Proprification du dépôt

.gitignore

@@ -268,3 +268,133 @@ TSWLatexianTemp*
 *.glstex
 
 # End of https://www.gitignore.io/api/latex
+
+# Created by https://www.gitignore.io/api/python
+# Edit at https://www.gitignore.io/?templates=python
+
+### Python ###
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don’t work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# End of https://www.gitignore.io/api/python

cfg/DerivativeNode.cfg

@@ -5,10 +5,10 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("k",  double_t, 0, "K",  1.0)
+gen.add("k",  double_t, 0, "K",  1.0, -100.0, 100.0)
 gen.add("size",  int_t, 0, "Size of the Savinsky Golay filter", 3, 1, 20)
 gen.add("poly_order",  int_t, 0, "Order of the polynome of the Savinsky Golay filter", 1, 0, 20)
-gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0)
-gen.add("deriv", int_t, 0, "Derivative order", 1, 0)
+gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0, 0.0, 10.0)
+gen.add("deriv", int_t, 0, "Derivative order", 1, 0, 10)
 
 exit(gen.generate(PACKAGE, "detect_targets", "DerivativeNode"))

cfg/DetectTargets.cfg

@@ -11,5 +11,7 @@ gen.add("red_min", int_t, 0, "Red minimal threshold", 0, 0, 255)
 gen.add("red_max", int_t, 0, "Red maximal threshold", 120, 0, 255)
 gen.add("green_min", int_t, 0, "Green minimal threshold", 0, 0, 255)
 gen.add("green_max", int_t, 0, "Green maximal threshold", 190, 0, 255)
+gen.add("binary", bool_t, 0, "Binary view", False)
+gen.add("targets", bool_t, 0, "Draw targets view", False)
 
 exit(gen.generate(PACKAGE, "detect_targets", "DetectTargets"))

cfg/IntegralNode.cfg

@@ -5,11 +5,11 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("k",  double_t, 0, "K",  1.0)
+gen.add("k",  double_t, 0, "K",  1.0, -100.0, 100.0)
 gen.add("use_min",  bool_t, 0, "Clamp to minimal value", True)
-gen.add("min",  double_t, 0, "Minimal Value", 0.0)
+gen.add("min",  double_t, 0, "Minimal Value", 0.0, -100.0, 100.0)
 gen.add("use_max",  bool_t, 0, "Clamp to maximal value", True)
-gen.add("max",  double_t, 0, "Maximal Value", 0.0)
-gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0)
+gen.add("max",  double_t, 0, "Maximal Value", 0.0, -100.0, 100.0)
+gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0, 0.0, 10.0)
 
 exit(gen.generate(PACKAGE, "detect_targets", "IntegralNode"))

cfg/ProportionalNode.cfg

@@ -5,7 +5,7 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
 
-gen.add("k",  double_t, 0, "K",  1.0)
-gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0)
+gen.add("k",  double_t, 0, "K",  1.0, -100.0, 100.0)
+gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0, 0.0, 10.0)
 
 exit(gen.generate(PACKAGE, "detect_targets", "ProportionalNode"))

cfg/RateNode.cfg

@@ -0,0 +1,10 @@
+#!/usr/bin/env python
+PACKAGE = "detect_targets"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 0.05, 0.0, 10.0)
+
+exit(gen.generate(PACKAGE, "detect_targets", "RateNode"))

cfg/SaturateNode.cfg

@@ -6,9 +6,9 @@ from dynamic_reconfigure.parameter_generator_catkin import *
 gen = ParameterGenerator()
 
 gen.add("use_min",  bool_t, 0, "Clamp to minimal value", True)
-gen.add("min",  double_t, 0, "Minimal Value", 0.0)
+gen.add("min",  double_t, 0, "Minimal Value", 0.0, -100.0, 100.0)
 gen.add("use_max",  bool_t, 0, "Clamp to maximal value", True)
-gen.add("max",  double_t, 0, "Maximal Value", 0.0)
-gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 1.0)
+gen.add("max",  double_t, 0, "Maximal Value", 0.0, -100.0, 100.0)
+gen.add("refresh_time", double_t, 0, "Minimal refresh time in seconds", 0.05, 0.0, 10.0)
 
