name update

Author: HuaYuXiao

.gitignore

@@ -9,5 +9,8 @@ install_manifest.txt
 compile_commands.json
 CTestTestfile.cmake
 _deps
-.idea/
-cmake-build-debug/
+/cmake-build-*
+/build
+
+/.vscode
+/.idea

CMakeLists.txt

@@ -1,51 +1,41 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(apf_planner)
+cmake_minimum_required(VERSION 3.0.2)
+project(apf_local_planner)
 
 set(CMAKE_BUILD_TYPE "Release")
-set(CMAKE_CXX_FLAGS "-std=c++14")
+set(CMAKE_CXX_FLAGS "-std=c++17")
 set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
 
-set(CMAKE_PREFIX_PATH /opt/ros/noetic;/usr/local;$ENV{HOME}/Prometheus/devel/;$ENV{HOME}/planner_ws/devel;$ENV{HOME}/mapping_ws/devel;$ENV{HOME}/mapping_ws/devel_isolated;$ENV{HOME}/tool_ws/devel)
-message(STATUS "CMAKE_PREFIX_PATH: ${CMAKE_PREFIX_PATH}")
-
 find_package(Eigen3 REQUIRED)
 find_package(PCL 1.7 REQUIRED)
 find_package(catkin REQUIRED COMPONENTS
        roscpp
-       rospy
-       std_msgs
-	   sensor_msgs
-	   geometry_msgs
-	   nav_msgs
-       visualization_msgs
-	   prometheus_msgs
-          mavros_msgs
+       sensor_msgs
+       geometry_msgs
+       nav_msgs
+       mavros_msgs
 	)
 
 catkin_package(
        INCLUDE_DIRS include
-       LIBRARIES Local_Planning
        #  DEPENDS system_lib
 	)
 
 include_directories(
        SYSTEM
        include
-       ${PROJECT_SOURCE_DIR}/include
        ${catkin_INCLUDE_DIRS}
        ${Eigen3_INCLUDE_DIRS}
        ${PCL_INCLUDE_DIRS}
-		$ENV{HOME}/Prometheus/Modules/common/include
      )
 link_directories(${PCL_LIBRARY_DIRS})
 
-add_executable(local_planner_main 
+add_executable(apf_local_planner
 	src/planner_node.cpp
 	src/local_planning.cpp
 	src/apf.cpp
-)
+       )
 
-target_link_libraries(local_planner_main
+target_link_libraries(apf_local_planner
        ${catkin_LIBRARIES}
 	   ${PCL_LIBRARIES}
 	)

README.md

@@ -1,10 +1,10 @@
-# APF-Planner
+# apf_local_planner
 
-The apf_planner package, modified from [local_planner](https://github.com/amov-lab/Prometheus/tree/v1.1/Modules/planning/local_planner)
+The apf_local_planner package, modified from [local_planner](https://github.com/amov-lab/Prometheus/tree/v1.1/Modules/planning/local_planner)
 
 ![HitCount](https://img.shields.io/endpoint?url=https%3A%2F%2Fhits.dwyl.com%2FHuaYuXiao%2FAPF-Planner.json%3Fcolor%3Dpink)
 ![Static Badge](https://img.shields.io/badge/ROS-noetic-22314E?logo=ros)
-![Static Badge](https://img.shields.io/badge/C%2B%2B-14-00599C?logo=cplusplus)
+![Static Badge](https://img.shields.io/badge/C%2B%2B-17-00599C?logo=cplusplus)
 ![Static Badge](https://img.shields.io/badge/MATLAB-2023b-?logo=)
 ![Static Badge](https://img.shields.io/badge/Ubuntu-20.04.6-E95420?logo=ubuntu)
 
@@ -16,11 +16,11 @@ video on [bilibili](https://www.bilibili.com/video/BV1Lr421u7z9/)
 - v1.1.0: drone facing front while moving
 
 ```bash
-catkin_make install --source src/APF-Planner --build build/apf_planner
+catkin_make --source plan/apf_local_planner --build plan/apf_local_planner/build
 ```
 
 ```bash
-roslaunch apf_planner simulation.launch
+roslaunch apf_local_planner simulation.launch
 ```
 
 ![rqt_graph](log/2024-05-08/rosgraph.png)

config/APF-Planner.rviz renamed to config/apf_local_planner.rviz

@@ -1,8 +1,4 @@
 <launch>
-    <!-- parameter for planner -->
-    <arg name="model" default="p450_3Dlidar_D435i"/>
-    <arg name="planner" default="APF-Planner"/>
-
     <!-- world -->
     <include file="$(find prometheus_gazebo)/launch/GFKD.launch"/>
 
@@ -15,8 +11,8 @@
     <include file="$(find apf_planner)/launch/mapping.launch"/>
 
     <!-- 启动导航 -->
-    <include file="$(find apf_planner)/launch/$(arg planner).launch"/>
+    <include file="$(find apf_local_planner)/launch/apf_local_planner.launch"/>
 
     <!-- 启动rviz -->
-    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find apf_planner)/config/$(arg planner).rviz"/>
+    <node type="rviz" name="rviz" pkg="rviz" args="-d $(find apf_local_planner)/config/apf_local_planner.rviz"/>
 </launch>

launch/simulation.launch

@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <package format="2">
-    <name>apf_planner</name>
+    <name>apf_local_planner</name>
     <version>1.2.0</version>
     <description>
-        The apf_planner package
+        The apf_local_planner package
     </description>
 
     <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -14,7 +14,7 @@
     <!-- 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>Apache</license>
+    <license>MIT</license>
 
     <!-- Url tags are optional, but multiple are allowed, one per tag -->
     <!-- Optional attribute type can be: website, bugtracker, or repository -->
@@ -53,7 +53,6 @@
     <depend>sensor_msgs</depend>
     <depend>geometry_msgs</depend>
     <depend>nav_msgs</depend>
-    <depend>prometheus_msgs</depend>
 
     <!-- The export tag contains other, unspecified, tags -->
     <export>

package.xml

@@ -1,21 +1,16 @@
 #include <ros/ros.h>
-#include <visualization_msgs/Marker.h>
-
-
 #include "local_planning.h"
 
-
 using namespace Local_Planning;
 
-int main(int argc, char** argv)
-{
-  ros::init(argc, argv, "local_planner_node");
+int main(int argc, char** argv){
+  ros::init(argc, argv, "apf_local_planner");
   ros::NodeHandle nh("~");
 
-  Local_Planner local_planning;
-  local_planning.init(nh);
+  Local_Planner apf_local_planner;
+  apf_local_planner.init(nh);
 
   ros::spin();
 
   return 0;
-}
+}