build/sim/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(sim)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## 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 COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## 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 exec_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 exec_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
+# )
+
+################################################
+## 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 exec_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 your 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 sim
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/sim.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/sim_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_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 for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_sim.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)

build/sim/botname.txt

-Waffle
+waffle
\ No newline at end of file

build/sim/log/Platzhalter

-Platzhalter

build/sim/log/bl0.log

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+EventLog - INFO - [T:0.783] Distance of the obstacle : inf
+EventLog - INFO - [T:0.987] Distance of the obstacle : inf
+EventLog - INFO - [T:1.183] Distance of the obstacle : inf
+EventLog - INFO - [T:1.388] Distance of the obstacle : inf
+EventLog - INFO - [T:1.582] Distance of the obstacle : inf
+EventLog - INFO - [T:1.787] Distance of the obstacle : inf
+EventLog - INFO - [T:1.982] Distance of the obstacle : inf
+EventLog - INFO - [T:2.186] Distance of the obstacle : inf
+EventLog - INFO - [T:2.381] Distance of the obstacle : inf
+EventLog - INFO - [T:2.586] Distance of the obstacle : inf
+EventLog - INFO - [T:2.781] Distance of the obstacle : inf
+EventLog - INFO - [T:2.985] Distance of the obstacle : inf
+EventLog - INFO - [T:3.181] Distance of the obstacle : inf
+EventLog - INFO - [T:3.385] Distance of the obstacle : inf
+EventLog - INFO - [T:3.58] Distance of the obstacle : inf
+EventLog - INFO - [T:3.786] Distance of the obstacle : inf
+EventLog - INFO - [T:3.981] Distance of the obstacle : inf
+EventLog - INFO - [T:4.185] Distance of the obstacle : inf
+EventLog - INFO - [T:4.379] Distance of the obstacle : inf
+EventLog - INFO - [T:4.585] Distance of the obstacle : inf
+EventLog - INFO - [T:4.779] Distance of the obstacle : inf
+EventLog - INFO - [T:4.984] Distance of the obstacle : inf
+EventLog - INFO - [T:5.179] Distance of the obstacle : inf
+EventLog - INFO - [T:5.384] Distance of the obstacle : inf
+EventLog - INFO - [T:5.579] Distance of the obstacle : inf
+EventLog - INFO - [T:5.784] Distance of the obstacle : inf
+EventLog - INFO - [T:5.978] Distance of the obstacle : inf
+EventLog - INFO - [T:6.183] Distance of the obstacle : inf
+EventLog - INFO - [T:6.387] Distance of the obstacle : inf
+EventLog - INFO - [T:6.582] Distance of the obstacle : inf
+EventLog - INFO - [T:6.787] Distance of the obstacle : inf
+EventLog - INFO - [T:6.982] Distance of the obstacle : inf
+EventLog - INFO - [T:7.187] Distance of the obstacle : inf
+EventLog - INFO - [T:7.382] Distance of the obstacle : inf
+EventLog - INFO - [T:7.587] Distance of the obstacle : inf
+EventLog - INFO - [T:7.782] Distance of the obstacle : inf
+EventLog - INFO - [T:7.987] Distance of the obstacle : inf
+EventLog - INFO - [T:8.181] Distance of the obstacle : inf
+EventLog - INFO - [T:8.386] Distance of the obstacle : inf
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+EventLog - INFO - [T:8.98] Distance of the obstacle : inf
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+EventLog - INFO - [T:9.984] Distance of the obstacle : inf
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+EventLog - INFO - [T:12.987] Distance of the obstacle : inf
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+EventLog - INFO - [T:13.981] Distance of the obstacle : inf
+EventLog - INFO - [T:14.186] Distance of the obstacle : inf
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+EventLog - INFO - [T:14.585] Distance of the obstacle : inf
+EventLog - INFO - [T:14.779] Distance of the obstacle : inf
+EventLog - INFO - [T:14.983] Distance of the obstacle : inf
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+EventLog - INFO - [T:15.987] Distance of the obstacle : inf
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+EventLog - INFO - [T:17.788] Distance of the obstacle : inf
+EventLog - INFO - [T:17.983] Distance of the obstacle : inf
+EventLog - INFO - [T:18.187] Distance of the obstacle : inf
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+EventLog - INFO - [T:19.579] Distance of the obstacle : inf
+EventLog - INFO - [T:19.784] Distance of the obstacle : inf
+EventLog - INFO - [T:19.979] Distance of the obstacle : inf
+EventLog - INFO - [T:20.184] Distance of the obstacle : inf
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+EventLog - INFO - [T:20.583] Distance of the obstacle : inf
+EventLog - INFO - [T:20.788] Distance of the obstacle : inf
+EventLog - INFO - [T:20.982] Distance of the obstacle : inf
+EventLog - INFO - [T:21.187] Distance of the obstacle : inf
+EventLog - INFO - [T:21.382] Distance of the obstacle : inf
+EventLog - INFO - [T:21.587] Distance of the obstacle : inf
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+EventLog - INFO - [T:21.986] Distance of the obstacle : inf
+EventLog - INFO - [T:22.181] Distance of the obstacle : inf
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+EventLog - INFO - [T:22.581] Distance of the obstacle : inf
+EventLog - INFO - [T:22.786] Distance of the obstacle : inf
+EventLog - INFO - [T:22.98] Distance of the obstacle : inf
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+EventLog - INFO - [T:27.581] Distance of the obstacle : inf
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+EventLog - INFO - [T:29.987] Distance of the obstacle : inf