 exit(gen.generate(PACKAGE, "detect_targets", "SaturateNode"))

julia/limite_vitesse.jl

@@ -1,31 +0,0 @@
-using ControlSystems
-
-p = tf("s")
-
-τ_1 = 3 # second
-τ_2 = 0.1 # second
-
-# Approximatively our system
-H = 1 / p * 1 / (1 + τ_1 * p) * 1 / (1 + τ_2 * p)
-
-# Speed corrector
-Kp_speed = 0.5
-Ki_speed = 0
-Kd_speed = 0
-C_speed = Kp_speed + Ki_speed * 1/p + Kd_speed * p
-
-# Looped system with the speed controller
-H_speed = C_speed * H / (1 + p * C_speed * H)
-
-
-# Position corrector
-Kp = 10
-Ki = 0
-Kd = 50
-
-C = Kp + Ki * 1/p + Kd * p
-
-# Looped transfer function
-H_tot = H_speed * C / (1 + H_speed * C)
-
-stepplot(H_tot)

launch/bebop-triangle-control.launch

@@ -1,5 +1,5 @@
 <launch>
-
+  <remap from="/reset" to="/bebop/reset"/>
   <include file="$(find bebop_driver)/launch/bebop_node.launch" />
 
   <node name="targets" pkg="detect_targets" type="target_publisher.py">
@@ -63,9 +63,8 @@
     <remap from="cmd_vel_in" to="/cmd_vel"/>
   </node>
 
-  <node name="relay" pkg="topic_tools" type="relay" args="/reset">
-    <remap from="intopic_relay" to="/bebop/reset" />
-  </node>
+  <!-- <node name="relay" pkg="topic_tools" type="relay" args="/reset /bebop/reset">
+  </node> -->
 
 
   <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>

launch/internal_tun.launch

@@ -0,0 +1,47 @@
+<launch>
+  <remap from="/reset" to="/bebop/reset"/>
+  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+  <include file="$(find bebop_driver)/launch/bebop_node.launch" />
+
+  <node name="targets" pkg="detect_targets" type="target_publisher.py">
+  </node>
+
+  <node name="triangle" pkg="detect_targets" type="triangle.py" output="screen">
+    <remap from="component_centers" to="targets"/>
+  </node>
+
+  <node name="untwist" pkg="detect_targets" type="untwist.py" output="screen">
+    <remap from="input" to="/bebop/cmd_vel" />
+  </node>
+
+  <node name="Dx" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+    <remap from="input" to="linear_x" />
+    <remap from="output" to="measure_x" />
+  </node>
+  <node name="Dy" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+    <remap from="input" to="linear_y" />
+    <remap from="output" to="measure_y" />
+  </node>
+  <include file="$(find detect_targets)/launch/control.launch" ns="controller_angular_z">
+      <arg name="reset" value="/reset" />
+      <arg name="measure" value="/angular_z" />
+  </include>
+    <node name="twister" pkg="detect_targets" type="twist_controls.py">
+      <remap from="control_linear_z" to="controller_linear_z/output" />
+      <remap from="control_angular_z" to="controller_angular_z/output" />
+      <remap from="control_linear_x" to="controller_linear_x/internal_loop/output" />
+      <remap from="control_linear_y" to="controller_linear_y/internal_loop/output" />
+    </node>
+
+  <node name="safe" pkg="demo_teleop" type="safe_drone_teleop.py" output="screen" launch-prefix="xterm -e">
+    <remap from="takeoff" to="/bebop/takeoff"/>
+    <remap from="land" to="/bebop/land"/>
+    <remap from="cmd_vel_out" to="/bebop/cmd_vel"/>
+    <remap from="cmd_vel_in" to="/cmd_vel"/>
+  </node>
+
+  <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
+  <node name="view__targets" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
+
+  <node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
+</launch>

