Initial commit

.gitignore

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+.vscode
+build
+bin
+lib
+data

CMakeLists.txt

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+PROJECT(reference_car)
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+MESSAGE(STATUS "Compiling Reference Car Localization + Navigation")
+MESSAGE(STATUS "Using compiler: ${CMAKE_CXX_COMPILER}")
+MESSAGE(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
+MESSAGE(STATUS "Arch: ${CMAKE_SYSTEM_PROCESSOR}")
+
+SET(CMAKE_CXX_FLAGS "-std=c++11 -Wall -Werror")
+
+IF(${CMAKE_BUILD_TYPE} MATCHES "Release")
+  MESSAGE(STATUS "Additional Flags for Release mode")
+  SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -fopenmp -O2 -DNDEBUG")
+ELSEIF(${CMAKE_BUILD_TYPE} MATCHES "Debug")
+  MESSAGE(STATUS "Additional Flags for Debug mode")
+  SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -g")
+ENDIF()
+
+INCLUDE($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+ROSBUILD_INIT()
+SET(ROS_BUILD_STATIC_LIBS true)
+SET(ROS_BUILD_SHARED_LIBS false)
+
+MESSAGE(STATUS "ROS-Overrride Build Type: ${CMAKE_BUILD_TYPE}")
+MESSAGE(STATUS "CXX Flags: ${CMAKE_CXX_FLAGS}")
+
+SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+SET(libs roslib roscpp rosbag glog gflags amrl-shared-lib boost_system lua5.1
+    pthread)
+
+ADD_LIBRARY(shared_library
+            src/visualization/visualization.cc
+            src/vector_map/vector_map.cc)
+
+ADD_SUBDIRECTORY(src/shared)
+INCLUDE_DIRECTORIES(src/shared)
+INCLUDE_DIRECTORIES(src)
+
+ROSBUILD_ADD_EXECUTABLE(slam
+                        src/slam/slam_main.cc
+                        src/slam/slam.cc)
+TARGET_LINK_LIBRARIES(slam shared_library ${libs})
+
+
+ROSBUILD_ADD_EXECUTABLE(particle_filter
+                        src/particle_filter/particle_filter_main.cc
+                        src/particle_filter/particle_filter.cc)
+TARGET_LINK_LIBRARIES(particle_filter shared_library ${libs})
+
+ROSBUILD_ADD_EXECUTABLE(navigation
+                        src/navigation/navigation_main.cc
+                        src/navigation/navigation.cc)
+TARGET_LINK_LIBRARIES(navigation shared_library ${libs})
+
+ADD_EXECUTABLE(eigen_tutorial
+               src/eigen_tutorial.cc)
+
+ADD_EXECUTABLE(simple_queue_test
+               src/navigation/simple_queue_test.cc)

Makefile

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+# Clang is a good compiler to use during development due to its faster compile
+# times and more readable output.
+# C_compiler=/usr/bin/clang
+# CXX_compiler=/usr/bin/clang++
+
+# GCC is better for release mode due to the speed of its output, and its support
+# for OpenMP.
+C_compiler=/usr/bin/gcc
+CXX_compiler=/usr/bin/g++
+
+#acceptable build_types: Release/Debug/Profile
+build_type=Release
+# build_type=Debug
+
+.SILENT:
+
+all: build/CMakeLists.txt.copy
+	$(info Build_type is [${build_type}])
+	$(MAKE) --no-print-directory -C build
+
+# Sets the build type to Debug.
+set_debug:
+	$(eval build_type=Debug)
+
+# Ensures that the build type is debug before running all target.
+debug_all: | set_debug all
+
+clean:
+	rm -rf build bin lib
+
+build/CMakeLists.txt.copy: CMakeLists.txt Makefile
+	mkdir -p build
+	cd build && cmake -DCMAKE_BUILD_TYPE=$(build_type) \
+		-DCMAKE_CXX_COMPILER=$(CXX_compiler) \
+		-DCMAKE_C_COMPILER=$(C_compiler) ..
+	cp CMakeLists.txt build/CMakeLists.txt.copy