build/sim/log/bl1.log

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+EventLog - INFO - [T:2.18] Distance of the obstacle : inf
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+EventLog - INFO - [T:2.773] Distance of the obstacle : inf
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+EventLog - INFO - [T:14.177] Distance of the obstacle : inf
+EventLog - INFO - [T:14.382] Distance of the obstacle : inf
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+EventLog - INFO - [T:15.375] Distance of the obstacle : inf
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+EventLog - INFO - [T:17.577] Distance of the obstacle : inf
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+EventLog - INFO - [T:18.775] Distance of the obstacle : inf
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+EventLog - INFO - [T:19.174] Distance of the obstacle : inf
+EventLog - INFO - [T:19.379] Distance of the obstacle : inf
+EventLog - INFO - [T:19.574] Distance of the obstacle : inf
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+EventLog - INFO - [T:20.178] Distance of the obstacle : inf
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+EventLog - INFO - [T:20.781] Distance of the obstacle : inf
+EventLog - INFO - [T:20.975] Distance of the obstacle : inf
+EventLog - INFO - [T:21.18] Distance of the obstacle : inf
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+EventLog - INFO - [T:22.379] Distance of the obstacle : inf
+EventLog - INFO - [T:22.572] Distance of the obstacle : inf
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+EventLog - INFO - [T:22.982] Distance of the obstacle : inf
+EventLog - INFO - [T:23.177] Distance of the obstacle : inf
+EventLog - INFO - [T:23.381] Distance of the obstacle : inf
+EventLog - INFO - [T:23.575] Distance of the obstacle : inf
+EventLog - INFO - [T:23.779] Distance of the obstacle : inf
+EventLog - INFO - [T:23.974] Distance of the obstacle : inf
+EventLog - INFO - [T:24.179] Distance of the obstacle : inf
+EventLog - INFO - [T:24.374] Distance of the obstacle : inf
+EventLog - INFO - [T:24.579] Distance of the obstacle : inf
+EventLog - INFO - [T:24.773] Distance of the obstacle : inf
+EventLog - INFO - [T:24.978] Distance of the obstacle : inf
+EventLog - INFO - [T:25.173] Distance of the obstacle : inf
+EventLog - INFO - [T:25.378] Distance of the obstacle : inf
+EventLog - INFO - [T:25.573] Distance of the obstacle : inf
+EventLog - INFO - [T:25.778] Distance of the obstacle : inf
+EventLog - INFO - [T:25.973] Distance of the obstacle : inf
+EventLog - INFO - [T:26.177] Distance of the obstacle : inf
+EventLog - INFO - [T:26.382] Distance of the obstacle : inf
+EventLog - INFO - [T:26.577] Distance of the obstacle : inf
+EventLog - INFO - [T:26.781] Distance of the obstacle : inf
+EventLog - INFO - [T:26.976] Distance of the obstacle : inf
+EventLog - INFO - [T:27.181] Distance of the obstacle : inf
+EventLog - INFO - [T:27.376] Distance of the obstacle : inf
+EventLog - INFO - [T:27.58] Distance of the obstacle : inf
+EventLog - INFO - [T:27.775] Distance of the obstacle : inf
+EventLog - INFO - [T:27.979] Distance of the obstacle : inf
+EventLog - INFO - [T:28.174] Distance of the obstacle : inf
+EventLog - INFO - [T:28.379] Distance of the obstacle : inf
+EventLog - INFO - [T:28.573] Distance of the obstacle : inf
+EventLog - INFO - [T:28.778] Distance of the obstacle : inf
+EventLog - INFO - [T:28.973] Distance of the obstacle : inf
+EventLog - INFO - [T:29.177] Distance of the obstacle : inf
+EventLog - INFO - [T:29.382] Distance of the obstacle : inf
+EventLog - INFO - [T:29.577] Distance of the obstacle : inf
+EventLog - INFO - [T:29.782] Distance of the obstacle : inf
+EventLog - INFO - [T:29.976] Distance of the obstacle : inf

