add rikirobotproject

catkin_ws/src/rikirobot_project/README.md

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+#### This is rikirobot project
+* rikirobot 2 wheel project
+* rikirobot 4 wheel project

catkin_ws/src/rikirobot_project/frontier_exploration/.travis.yml

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+# This config file for Travis CI utilizes ros-industrial/industrial_ci package.
+# For more info for the package, see https://github.com/ros-industrial/industrial_ci/blob/master/README.rst
+sudo: required 
+dist: trusty 
+services:
+  - docker
+language: generic 
+compiler:
+  - gcc
+notifications:
+  email:
+    recipients:
+      - [email protected]
+env:
+  global:
+    - ROS_PARALLEL_JOBS=-j1
+    - ROS_PARALLEL_TEST_JOBS=-j1
+  matrix:
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu USE_DEB=true
+    - ROS_DISTRO="indigo" ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true
+    - ROS_DISTRO="indigo"   PRERELEASE=true
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
+    - ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true
+    - ROS_DISTRO="kinetic"
+matrix:
+  allow_failures:
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros/ubuntu  USE_DEB=true
+    - env: ROS_DISTRO="jade"   ROS_REPOSITORY_PATH=http://packages.ros.org/ros-shadow-fixed/ubuntu  USE_DEB=true
+    - env: ROS_DISTRO="kinetic"
+before_script:
+  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
+script:
+  - source .ci_config/travis.sh
+#  - source ./travis.sh  # Enable this when you have a package-local script 

catkin_ws/src/rikirobot_project/frontier_exploration/CHANGELOG.rst

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+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package frontier_exploration
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.3.1 (2016-10-26)
+------------------
+* Update to BSD license
+* Update LICENSE
+* [Travis config] Use Ubuntu 14.04 and test ROS I+
+* fixed wrong order of footprint coordinates (was hourglass shape)
+* Contributors: Achim Krauch, Isaac I.Y. Saito, Paul Bovbel
+
+0.3.0 (2015-05-04)
+------------------
+* adjust costmap lock to new interface
+* Contributors: Michael Görner
+
+0.2.5 (2015-04-08)
+------------------
+* Remove lazy initialization
+* Contributors: Paul Bovbel
+
+0.2.4 (2015-04-08)
+------------------
+* Fix compiler optimization issue where perimeter is always 0
+* Allow empty polygon goals for unbounded exploration
+* Contributors: Paul Bovbel
+
+0.2.3 (2015-02-23)
+------------------
+* Improve explore client user feedback
+* removed common_msgs depency
+  since depending on metapackages is deprecated and all needed subpackages are included anyways
+* Add travis builds
+* Contributors: Henning Deeken, Paul Bovbel
+
+0.2.2 (2014-09-13)
+------------------
+* clean up conditionals and comments for more logical flow
+* switch to shared from raw ptr
+* Contributors: Paul Bovbel
+
+0.2.1 (2014-04-15)
+------------------
+* Update example launch files
+* Update package.xml
+* Contributors: Paul Bovbel
+
+0.2.0 (2014-04-04)
+------------------
+* rename test file
+* add more costmap_tools tests
+* refactor with frontier_search strategy object
+* remove calls to parent costmap instance
+* refactored to raii
+* fix gmapping compatibility using new "explore_clear_space" parameter
+* Contributors: Paul Bovbel
+
+0.1.9 (2014-04-02)
+------------------
+* fix regression
+* refactor for testing
+* fix stuck movement with 0 frequency
+* new launch file examples
+* Contributors: Paul Bovbel
+
+0.1.8 (2014-03-28)
+------------------
+* revert launch file to general form
+* document helper functions
+* Contributors: Paul Bovbel
+
+0.1.4 (2014-03-27)
+------------------
+* fix properly transforming robot position into goal frame
+* Contributors: Paul Bovbel
+
+0.1.3 (2014-03-27)
+------------------
+* revert redundant dependency
+* Contributors: Paul Bovbel
+
+0.1.2 (2014-03-27)
+------------------
+* fix message dependencies
+* fix goal aliasing corner case
+* fix empty frame name
+* Update README.md
+* accomodate for empty boundaries
+* parametrize goal aliasing for redundant move base goals
+* Contributors: Paul Bovbel
+
+0.1.1 (2014-03-26)
+------------------
+* fix build dependency
+* eliminate redundant move_base goal updates, fix locking
+* externalize static for geometric calculations
+* refactor action server with callbacks
+* fix pre-emption with continuous goal updating
+* implement continuous frontier/goal updating
+* Contributors: Paul Bovbel
+
+0.1.0 (2014-03-25)
+------------------
+* added install target for client
+* Contributors: Paul Bovbel
+
+0.0.4 (2014-03-25)
+------------------
+* remove robot specific names
+* remove raytrace and obstacle range params
+* reintroduce frontier selection parametrization
+* added client for rviz interaction via point tool
+* Contributors: Paul Bovbel
+
+0.0.3 (2014-03-25)
+------------------
+* parametrize method of selecting frontier point to travel to
+* use ros msg for Frontier structure
+* remove unnecessary costmap copying
+* remove debug messages, update comments
+* update package name
+* Contributors: Paul Bovbel
+
+0.0.2 (2014-03-21)
+------------------
+* fix locking issue
+* rename package
+* update dependencies
+* move sample parameters to launch file
+* remove temp files
+* refactoring
+* fix off-map error and add costmap locking
+* added resize parameter for working with external maps
+* refactor message fields
+* refactored message names
+* add resize parameter for using layer with external maps
+* refactor names
+* remove even more debug code
+* remove debug code
+* remove debug points
+* Updated maintainer info
+* Update documentation and comments
+* move test portion
+* refactor for pre-emption
+* clean up temp files
+* expanded comments, cleaned up temp files
+* Initial documentation
+* Initial commit
+* Contributors: Paul Bovbel

