harmishhk

#!/bin/bash

CURRENT_DIR=$(pwd)

# add gazebo repo
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-latest.list' || { exit 1; }
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - || { exit 1; }
sudo apt-get update || { exit 1; }

# install dependencies

harmishhk

export ROS_IP=`ifconfig eth0 | grep 'inet addr' | awk -F: '{print $2}' | awk '{print $1}'`
if [ -z "$ROS_IP" ]; then
  export ROS_IP=`ifconfig wlan0 | grep 'inet addr' | awk -F: '{print $2}' | awk '{print $1}'`
fi
if [ -z "$ROS_IP" ]; then
	export ROS_IP="127.0.0.1"
fi

harmishhk

git filter-branch -f --env-filter '

an="$GIT_AUTHOR_NAME"
am="$GIT_AUTHOR_EMAIL"
cn="$GIT_COMMITTER_NAME"
cm="$GIT_COMMITTER_EMAIL"

if [ "$GIT_COMMITTER_EMAIL" = "[email protected]" ]
then
cn="author name"

harmishhk

using Gadfly

points = [100 112; 500 23.25; 1000 12.05; 2000 6.5; 3000 4.65; 4000 3.8; 5000 3.2; 6000 2.8; 7000 2.55; 8000 2.35; 9000 2.2; 10000 2.1; 11000 2.0; 12000 1.9]

p = plot(x=points[:,1], y=points[:,2], Geom.point)

velocities =  [100 0.044642857; 500 0.215053763; 1000 0.414937759; 2000 0.769230769; 3000 1.075268817; 4000 1.315789474; 5000 1.5625; 6000 1.785714286; 7000 1.960784314; 8000 2.127659574; 9000 2.272727273; 12000 2.631578947]

pv = plot(x=velocities[:,1], y=velocities[:,2], Geom.point)

harmishhk

using Gadfly
using Cairo

lin_vel = 0.3
ang_vel = -π/4

scale_setp = 0.2
time_step = 0.05

trajectories = Array(Float64, convert(Int32, 1/time_step),2,0)

harmishhk

using Gadfly
using Cairo

max_wheel_vel = 1.6
wheel_base = 0.78

calc_step = 0.01

arcs = Array(Float64, 0, 2)
data = Array(Float64, 0, 2)

harmishhk

using Gadfly
using Cairo

# generate scan data
angle_min = -1.5;
angle_max = 1.5;
angle_increment = 0.1;
ranges = [5.0, 5.0, 4.5, 4.0, 3.5, 3.0, 3.5, 4.0, 4.5, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 5.0, 4.5, 4.0, 3.5, 3.0, 3.5, 4.0, 4.5, 5.0]
# put a human
human = [1.5, 2.5]

harmishhk

# human-robot following graphs