build/sim/log/bl2.log

+EventLog - INFO - [T:0.573] Distance of the obstacle : inf
+EventLog - INFO - [T:0.768] Distance of the obstacle : inf
+EventLog - INFO - [T:0.973] Distance of the obstacle : inf
+EventLog - INFO - [T:1.169] Distance of the obstacle : inf
+EventLog - INFO - [T:1.374] Distance of the obstacle : inf
+EventLog - INFO - [T:1.568] Distance of the obstacle : inf
+EventLog - INFO - [T:1.772] Distance of the obstacle : inf
+EventLog - INFO - [T:1.967] Distance of the obstacle : inf
+EventLog - INFO - [T:2.172] Distance of the obstacle : inf
+EventLog - INFO - [T:2.376] Distance of the obstacle : inf
+EventLog - INFO - [T:2.571] Distance of the obstacle : inf
+EventLog - INFO - [T:2.775] Distance of the obstacle : inf
+EventLog - INFO - [T:2.971] Distance of the obstacle : inf
+EventLog - INFO - [T:3.175] Distance of the obstacle : inf
+EventLog - INFO - [T:3.369] Distance of the obstacle : inf
+EventLog - INFO - [T:3.575] Distance of the obstacle : inf
+EventLog - INFO - [T:3.769] Distance of the obstacle : inf
+EventLog - INFO - [T:3.974] Distance of the obstacle : inf
+EventLog - INFO - [T:4.168] Distance of the obstacle : inf
+EventLog - INFO - [T:4.373] Distance of the obstacle : inf
+EventLog - INFO - [T:4.567] Distance of the obstacle : inf
+EventLog - INFO - [T:4.772] Distance of the obstacle : inf
+EventLog - INFO - [T:4.977] Distance of the obstacle : inf
+EventLog - INFO - [T:5.171] Distance of the obstacle : inf
+EventLog - INFO - [T:5.375] Distance of the obstacle : inf
+EventLog - INFO - [T:5.57] Distance of the obstacle : inf
+EventLog - INFO - [T:5.775] Distance of the obstacle : inf
+EventLog - INFO - [T:5.971] Distance of the obstacle : inf
+EventLog - INFO - [T:6.176] Distance of the obstacle : inf
+EventLog - INFO - [T:6.37] Distance of the obstacle : inf
+EventLog - INFO - [T:6.575] Distance of the obstacle : inf
+EventLog - INFO - [T:6.77] Distance of the obstacle : inf
+EventLog - INFO - [T:6.975] Distance of the obstacle : inf
+EventLog - INFO - [T:7.169] Distance of the obstacle : inf
+EventLog - INFO - [T:7.374] Distance of the obstacle : inf
+EventLog - INFO - [T:7.569] Distance of the obstacle : inf
+EventLog - INFO - [T:7.774] Distance of the obstacle : inf
+EventLog - INFO - [T:7.969] Distance of the obstacle : inf
+EventLog - INFO - [T:8.173] Distance of the obstacle : inf
+EventLog - INFO - [T:8.368] Distance of the obstacle : inf
+EventLog - INFO - [T:8.573] Distance of the obstacle : inf
+EventLog - INFO - [T:8.768] Distance of the obstacle : inf
+EventLog - INFO - [T:8.973] Distance of the obstacle : inf
+EventLog - INFO - [T:9.167] Distance of the obstacle : inf
+EventLog - INFO - [T:9.372] Distance of the obstacle : inf
+EventLog - INFO - [T:9.577] Distance of the obstacle : inf
+EventLog - INFO - [T:9.772] Distance of the obstacle : inf
+EventLog - INFO - [T:9.976] Distance of the obstacle : inf
+EventLog - INFO - [T:10.171] Distance of the obstacle : inf
+EventLog - INFO - [T:10.377] Distance of the obstacle : inf