launch/test_derivative.launch

@@ -0,0 +1,16 @@
+<launch>
+  <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
+
+  <node name="publisher" pkg="detect_targets" type="publish_csv.py" args="$(find detect_targets)/walk.csv" output="screen">
+    <remap from="output" to="derivative_input" />
+  </node>
+
+  <node name="D" pkg="detect_targets" type="control_compute.py" args="derivative" output="screen">
+    <remap from="input" to="derivative_input" />
+    <remap from="output" to="derivative_output" />
+  </node>
+
+  <node name="graph" pkg="rqt_graph" type="rqt_graph" output="screen"></node>
+  <node name="plot" pkg="rqt_plot" type="rqt_plot" args="/derivative_input /derivative_output" output="screen">
+  </node>
+</launch>

scripts/control_compute.py

@@ -3,14 +3,16 @@
 from scipy.signal import savgol_coeffs
 import numpy as np
 import sys
+import threading
 
 import rospy
 
-from std_msgs.msg import Float64, Bool
+from std_msgs.msg import Float64, Empty
 
 import dynamic_reconfigure.server
 from detect_targets.cfg import ProportionalNodeConfig, IntegralNodeConfig
-from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig, SaturateNodeConfig
+from detect_targets.cfg import DerivativeNodeConfig, InputNodeConfig,
+from detect_targets.cfg import SaturateNodeConfig, RateNodeConfig       
 
 
 class ControlNode(object):
@@ -22,7 +24,7 @@ class ControlNode(object):
         self.output_topic = rospy.Publisher('output', Float64, queue_size=1)
 
         self.input_topics = {
-            "reset": rospy.Subscriber("reset", Bool, self.on_reset),
+            "reset": rospy.Subscriber("reset", Empty, self.on_reset),
         }
 
 
@@ -48,11 +50,38 @@ class ControlNode(object):
 
         return delta_time >= self.refresh_time, delta_time.to_sec()
 
+    def on_mainloop(self):
+        rospy.spin()
+
 class InputControlNode(ControlNode):
     def __init__(self, *args, **kwargs):
         super(InputControlNode, self).__init__(*args, **kwargs)
         self.input_topics["input"] = rospy.Subscriber("input", Float64, self.on_compute)
 
+class RateNode(InputControlNode):
+    def __init__(self, *args, **kwargs):
+        self.rate = rospy.Rate(20)
+        self.last_input = 0
+        self.lock = threading.Lock()
+        super(RateNode, self).__init__(*args, **kwargs)
+
+    def on_reconf(self, config, level):
+        c = super(SaturateNode, self).on_reconf(config, level)
+        self.rate = rospy.Rate(self.refresh_time)
+        return c
+
+    def on_compute(self, value):
+        self.lock.acquire()
+        self.last_input = value.data
+        self.lock.release()
+
+    def on_mainloop(self):
+        while not rospy.is_shutdown():
+            self.lock.acquire()
+            self.output.publish(self.last_input)
+            self.lock.release()
+            self.rate.sleep()
+
 class ProportionalNode(InputControlNode):
     def __init__(self, k=1.0, refresh_time=1.0):
         super(ProportionalNode, self).__init__(refresh_time, ProportionalNodeConfig)
@@ -102,10 +131,11 @@ class IntegralNode(SaturateNode):
             return super(IntegralNode, self).on_compute(value)
 
 class DerivativeNode(InputControlNode):
-    def __init__(self, k=1.0, size=3, polyorder=1, deriv=1, refresh_time=1.0):
+    def __init__(self, k=0.05, size=9, polyorder=3, deriv=1, refresh_time=1.0):
         super(DerivativeNode, self).__init__(refresh_time, DerivativeNodeConfig)
         self.k = k
         self.filter = savgol_coeffs(size, polyorder, deriv, delta=refresh_time, use='dot')
+        self.last_points = np.zeros(size)
 
     def on_reconf(self, config, level):
         self.k = config["k"]
@@ -125,7 +155,7 @@ class DerivativeNode(InputControlNode):
     def on_compute(self, value):
         time_ok, delta = self.check_time()
         if time_ok:
-            np.concatenate([self.last_points[1:], [value.data]])
+            self.last_points = np.concatenate([self.last_points[1:], [value.data]])
             self.output = self.last_points.dot(self.filter)
             return super(DerivativeNode, self).on_compute(value)
 