catkin_ws/src/rikirobot_project/frontier_exploration/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(frontier_exploration)
+
+find_package(catkin REQUIRED COMPONENTS
+  costmap_2d
+  dynamic_reconfigure
+  move_base_msgs
+  geometry_msgs
+  roscpp
+  std_msgs
+  tf
+  actionlib
+  actionlib_msgs
+  visualization_msgs
+  message_generation
+)
+
+find_package(Boost REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
+
+add_message_files(
+  FILES
+  Frontier.msg
+)
+
+add_service_files(
+  FILES
+  UpdateBoundaryPolygon.srv
+  GetNextFrontier.srv
+)
+
+add_action_files(
+  FILES
+  ExploreTask.action
+)
+
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs std_msgs  actionlib_msgs move_base_msgs visualization_msgs
+)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES explore_costmap
+  CATKIN_DEPENDS
+    costmap_2d
+    dynamic_reconfigure
+    geometry_msgs
+    roscpp
+    tf
+    actionlib
+  DEPENDS
+    PCL
+    Boost
+)
+
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+
+add_library(explore_costmap plugins/bounded_explore_layer.cpp src/frontier_search.cpp)
+target_link_libraries(explore_costmap ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES})
+add_dependencies(explore_costmap ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+add_executable(explore_server src/explore_server.cpp)
+target_link_libraries(explore_server ${catkin_LIBRARIES})
+add_dependencies(explore_server ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+add_executable(explore_client src/explore_client.cpp)
+target_link_libraries(explore_client ${catkin_LIBRARIES})
+add_dependencies(explore_client ${PROJECT_NAME}_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+if(CATKIN_ENABLE_TESTING)
+  # Find package test dependencies
+  find_package(rostest REQUIRED)
+  find_package(gtest)
+
+
+  # Add the test folder to the include directories
+  include_directories(src/test)
+
+  include_directories(${GTEST_INCLUDE_DIRS})
+  link_directories(${GTEST_LIBRARY_DIRS})
+
+  catkin_add_gtest(frontier_search_tests src/test/frontier_search_tests.cpp)
+  target_link_libraries(frontier_search_tests explore_costmap)
+
+  catkin_add_gtest(geometry_tools_tests src/test/geometry_tools_tests.cpp)
+  target_link_libraries(geometry_tools_tests explore_costmap)
+
+  catkin_add_gtest(costmap_tools_tests src/test/costmap_tools_tests.cpp)
+  target_link_libraries(costmap_tools_tests explore_costmap)
+
+endif()
+
+install(TARGETS explore_server explore_client
+        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(TARGETS explore_costmap
+        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+        PATTERN ".svn" EXCLUDE)
+
+install(DIRECTORY launch/
+        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+        PATTERN ".svn" EXCLUDE)
+
+install(FILES costmap_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

catkin_ws/src/rikirobot_project/frontier_exploration/LICENSE

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+Copyright (c) 2016, Paul Bovbel
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the frontier_exploration nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL PAUL BOVBEL BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

catkin_ws/src/rikirobot_project/frontier_exploration/README.md

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+frontier_exploration ![asdf](https://travis-ci.org/paulbovbel/frontier_exploration.svg?branch=hydro-devel)
+====================
+
+
+
+Implementation of frontier exploration (http://www.robotfrontier.com/papers/cira97.pdf) for ROS, extending on the existing navigation stack (costmap_2d, move_base).
+
+Wiki: http://wiki.ros.org/frontier_exploration
+
+API Doc: http://docs.ros.org/hydro/api/frontier_exploration/html/annotated.html
+
+Video:
+
+[![Demo Video](http://img.youtube.com/vi/3W1ufJ7rpCA/0.jpg)](https://www.youtube.com/watch?v=3W1ufJ7rpCA)

catkin_ws/src/rikirobot_project/frontier_exploration/action/ExploreTask.action

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+#Boundary for frontier exploration
+geometry_msgs/PolygonStamped explore_boundary
+#Center point for frontier exploration, inside explore_boundary
+geometry_msgs/PointStamped explore_center
+---
+---
+#Current target frontier to explore
+geometry_msgs/PoseStamped next_frontier
+#Current position of robot
+geometry_msgs/PoseStamped base_position

catkin_ws/src/rikirobot_project/frontier_exploration/costmap_plugins.xml

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+<class_libraries>
+  <library path="lib/libexplore_costmap">
+    <class type="frontier_exploration::BoundedExploreLayer" base_class_type="costmap_2d::Layer">
+      <description>Demo Layer that marks all points that were ever one meter in front of the robot</description>
+    </class>
+  </library>
+</class_libraries>