+EventLog - INFO - [T:10.571] Distance of the obstacle : inf
+EventLog - INFO - [T:10.776] Distance of the obstacle : inf
+EventLog - INFO - [T:10.972] Distance of the obstacle : inf
+EventLog - INFO - [T:11.177] Distance of the obstacle : inf
+EventLog - INFO - [T:11.371] Distance of the obstacle : inf
+EventLog - INFO - [T:11.576] Distance of the obstacle : inf
+EventLog - INFO - [T:11.77] Distance of the obstacle : inf
+EventLog - INFO - [T:11.975] Distance of the obstacle : inf
+EventLog - INFO - [T:12.169] Distance of the obstacle : inf
+EventLog - INFO - [T:12.375] Distance of the obstacle : inf
+EventLog - INFO - [T:12.572] Distance of the obstacle : inf
+EventLog - INFO - [T:12.777] Distance of the obstacle : inf
+EventLog - INFO - [T:12.979] Distance of the obstacle : inf
+EventLog - INFO - [T:13.172] Distance of the obstacle : inf
+EventLog - INFO - [T:13.368] Distance of the obstacle : inf
+EventLog - INFO - [T:13.573] Distance of the obstacle : inf
+EventLog - INFO - [T:13.777] Distance of the obstacle : inf
+EventLog - INFO - [T:13.972] Distance of the obstacle : inf
+EventLog - INFO - [T:14.176] Distance of the obstacle : inf
+EventLog - INFO - [T:14.371] Distance of the obstacle : inf
+EventLog - INFO - [T:14.577] Distance of the obstacle : inf
+EventLog - INFO - [T:14.773] Distance of the obstacle : inf
+EventLog - INFO - [T:14.976] Distance of the obstacle : inf
+EventLog - INFO - [T:15.171] Distance of the obstacle : inf
+EventLog - INFO - [T:15.376] Distance of the obstacle : inf
+EventLog - INFO - [T:15.571] Distance of the obstacle : inf
+EventLog - INFO - [T:15.776] Distance of the obstacle : inf
+EventLog - INFO - [T:15.97] Distance of the obstacle : inf
+EventLog - INFO - [T:16.175] Distance of the obstacle : inf
+EventLog - INFO - [T:16.37] Distance of the obstacle : inf
+EventLog - INFO - [T:16.574] Distance of the obstacle : inf
+EventLog - INFO - [T:16.769] Distance of the obstacle : inf
+EventLog - INFO - [T:16.973] Distance of the obstacle : inf
+EventLog - INFO - [T:17.169] Distance of the obstacle : inf
+EventLog - INFO - [T:17.373] Distance of the obstacle : inf
+EventLog - INFO - [T:17.568] Distance of the obstacle : inf
+EventLog - INFO - [T:17.772] Distance of the obstacle : inf
+EventLog - INFO - [T:17.976] Distance of the obstacle : inf
+EventLog - INFO - [T:18.17] Distance of the obstacle : inf
+EventLog - INFO - [T:18.375] Distance of the obstacle : inf
+EventLog - INFO - [T:18.569] Distance of the obstacle : inf
+EventLog - INFO - [T:18.774] Distance of the obstacle : inf
+EventLog - INFO - [T:18.968] Distance of the obstacle : inf
+EventLog - INFO - [T:19.174] Distance of the obstacle : inf
+EventLog - INFO - [T:19.367] Distance of the obstacle : inf
+EventLog - INFO - [T:19.573] Distance of the obstacle : inf
+EventLog - INFO - [T:19.767] Distance of the obstacle : inf
+EventLog - INFO - [T:19.972] Distance of the obstacle : inf
+EventLog - INFO - [T:20.176] Distance of the obstacle : inf