@@ -186,6 +216,7 @@ if __name__ == '__main__':
         'derivative' : (DerivativeNode, False),
         'integral' : (IntegralNode, False),
         'proportional' : (ProportionalNode, False),
+        'rate': (RateNode, False),
     }
     rospy.init_node('control_node', anonymous=True)
     try:
@@ -199,4 +230,4 @@ if __name__ == '__main__':
     else:
         node = node_class()
 
-    rospy.spin()
+    node.on_mailoop()

scripts/find_targets.py

@@ -28,7 +28,7 @@ def normalize_coordinates(p, w, h):
 
 def find_targets(
         picture, threshold_blue=(140, 255), threshold_red=(0, 120),
-        threshold_green=(0, 190), return_slices=False):
+        threshold_green=(0, 190), return_slices=False, return_binary=False):
     """Find three blue targets in the given picture (RGB matrix).
 
     Args:
@@ -38,6 +38,7 @@ def find_targets(
         threshold_green: interval of allowed values for green channel
         return_slices: Boolean stating if the slices locating the targets
         should be returned.
+        return_binary: Boolean stating if the binary map should be returned.
 
     Returns:
         (H,L,R,[objects]) the positions of the targets in the picture (center of mass). objects is the list of slices controlled by the return_slices parameter.
@@ -96,7 +97,10 @@ def find_targets(
     # Rightmost point
     R = tuple(reversed(sides[-1]))
 
+    ret = (H, L, R)
     if return_slices:
-        return H, L, R, ((o[0], o[1]) for o in objects)
-    else:
-        return H, L, R
+        ret = ret + (((o[0], o[1]) for o in objects),)
+    if return_binary:
+        ret = ret + (blue_points,)
+
+    return ret

scripts/input_linear_x.csv

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scripts/parse_topic.py

@@ -0,0 +1,35 @@
+#! /usr/bin/python3
+
+import yaml
+import sys
+import time
+
+import click
+
+#import rospy
+
+@click.command()
+@click.option('--output', default="output.csv", help='Number of greetings.')
+@click.option('--time/--no-time', 'use_time', default=False, help='Add the number of seconds')
+@click.option('--field', default="data", help='YAML field to store')
+def main(output, use_time, field):
+    with open(output, 'w') as f:
+        s = ""
+        last_line = ""
+        try:
+            for line in sys.stdin:
+                if line == "---\n":
+                    v = yaml.load(s)[field]
+                    print(v)
+                    if use_time:
+                        f.write(str(time.time()) + ',' + str(v) + "\n")
+                    else:
+                        f.write(str(v)+"\n")
+                    s = ""
+                else:
+                    s += line + '\n'
+        except KeyboardInterrupt:
+            print("Output saved to " + output)
+
+if __name__ == '__main__':
+    main()

scripts/plot_internal_tun.jl

@@ -0,0 +1,35 @@
+using Plots
+using CSV
+pyplot()
+
+file_measure = "linear_x2.csv"
+file_input = "input_linear_x2.csv"
+
+measure = CSV.read(file_measure, header=false) |> Matrix{Float64};
+command = CSV.read(file_input, header=false) |> Matrix{Float64};
+
+init_measure = 1
+end_measure = 20
+init_command = 30
+
+for (i,t) in enumerate(measure[:,1])
+    global init_measure = i
+    if t >= command[init_command,1]
+        break
+    end
+end
+
+plot(
+    measure[init_measure:end-end_measure,1],
+    measure[init_measure:end-end_measure,2],
+    title="plop",
+    size=(1000, 600)
+)
+s = sum([x * (measure[init_command + i,1] - measure[init_command + i-1,1]) for (i,x) in enumerate(measure[init_measure:end-end_measure,2])]) / (measure[end-end_measure,1] - measure[init_measure,1])
+plot!([measure[init_measure,1], measure[end-end_measure,1]], [s, s])
+plot!(
+    command[init_command:end,1],
+    command[init_command:end,2]
+)
+
+show()