README.md

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+# cs393r_starter
+
+## Using this Repo
+You will be using a duplicate of this repo for all development in the class. This repo provides starter code for the ROS subscriptions, publishers and control loops you will be using.
+
+### Prerequisites
+
+Please refer to the [UT AUTOmata reference manual]() for instructions on setting up the dependencies:
+* [ROS](http://wiki.ros.org/ROS/Installation)
+* [amrl_msgs](https://github.com/ut-amrl/amrl_msgs)
+* [amrl_maps](https://github.com/ut-amrl/amrl_maps)
+* [ut_automata](https://github.com/ut-amrl/ut_automata)
+
+### Duplicate the Repo
+1. Make sure you're logged into your GitHub account.
+2. Create a new repo with the same name under your GitHub account. Dont initialize that with anything.
+3. `git clone <this repository url>` (found in the upper right)
+4. `cd <cloned_repo>`
+5. `git push --mirror <your new repository url>`
+
+### Clone and Build
+1. `git clone <your repository url>` (found in the upper right)
+2. After you have cloned the repo, add it to your ROS path by adding the following line to the end of `~/.bashrc`:   
+    ```
+    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:[Local path to your repo]
+    ```
+    For example:
+    ```
+    export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home/joydeepb/cs393r_starter
+    ```
+3. Reload `.bashrc` so that the path is updated:
+    ```
+    source ~/.bashrc
+    ```
+4. `cd <cloned_repo>`
+5. `make -j`
+
+### Code Overview
+There are three main executables: `navigation`, `particle_filter`, and `slam`. Each executable has a corresponding `.h` and `.cc` file that defines the class for the implementation. An associated `*_main.cc` file abstracts away ROS-specific details. For example, the `particle_filter` executable consists of three files:
+```
+src
+└── particle_filter
+    ├── particle_filter.cc
+    ├── particle_filter.h
+    └── particle_filter_main.cc
+```
+Every header file includes documentation in comments for the variables and subroutines.  
+The project compiles with [Eigen](https://eigen.tuxfamily.org/) for linear algebra and coordinate geometry, the [amrl_shared_lib](https://github.com/ut-amrl/amrl_shared_lib) for commonly used robotics subroutines, and a custom simple priority queue implementation. Some useful references on how to use the libraries:
+* See the included [`eigen_tutorial.cc`](src/eigen_tutorial.cc) file for example most common Eigen usage, and the [official Eigen tutorials](https://eigen.tuxfamily.org/dox/GettingStarted.html) for more extensive documentation.
+* See the included [`simple_queue_test.cc`](src/navigation/simple_queue_test.cc) for usage of the simple priority queue.
+
+### Running the Code
+Make sure you recompile your code between changes.
+* To run navigation:
+    ```
+    ./bin/navigation
+    ```
+* To run the particle filter:
+    ```
+    ./bin/particle_filter
+    ```
+* To run SLAM:
+    ```
+    ./bin/slam
+    ```

config/particle_filter.lua

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+map = "maps/GDC1.txt"
+init_x = 14.7
+init_y = 14.24
+init_r = 0

manifest.xml

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+<package>
+  <description brief="cs378_starter">
+
+    Starter code for cs378 Autonomous Driving
+
+  </description>
+  <name>cs378_starter</name>
+  <author>Joydeep Biswas</author>
+  <license>MIT</license>
+  <review status="unreviewed" notes=""/>
+  <url></url>
+  <depend package="std_msgs"/>
+  <depend package="nav_msgs"/>
+  <depend package="geometry_msgs"/>
+  <depend package="visualization_msgs"/>
+  <depend package="sensor_msgs"/>
+  <depend package="roscpp"/>
+  <depend package="rosbag"/>
+  <depend package="tf"/>
+  <depend package="ut_automata"/>
+  <depend package="amrl_msgs"/>
+
+</package>
+
+