+EventLog - INFO - [T:20.37] Distance of the obstacle : inf
+EventLog - INFO - [T:20.575] Distance of the obstacle : inf
+EventLog - INFO - [T:20.789] Distance of the obstacle : inf
+EventLog - INFO - [T:20.976] Distance of the obstacle : inf
+EventLog - INFO - [T:21.171] Distance of the obstacle : inf
+EventLog - INFO - [T:21.376] Distance of the obstacle : inf
+EventLog - INFO - [T:21.571] Distance of the obstacle : inf
+EventLog - INFO - [T:21.776] Distance of the obstacle : inf
+EventLog - INFO - [T:21.97] Distance of the obstacle : inf
+EventLog - INFO - [T:22.175] Distance of the obstacle : inf
+EventLog - INFO - [T:22.369] Distance of the obstacle : inf
+EventLog - INFO - [T:22.574] Distance of the obstacle : inf
+EventLog - INFO - [T:22.769] Distance of the obstacle : inf
+EventLog - INFO - [T:22.975] Distance of the obstacle : inf
+EventLog - INFO - [T:23.169] Distance of the obstacle : inf
+EventLog - INFO - [T:23.374] Distance of the obstacle : inf
+EventLog - INFO - [T:23.568] Distance of the obstacle : inf
+EventLog - INFO - [T:23.773] Distance of the obstacle : inf
+EventLog - INFO - [T:23.967] Distance of the obstacle : inf
+EventLog - INFO - [T:24.172] Distance of the obstacle : inf
+EventLog - INFO - [T:24.367] Distance of the obstacle : inf
+EventLog - INFO - [T:24.572] Distance of the obstacle : inf
+EventLog - INFO - [T:24.777] Distance of the obstacle : inf
+EventLog - INFO - [T:24.972] Distance of the obstacle : inf
+EventLog - INFO - [T:25.168] Distance of the obstacle : inf
+EventLog - INFO - [T:25.374] Distance of the obstacle : inf
+EventLog - INFO - [T:25.569] Distance of the obstacle : inf
+EventLog - INFO - [T:25.773] Distance of the obstacle : inf
+EventLog - INFO - [T:25.967] Distance of the obstacle : inf
+EventLog - INFO - [T:26.175] Distance of the obstacle : inf
+EventLog - INFO - [T:26.37] Distance of the obstacle : inf
+EventLog - INFO - [T:26.575] Distance of the obstacle : inf
+EventLog - INFO - [T:26.77] Distance of the obstacle : inf
+EventLog - INFO - [T:26.975] Distance of the obstacle : inf
+EventLog - INFO - [T:27.169] Distance of the obstacle : inf
+EventLog - INFO - [T:27.374] Distance of the obstacle : inf
+EventLog - INFO - [T:27.57] Distance of the obstacle : inf
+EventLog - INFO - [T:27.774] Distance of the obstacle : inf
+EventLog - INFO - [T:27.969] Distance of the obstacle : inf
+EventLog - INFO - [T:28.173] Distance of the obstacle : inf
+EventLog - INFO - [T:28.367] Distance of the obstacle : inf
+EventLog - INFO - [T:28.571] Distance of the obstacle : inf
+EventLog - INFO - [T:28.777] Distance of the obstacle : inf
+EventLog - INFO - [T:28.971] Distance of the obstacle : inf
+EventLog - INFO - [T:29.175] Distance of the obstacle : inf
+EventLog - INFO - [T:29.37] Distance of the obstacle : inf
+EventLog - INFO - [T:29.574] Distance of the obstacle : inf
+EventLog - INFO - [T:29.769] Distance of the obstacle : inf
+EventLog - INFO - [T:29.974] Distance of the obstacle : inf