scripts/publish_csv.py

@@ -0,0 +1,19 @@
+#! /usr/bin/python
+# coding: utf8
+
+import sys
+import rospy
+import csv
+
+from std_msgs.msg import Float64
+
+if __name__ == '__main__':
+    rospy.init_node('publish_csv', anonymous=True)
+    pub = rospy.Publisher('output', Float64, queue_size=1)
+    file = sys.argv[1]
+    with open(file) as csvfile:
+        reader = csv.reader(csvfile)
+        r = rospy.Rate(20)
+        for row in reader:
+            pub.publish(float(row[1]))
+            r.sleep()

scripts/target_publisher.py

@@ -16,6 +16,8 @@ class Publisher:
         self.threshold_blue = (140, 255)
         self.threshold_red = (0, 120)
         self.threshold_green = (0, 190)
+        self.binary_view = False
+        self.draw_targets = False
         self.centers = component_centers()
         self.pub = rospy.Publisher('targets', component_centers, queue_size=10)
         self.img_pub = rospy.Publisher('img_targets', Image, queue_size=0)
@@ -27,17 +29,29 @@ class Publisher:
         self.threshold_red = (config['red_min'], config['red_max'])
         self.threshold_blue = (config['blue_min'], config['blue_max'])
         self.threshold_green = (config['green_min'], config['green_max'])
+        self.binary_view = config['binary']
+        self.draw_targets = config['targets']
         return config
 
     def on_picture(self, msg):
         img = np.array(np.asarray(self.bridge.imgmsg_to_cv2(msg)), copy=True)
         try:
-            H, L, R = find_targets(
-                img,
-                threshold_blue=self.threshold_blue,
-                threshold_red=self.threshold_red,
-                threshold_green=self.threshold_green,
-            )
+            if not self.binary_view:
+                H, L, R = find_targets(
+                    img,
+                    threshold_blue=self.threshold_blue,
+                    threshold_red=self.threshold_red,
+                    threshold_green=self.threshold_green
+                )
+            else:
+                H, L, R, points = find_targets(
+                    img,
+                    threshold_blue=self.threshold_blue,
+                    threshold_red=self.threshold_red,
+                    threshold_green=self.threshold_green,
+                    return_binary=True
+                )
+
         except ValueError:
             return
         pub_H = normalize_coordinates(H, msg.width, msg.height)
@@ -50,17 +64,19 @@ class Publisher:
         ]
 
         self.pub.publish(self.centers)
-        if self.img_pub.get_num_connections() > 0:
-            for i in range(-20, 20):
-                for j in range(-20, 20):
-                    try:
-                        img[int(H[1])-i, int(H[0])-j] = [0, 255, 0]
-                        img[int(L[1])-i, int(L[0])-j] = [255, 0, 0]
-                        img[int(R[1])-i, int(R[0])-j] = [0, 0, 255]
-                    except Exception:
-                        pass
-
-
+        if self.binary_view:
+            img[:,:,1] = points * 255
+            img[:,:,0] = np.zeros((len(img), len(img[0])))
+            img[:,:,2] = np.zeros((len(img), len(img[0])))
+            if self.draw_targets:
+                for i in range(-20, 20):
+                    for j in range(-20, 20):
+                        try:
+                            img[int(H[1])-i, int(H[0])-j] = [0, 255, 0]
+                            img[int(L[1])-i, int(L[0])-j] = [255, 0, 0]
+                            img[int(R[1])-i, int(R[0])-j] = [0, 0, 255]
+                        except Exception:
+                            pass
             self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
 
