redesigned the whole project

CMakeLists.txt

@@ -0,0 +1 @@
+/opt/ros/indigo/share/catkin/cmake/toplevel.cmake

Readme.md

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+To confirm if everthing is working correctly:
+
+copy cs_merge folder in your catkin_ws/src
+goto catkin_ws
+run catkin_make
+
+extract bags.tar.gz
+
+open cs_merge.launch with your favorite editor
+	adjust the argument "path" to wherever you put the bags folder (don't forget the / at the end)
+
+change ROS_NAMESPACE to /apollon
+	to do this, you can run "gedit ~/.bashrc" and add "export ROS_NAMESPACE=/apollon" at the end.
+	make sure to relaunch your terminal after this
+
+now you should be set. Go to wherever you put the cs_merge.launch and run "roslaunch cs_merge.launch"
+
+
+What you should see:
+
+After all the nodes have been started, the Controller node will cycle through the following steps:
+
+1. Update the maps: listen for the map topics of the different agents and save the current map. Via the update_timeout parameter, you can specify how long the node should wait for each map topic to appear before continuing without it.
+
+2. Update transformations: Using the method node specified, the best possible transformations between the agents and own map are calculated.
+
+3. Build world: using the transformations, the maps are merged into one "world" map. This doesn't happen if the own map isn't available.
+
+4. The resulting "world" is published.
+
+
+
+Use cs_merge.launch as a template to set parameters and launch the different nodes.
+
+Parameters:
+
+agents: namespaces of other agents. The Controller will look for maps under "/otheragent/map"
+merging_method: name of the merging method service to be used. As of now, only cs_merge_icp_svd is available. If you write your own merging method, put the name of the service here.
+update_timeout: if a map hasn't been received after X seconds, the node will continue without it (and, if available, use an old map).
+
+Method specific parameters:
+
+ransac_fraction: % of points to be used. 0 = 0%, 1 = 100%.
+repetitions: perfom icp multiple times. Every time, new points are picked randomly.
+starting_positions_amnt: Since icp depends highly on the starting position, once the point cloud centers are overlayed, one map is rotated in 360°/starting_positions_amnt steps in order to get different starting positions.
+
+

cs_merge.launch

@@ -1,14 +1,21 @@
 <launch>
 
-  <node pkg="rospy_tutorials" type="talker" name="talker">
-    <!-- set a private parameter for the node -->
-    <param name="agents" value="a value" />
-  </node>
-
-  <arg name="path" default="/home/christian/Projekte/ros/merge/" />
-  <arg name="file_1" default="apollon_bag1/apollon_ecke" />
-  <arg name="file_2" default="boreas_bag1/boreas_ecke" />
-  <node pkg="rosbag" type="play" name="player1" output="screen" args="--clock $(arg path)$(arg file_1).bag"/>
-  <node pkg="rosbag" type="play" name="player2" output="screen" args="--clock $(arg path)$(arg file_2).bag"/>
+	<rosparam param="agents">["boreas", "chronos"]</rosparam>
+
+	<rosparam param="merging_method">"cs_merge_icp_svd"</rosparam>
+
+	<rosparam param="ransac_fraction">.2</rosparam>
+  <rosparam param="repetitions">20</rosparam>
+	<rosparam param="starting_positions_amnt">36</rosparam>
+
+	<node pkg="cs_merge_icp_svd" type="cs_merge_icp_svd" name="icp_svd" output="screen"/>
+
+  <node pkg="cs_merge_controller" type="cs_merge_controller" name="merge_controller" output="screen"/>
+
+	<arg name="path" default="/home/pathto/bags/" />
+	<arg name="file_1" default="apollon_corner" />
+	<arg name="file_2" default="boreas_corner" />
+	<node pkg="rosbag" type="play" name="player1" args="--clock $(arg path)$(arg file_1).bag"/>
+	<node pkg="rosbag" type="play" name="player2" args="--clock $(arg path)$(arg file_2).bag"/>
 
 </launch>

cs_merge/cs_merge/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(cs_merge)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES cs_merge
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+
+## Declare a C++ library
+# add_library(cs_merge
+#   src/${PROJECT_NAME}/cs_merge.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(cs_merge ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(cs_merge_node src/cs_merge_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(cs_merge_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(cs_merge_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS cs_merge cs_merge_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_cs_merge.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

cs_merge/cs_merge/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>cs_merge</name>
+  <version>0.0.0</version>
+  <description>The cs_merge stack</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">ros</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/cs_merge</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+	<run_depend>cs_merge_msgs</run_depend>
+	<run_depend>cs_merge_controller</run_depend>
+	<run_depend>cs_merge_methods</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

cs_merge/cs_merge/package.xml~

@@ -0,0 +1,53 @@
+<?xml version="1.0"?>
+<package>
+  <name>cs_merge</name>
+  <version>0.0.0</version>
+  <description>The cs_merge package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">ros</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/cs_merge</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+	<run_depend>cs_merge_msgs</run_depend>
+	<run_depend>cs_merge_controller</run_depend>
+	<run_depend>cs_merge_methods</run_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>