build/sim/package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>sim</name>
+  <version>0.0.0</version>
+  <description>The sim package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="stolzenp@todo.todo">stolzenp</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 multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/sim</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

build/sim/sim.launch

+<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="0"/>
+  <arg name="y_pos" default="5"/>
+  <arg name="z_pos" default="-0.001001"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find sim)/worlds/test.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+</launch>

build/sim/testmanager.sh

+#!/bin/bash
+
+cd ~/catkin_ws
+
+
+echo "testing ..."
+echo ""
+
+chmod +x ~/catkin_ws/src/semesterprojekt/src/sim/location_monitor/scripts/bot_listener.py
+chmod +x ~/catkin_ws/src/semesterprojekt/src/sim/location_monitor/scripts/location_monitor_node.py
+
+type=$(cat ~/catkin_ws/src/semesterprojekt/build/sim/botname.txt)
+
+if [ "$type" = "burger" ]
+	
+	then
+
+	botradius=0.069
+
+	else
+
+	botradius=0.1405
+
+fi
+
+c=0
+
+cd ~/catkin_ws/src/semesterprojekt/build/test/testfaelle
+
+testfall=$(find ./ -name "$c")
+
+while [ -f $testfall/test.world ]; do
+
+	echo "test$c"
+	echo ""
+
+	timeout=$(grep -i "timeout" $testfall/config.ini | tr -d -c 0-9.)
+	rightBorder=$(grep -i "rangeRightBorder=" $testfall/config.ini | tr -d -c 0-9.)
+	leftBorder=$(grep -i "rangeLeftBorder=" $testfall/config.ini | tr -d -c 0-9.)
+
+	
+
+	dist=$(bc -l <<< "scale=10; ($rightBorder-$leftBorder)")
+
+	cp $testfall/test.world ~/catkin_ws/src/semesterprojekt/build/sim/worlds/test.world
+
+	#configuring launch file
+
+	echo '<launch>
+  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
+  <arg name="x_pos" default="0"/>
+  <arg name="y_pos" default="5"/>
+  <arg name="z_pos" default="-0.001001"/>
+
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" value="$(find sim)/worlds/test.world"/>
+    <arg name="paused" value="false"/>
+    <arg name="use_sim_time" value="true"/>
+    <arg name="gui" value="true"/>
+    <arg name="headless" value="false"/>
+    <arg name="debug" value="false"/>
+  </include>
+
+  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find turtlebot3_description)/urdf/turtlebot3_$(arg model).urdf.xacro" />
+
+  <node pkg="gazebo_ros" type="spawn_model" name="spawn_urdf" args="-urdf -model turtlebot3_$(arg model) -x $(arg x_pos) -y $(arg y_pos) -z $(arg z_pos) -param robot_description" />
+</launch>' > ~/catkin_ws/src/semesterprojekt/build/sim/sim.launch
+
+	#Launch Welt
+	gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; export TURTLEBOT3_MODEL='$type'; roslaunch sim sim.launch; sleep 5'
+
+	#bot_listener
+	sleep 1
+	gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; cd ~/catkin_ws/src/semesterprojekt/build/sim/log; rosrun location_monitor bot_listener.py;'
+
+	#location_monitor
+#	gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; cd ~/catkin_ws/src/semesterprojekt/build/sim/log; rosrun location_monitor location_monitor_node.py '$botradius' '$dist' 500 '$timeout';'
+
+	#Launch Test
+	gnome-terminal -- bash -c 'cd ~/catkin_ws; source devel/setup.bash; export TURTLEBOT3_MODEL=burger; rosrun sim turtlebot3_obstacle '$dist';'
+
+
+
+
+	
+
+	cd ~/catkin_ws; source devel/setup.bash
+	cd ~/catkin_ws/src/semesterprojekt/build/sim/log
+
+	echo 'Location_Monitor:'
+	echo ''
+
+    if [ "$type" = "burger" ]
+    
+        then
+
+    	rosrun location_monitor location_monitor_node.py $botradius 0 0 $dist 500 $timeout
+    	
+    	else
+    	
+    	rosrun location_monitor location_monitor_node.py $botradius 0.07 68 $dist 500 $timeout
+    	
+    fi
+
+
+#	if ( rosrun location_monitor location_monitor_node.py $botradius $dist 500 $timeout & ) | grep -q -m 1 'Collision\|Stop\|Timeout'; 			then
+   		
+#		ps ax | grep -i python | awk {'print $1'} | xargs kill -9
+#		ps ax | grep -i gzclient | awk {'print $1'} | xargs kill -9
+#		ps ax | grep -i gzserver | awk {'print $1'} | xargs kill -9
+
+#	fi
+
+#	sleep 30
+
+	ps ax | grep -i python | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+	ps ax | grep -i gzclient | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+	ps ax | grep -i gzserver | awk {'print $1'} | xargs kill -9 > /dev/null 2> /dev/null || :
+
+	mv ~/catkin_ws/src/semesterprojekt/build/sim/log/bot_listener.log ~/catkin_ws/src/semesterprojekt/build/sim/log/bl$c.log
+
+	mv ~/catkin_ws/src/semesterprojekt/build/sim/log/location_monitor.log ~/catkin_ws/src/semesterprojekt/build/sim/log/lm$c.log	
+
+	let c=c+1
+
+	cd ~/catkin_ws/src/semesterprojekt/build/test/testfaelle
+
+	testfall=$(find ./ -name "$c")
+
+
+done
+
+cd ~/catkin_ws
+
+echo ""
+echo "Done"