 

scripts/test_filter.jl

@@ -0,0 +1,67 @@
+using Plots
+using DSP
+using CSV
+
+pyplot()
+
+# Parameters
+filename = "walk.csv" # input file
+h = 1/22 # sample time
+orders = [
+    (title="quadratique", order=2, sizes=5:2:11),
+    (title="cubique", order=3, sizes=5:2:11)
+]
+
+
+function savgol(size::Int64, poly_order::Int64, deriv::Int64=0, delta::Float64=1.0, conv::Bool=false)
+    half_size, rem = divrem(size, 2)
+    if rem == 0
+        throw(ArgumentError("size must be odd."))
+    end
+    M = [-half_size:half_size;] .^ [0:poly_order;]';
+    y = zeros(poly_order+1)';
+    y[deriv+1] = factorial(deriv) / delta^deriv;
+    scal = y*inv(M'*M)*M'
+    if conv
+        scal = scal[end:-1:1]
+    end
+    scal
+end
+
+error = (CSV.read(filename, header=false) |> Matrix{Float64})[:,2]
+
+
+for order in orders
+    plot(
+        0:h:(length(error)-1)*h,
+        error,
+        label="erreur mesurée",
+        layout=(2,1),
+        subplot=1,
+        title="Position",
+        xrotation=60,
+        xlabel="Temps (s)",
+        ylabel="Position (m)",
+        reuse=false,
+        size=(1000, 600)
+    )
+    plot!(
+        subplot=2,
+        title="Vitesse mesurée",
+        xrotation=60,
+        xlabel="Temps (s)",
+        ylabel="Vitesse (\$m.s^{-1}\$)"
+    )
+    for size in order.sizes
+        filter = savgol(size, order.order, 1, h, true)
+        speed = conv(filter, error)[size:end-size]
+        plot!(
+            size*h/2:h:size*h/2+(length(speed)-1)*h,
+            speed,
+            label=string(order.title, " ", size, " points"),
+            subplot=2
+        )
+    end
+    savefig(string("mesure_vitesse_", order.title, ".eps"))
+end
+show()

scripts/triangle.py

@@ -14,7 +14,7 @@ import tf
 
 import dynamic_reconfigure.server
 
-from detect_targets.cfg import TriangleParamConfig
+from detect_targets.cfg import TriangleConfig
 from detect_targets.msg import control
 
 from detect_targets.msg import component_centers
@@ -46,7 +46,6 @@ class Triangle:
 
     def triangle(self, L, H, R):
         now = rospy.Time.now()
-        t = (now - self.first_time).to_sec()
         self.Gx = (L.x + H.x + R.x)*.333333
         Gy = (L.y + H.y + R.y)*.333333
         w = R.x - L.x

scripts/triangle_control.py

@@ -116,20 +116,6 @@ class TriangleControl:
         self.error_linear_y.clear()
         self.error_linear_x.clear()
 
-    def saturate_twist():
-        if self.twist.linear.x > self.max_speed:
-            self.twist.linear.x = self.max_speed
-        elif self.twist.linear.x < - self.max_speed:
-            self.twist.linear.x = - self.max_speed
-        if self.twist.linear.y > self.max_speed:
-            self.twist.linear.y = self.max_speed
-        elif self.twist.linear.y < - self.max_speed:
-            self.twist.linear.y = - self.max_speed
-        if self.twist.linear.z > self.max_speed:
-            self.twist.linear.z = self.max_speed
-        elif self.twist.linear.z < - self.max_speed:
-            self.twist.linear.z = - self.max_speed
-
     def on_comp(self, msg):
         self.twist = Twist()
         if len(msg.data) > 2:

scripts/twist_controls.py

@@ -17,19 +17,19 @@ class Twister:
 
     def on_linear_x(self, value):
         self.twist.linear.x = value.data
-        self.twist_pub.publisher(self.twist)
+        self.twist_pub.publish(self.twist)
 
