
+
+
+# Autonomous Lawn Mower - ALM
 [![Build Status](https://app.travis-ci.com/llDev-Rootll/Autonomous_Lawn_Mower.svg?branch=master)](https://app.travis-ci.com/llDev-Rootll/Autonomous_Lawn_Mower)
 [![Coverage Status](https://coveralls.io/repos/github/llDev-Rootll/Autonomous_Lawn_Mower/badge.svg?branch=master)](https://coveralls.io/github/llDev-Rootll/Autonomous_Lawn_Mower?branch=master)
 [![License: MIT](https://img.shields.io/badge/License-MIT-blue.svg)](https://opensource.org/licenses/MIT)
@@ -32,11 +34,49 @@ The sprint planning notes can be found [here](https://docs.google.com/document/d
 
 ## System Architecture 
 The following shows the activity diagram for our proposed schema : 
-<img alt="activity" src="assets/activity_diag.png" width="75%" />
+<img alt="activity" src="assets/activity_diag.png" width="50%" />
 
 *Fig 1 :  Activity Diagram*
 
 The corresponding class diagram can be found [here](https://github.com/llDev-Rootll/Autonomous_Lawn_Mower/blob/master/UML/initial/Mower_Class_Diagram.pdf).
+## Steps to install dependencies
+Run the following commands to install the dependencies required:
+
+Installing the ROS navigation stack:
+
+    sudo apt-get install ros-melodic-navigation
+Installing the turtlebot3 dependencies:
+
+    sudo apt-get install ros-melodic-turtlebot3 ros-melodic-turtlebot3-msgs ros-melodic-turtlebot3-navigation ros-melodic-turtlebot3-simulations 
+## Steps to install the ALM package
+
+  Make a catkin workspace catkin_ws and run the following commands :
+
+
+    cd <path_to_ws>/catkin_ws/src
+    git clone https://github.com/llDev-Rootll/beginner_tutorials.git
+    cd ../
+    catkin_make
+## Steps to run the simulation using the launch file
+In a terminal run :
+
+    source devel/setup.bash
+    roslaunch alm spawn.launch 
+This spawns the turtlebot3 simulation in the custom world environment on the green lawn.
+
+<img alt="world_gazebo" src="assets/world_gazebo.png" width="75%" />
+
+*Fig 1 : Spawn the robot in the world*
+
+In a terminal run the following to bring up the mowing routine node:
+
+    source devel/setup.bash
+    roslaunch alm mower.launch
+This executes the lawn mowing simulation and bring up rviz for visualization of the different parameters.
+
+<img alt="world_rviz" src="assets/world_rviz.png" width="75%" />
+
+*Fig 1 : RVIZ visualisation*
 
 ## Phase 1
 
@@ -45,4 +85,22 @@ The corresponding class diagram can be found [here](https://github.com/llDev-Roo
  - Quad chart, UMLs, Backlog Tables, and Sprint Planning sheet has been added.
 
  Please refer to the backlog table, [here](https://docs.google.com/spreadsheets/d/1WAa7oFD4pA2sujA1pLWYuytpL0tj46f_C2mvmyDHtKc/edit#gid=241005242), for an exhaustive list of tasks completed in Phase 1.
-
+## Phase 2
+
+ - The ROS package for autonomous lawn mowing was created
+ - The class structures were defined
+ - A new world to simulate our algoritm was created and mapped
+ - Major functions for waypoint navigation have been implemented
+ - A mock L shaped trajectory has been approximated for navigation
+ - UMLs have been revised
+ - Unit test case to check the quaternion conversion has been written
+ - Launch files to spawn the simulation, run the lawn mowing node and the unit tests have been written
+
+ Please refer to the backlog table, [here](https://docs.google.com/spreadsheets/d/1WAa7oFD4pA2sujA1pLWYuytpL0tj46f_C2mvmyDHtKc/edit#gid=241005242), for an exhaustive list of tasks completed in Phase 2.
+## To Do
+
+ - Implement a proper trajectory for optimal mowing of the lawn
+ - Implement remaining functions 
+ - Write unit tests for other modules
+ - Find alternative or best available method for running CI on travis and code coverage on coveralls
+

data/waypoints.txt

@@ -0,0 +1,4 @@
+0.5 0.5 0
+0.5 0.5 0
+0 0 90
+0.5 0.5 0