build/sim/turtlebot3_obstacle

+#!/usr/bin/env python
+#################################################################################
+# Copyright 2018 ROBOTIS CO., LTD.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+#################################################################################
+
+# Authors: Gilbert #
+
+import sys
+import rospy
+import math
+from sensor_msgs.msg import LaserScan
+from std_msgs.msg import String
+from geometry_msgs.msg import Twist
+from datetime import datetime
+from gazebo_msgs.srv import GetWorldProperties
+
+#Angepasst fuer Log-Aufzeichnung
+topic = 'chatter'
+pub = rospy.Publisher(topic, String)
+
+LINEAR_VEL = 0.22
+STOP_DISTANCE = float(sys.argv[1])
+LIDAR_ERROR = 0.05
+SAFE_STOP_DISTANCE = STOP_DISTANCE + LIDAR_ERROR
+
+class Obstacle():
+    def __init__(self):
+        self._cmd_pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
+        self.obstacle()
+        
+    def get_scan(self):
+        scan = rospy.wait_for_message('scan', LaserScan)
+        scan_filter = []
+       
+        samples = len(scan.ranges)  # The number of samples is defined in 
+                                    # turtlebot3_<model>.gazebo.xacro file,
+                                    # the default is 360.
+        samples_view = 1            # 1 <= samples_view <= samples
+        
+        if samples_view > samples:
+            samples_view = samples
+
+        if samples_view is 1:
+            scan_filter.append(scan.ranges[0])
+
+        else:
+            left_lidar_samples_ranges = -(samples_view//2 + samples_view % 2)
+            right_lidar_samples_ranges = samples_view//2
+            
+            left_lidar_samples = scan.ranges[left_lidar_samples_ranges:]
+            right_lidar_samples = scan.ranges[:right_lidar_samples_ranges]
+            scan_filter.extend(left_lidar_samples + right_lidar_samples)
+
+        for i in range(samples_view):
+            if math.isnan(scan_filter[i]):
+                scan_filter[i] = 0
+        
+        return scan_filter
+
+    def obstacle(self):
+        global pub
+        twist = Twist()
+        turtlebot_moving = True
+
+        while not rospy.is_shutdown():
+            lidar_distances = self.get_scan()
+            min_distance = min(lidar_distances)
+
+            if min_distance < SAFE_STOP_DISTANCE:
+                if turtlebot_moving:
+                    twist.linear.x = 0.0
+                    twist.angular.z = 0.0
+                    self._cmd_pub.publish(twist)
+                    turtlebot_moving = False
+                    rospy.loginfo('Stop!')
+                    pub.publish("Stop!")
+            else:
+                twist.linear.x = LINEAR_VEL
+                twist.angular.z = 0.0
+                self._cmd_pub.publish(twist)
+                turtlebot_moving = True
+                rospy.loginfo('Distance of the obstacle : %f', min_distance)
+                pub.publish("Distance of the obstacle : " + str(min_distance))
+
+def main(): 
+    rospy.init_node('turtlebot3_obstacle')
+    try:
+        obstacle = Obstacle()
+    except rospy.ROSInterruptException:
+        pass
+
+if __name__ == '__main__':
+    main()