     def on_linear_y(self, value):
         self.twist.linear.y = value.data
-        self.twist_pub.publisher(self.twist)
+        self.twist_pub.publish(self.twist)
 
     def on_linear_z(self, value):
         self.twist.linear.z = value.data
-        self.twist_pub.publisher(self.twist)
+        self.twist_pub.publish(self.twist)
 
     def on_angular_z(self, value):
         self.twist.angular.z = value.data
-        self.twist_pub.publisher(self.twist)
+        self.twist_pub.publish(self.twist)
 
 if __name__ == '__main__':
     rospy.init_node('twist_controls')

scripts/untwist.py

@@ -0,0 +1,31 @@
+#! /usr/bin/python
+import rospy
+
+from geometry_msgs.msg import Twist
+from std_msgs.msg import Float64
+
+
+class UnTwister:
+
+    def __init__(self):
+        self.twist = Twist()
+        self.linear_x = rospy.Publisher('measure_linear_x', Float64, queue_size=1)
+        self.linear_y = rospy.Publisher('measure_linear_y', Float64, queue_size=1)
+        self.linear_z = rospy.Publisher('measure_linear_z', Float64, queue_size=1)
+        self.angular_x = rospy.Publisher('measure_angular_x', Float64, queue_size=1)
+        self.angular_y = rospy.Publisher('measure_angular_y', Float64, queue_size=1)
+        self.angular_z = rospy.Publisher('measure_angular_z', Float64, queue_size=1)
+        self.input = rospy.Subscriber('input', Twist, self.on_compute, queue_size=1)
+
+    def on_compute(self, twist):
+        self.linear_x.publish(twist.linear.x)
+        self.linear_y.publish(twist.linear.y)
+        self.linear_z.publish(twist.linear.z)
+        self.angular_x.publish(twist.angular.x)
+        self.angular_y.publish(twist.angular.y)
+        self.angular_z.publish(twist.angular.z)
+
+if __name__ == '__main__':
+    rospy.init_node('untwist')
+    twister = UnTwister()
+    rospy.spin()

target_publisher.ps

@@ -1,452 +0,0 @@
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-      /cairo_font_matrix exch def dup 4 get exch 5 get cairo_store_point
-      /cairo_font where { pop cairo_selectfont } if } bind def
-/Tm { 2 copy 8 2 roll 6 array astore /cairo_font_matrix exch def
-      cairo_store_point /cairo_font where { pop cairo_selectfont } if } bind def
-/g { setgray } bind def
-/rg { setrgbcolor } bind def
-/d1 { setcachedevice } bind def
-/cairo_data_source {
-  CairoDataIndex CairoData length lt
-    { CairoData CairoDataIndex get /CairoDataIndex CairoDataIndex 1 add def }
-    { () } ifelse
-} def
-/cairo_flush_ascii85_file { cairo_ascii85_file status { cairo_ascii85_file flushfile } if } def
-/cairo_image { image cairo_flush_ascii85_file } def
-/cairo_imagemask { imagemask cairo_flush_ascii85_file } def
-/cairo_set_page_size {
-  % Change paper size, but only if different from previous paper size otherwise
-  % duplex fails. PLRM specifies a tolerance of 5 pts when matching paper size
-  % so we use the same when checking if the size changes.
-  /setpagedevice where {
-    pop currentpagedevice
-    /PageSize known {
-      2 copy
-      currentpagedevice /PageSize get aload pop
-      exch 4 1 roll
-      sub abs 5 gt
-      3 1 roll
-      sub abs 5 gt
-      or
-    } {
-      true
-    } ifelse
-    {
-      2 array astore
-      2 dict begin
-        /PageSize exch def
-        /ImagingBBox null def
-      currentdict end
-      setpagedevice
-    } {
-      pop pop
-    } ifelse
-  } {
-    pop
-  } ifelse
-} def
-%%EndProlog
-%%BeginSetup
-%%EndSetup
-%%Page: 1 1
-%%BeginPageSetup
-%%PageOrientation: Landscape
-%%PageMedia: A4
-%%PageBoundingBox: 0 21 595 842
-596 842 cairo_set_page_size
-%%EndPageSetup
-q 0 21 595 821 rectclip
-1 0 0 -1 0 842 cm q
-1 g
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-Q q
-0 0 595 820 re W n
-1 g
-0.24 w
-1 J
-1 j
-[] 0.0 d
-10 M q 0 -1 1 0 0 0 cm
-22.109 0 -841.68 594.961 re S Q
-q
-59 183 454 431 re W n
-[ 0 -431.04 -453.6 0 512.64 614.369764 ] concat
-/cairo_ascii85_file currentfile /ASCII85Decode filter def
-/DeviceRGB setcolorspace
-<<
-  /ImageType 1
-  /Width 365
-  /Height 384
-  /Interpolate false
-  /BitsPerComponent 8
-  /Decode [ 0 1 0 1 0 1 ]
-  /DataSource cairo_ascii85_file /FlateDecode filter
-  /ImageMatrix [ 365 0 0 -384 0 384 ]
->>
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-%%Trailer
-%%EOF

