Ego estimator

.gitmodules

@@ -0,0 +1,33 @@
+[submodule "modules/drive_ros_mavlink_CC2016"]
+	path = modules/drive_ros_mavlink_cc2016
+	url = https://github.com/tum-phoenix/drive_ros_mavlink_CC2016
+[submodule "modules/drive_ros_msgs"]
+	path = modules/drive_ros_msgs
+	url = https://github.com/tum-phoenix/drive_ros_msgs
+[submodule "modules/drive_ros_mavlink_device"]
+	path = modules/drive_ros_mavlink_device
+	url = https://github.com/tum-phoenix/drive_ros_mavlink_device
+[submodule "modules/drive_ros_mavlink_test"]
+	path = modules/drive_ros_mavlink_test
+	url = https://github.com/tum-phoenix/drive_ros_mavlink_test
+[submodule "lib/kalman"]
+	path = lib/kalman
+	url = https://github.com/tum-phoenix/kalman
+[submodule "modules/drive_ros_cc2017_car"]
+	path = modules/drive_ros_cc2017_car
+	url = https://github.com/tum-phoenix/drive_ros_cc2017_car
+[submodule "modules/drive_ros_imu_filter"]
+	path = modules/drive_ros_imu_filter
+	url = https://github.com/tum-phoenix/drive_ros_imu_filter
+[submodule "modules/drive_ros_localize_wheel_odometry"]
+	path = modules/drive_ros_localize_wheel_odometry
+	url = https://github.com/tum-phoenix/drive_ros_localize_wheel_odometry
+[submodule "modules/drive_ros_localize_visual_odometry"]
+	path = modules/drive_ros_localize_visual_odometry
+	url = https://github.com/tum-phoenix/drive_ros_localize_visual_odometry
+[submodule "modules/drive_ros_localize_odom_fusion"]
+	path = modules/drive_ros_localize_odom_fusion
+	url = https://github.com/tum-phoenix/drive_ros_localize_odom_fusion
+[submodule "modules/drive_ros_localize_inertial_navigation_system"]
+	path = modules/drive_ros_localize_inertial_navigation_system
+	url = https://github.com/tum-phoenix/drive_ros_localize_inertial_navigation_system

.travis.yml

@@ -1,3 +1,4 @@
+
 sudo: required
 
 language: cpp
@@ -11,16 +12,17 @@ env:
     - ros_release: kinetic
     - ubuntu_version: xenial
     - docker_image: "shadowrobot/build-tools:$ubuntu_version-$ros_release"
-    - used_modules: check_build #check_cache,code_style_check,check_deb_make,codecov_tool
+    - used_modules: check_build,software_tests #check_cache,code_style_check,check_deb_make,codecov_tool
+    # available modules: https://github.com/shadow-robot/sr-build-tools/blob/master/ansible/roles/ci/doc/modules.md
 
 before_install:
   # pull docker image from shadowrobot
   - docker pull $docker_image
-  
+
 script:
 # run docker image from shadowrobot in ansible working directory and and with travis build dir as mounted volume
 # bash command to run in docker container consists of
-#   - download ximea drivers  
+#   - download ximea drivers
 #   - extract ximea drivers
 #   - remove udevadm command in ximea install script (because it does not work in the docker container)
 #   - auto approval of firewire camera warning in ximea install script
@@ -31,16 +33,16 @@ script:
 
   - >
       docker run -w "/home/user/sr-build-tools/ansible" -v $TRAVIS_BUILD_DIR:/host$TRAVIS_BUILD_DIR
-      $docker_image 
+      $docker_image
       bash -c "
-               wget http://www.ximea.com/downloads/recent/XIMEA_Linux_SP.tgz &&
+               wget -q http://www.ximea.com/downloads/recent/XIMEA_Linux_SP.tgz &&
                tar xzf XIMEA_Linux_SP.tgz &&
                cd package &&
                sed -i -e 's/udevadm control --reload/echo removed command/g' scripts/install_steps &&
                sed -i -e 's/read choice/echo automatic approval/g' scripts/install_steps &&
                ./install &&
                cd .. &&
-               git pull && 
+               git pull &&
                git checkout $toolset_branch &&
-               sudo PYTHONUNBUFFERED=1 ansible-playbook -v -i \"localhost,\" -c local docker_site.yml --tags \"travis,$used_modules\" -e \"travis_repo_dir=/host$TRAVIS_BUILD_DIR  travis_is_pull_request=$TRAVIS_PULL_REQUEST ros_release=$ros_release ubuntu_version=$ubuntu_version\"
-              " 
+               sudo PYTHONUNBUFFERED=1 ansible-playbook -v -i \"localhost,\" -c local docker_site.yml --tags \"travis,$used_modules\" -e \"travis_repo_dir=/host$TRAVIS_BUILD_DIR travis_is_pull_request=$TRAVIS_PULL_REQUEST ros_release=$ros_release ubuntu_version=$ubuntu_version\"
+              "

launch/ego_estimator.launch

@@ -0,0 +1,12 @@
+<launch>
+
+    <!-- vehicle name e.g. cc2017_car -->
+    <arg name="vehicle" value="cc2017_car"/>
+
+    <!--- Mavlink Nodes -->
+    <include file="$(find drive_ros_mavlink_cc2016)/launch/mavlink_CC2016.launch" ns="mavlink" />
+
+    <!-- Vehicle specific -->
+    <include file="$(find drive_ros_cc2017_car)/launch/tf_pub.launch" />
+
+</launch>