utils/basic_example.py

@@ -0,0 +1,46 @@
+"""
+=========================
+Simple animation examples
+=========================
+
+This example contains two animations. The first is a random walk plot. The
+second is an image animation.
+"""
+
+import numpy as np
+import matplotlib.pyplot as plt
+import matplotlib.animation as animation
+
+
+def update_line(num, data, line):
+    line.set_data(data[..., :num])
+    return line,
+
+fig1 = plt.figure()
+
+data = np.random.rand(2, 25)
+l, = plt.plot([], [], 'r-')
+plt.xlim(0, 1)
+plt.ylim(0, 1)
+plt.xlabel('x')
+plt.title('test')
+line_ani = animation.FuncAnimation(fig1, update_line, 25, fargs=(data, l),
+                                   interval=50, blit=True)
+
+# To save the animation, use the command: line_ani.save('lines.mp4')
+
+fig2 = plt.figure()
+
+x = np.arange(-9, 10)
+y = np.arange(-9, 10).reshape(-1, 1)
+base = np.hypot(x, y)
+ims = []
+for add in np.arange(15):
+    ims.append((plt.pcolor(x, y, base + add, norm=plt.Normalize(0, 30)),))
+
+im_ani = animation.ArtistAnimation(fig2, ims, interval=50, repeat_delay=3000,
+                                   blit=True)
+# To save this second animation with some metadata, use the following command:
+# im_ani.save('im.mp4', metadata={'artist':'Guido'})
+
+plt.show()

utils/measure_freq.jl

@@ -0,0 +1,19 @@
+using Statistics
+using CSV
+
+
+file_measure = "walk.csv"
+
+measure = CSV.read(file_measure, header=false) |> Matrix{Float64}
+
+deltas = measure[2:end,1] - measure[1:end-1,1]
+
+print("Fréquence moyenne :\t")
+print(1/(Statistics.mean(deltas)))
+println(" Hz")
+print("Delta moyen :\t\t")
+print(Statistics.mean(deltas))
+println(" s")
+print("Écart type :\t\t")
+print((Statistics.std(deltas)))
+println(" s");

utils/walk.csv

@@ -0,0 +1,309 @@
+1559407237.974235,-3.48491631152
+1559407238.0180445,-3.55108249721
+1559407238.0600328,-3.48668687763
+1559407238.1025968,-3.52817014466
+1559407238.1563215,-3.54199102244
+1559407238.1951966,-3.57034360298
+1559407238.2425919,-3.56761658362
+1559407238.278243,-3.46937975932
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workspace/.catkin_tools/README

@@ -1,13 +0,0 @@
-# Catkin Tools Metadata
-
-This directory was generated by catkin_tools and it contains persistent
-configuration information used by the `catkin` command and its sub-commands.
-
-Each subdirectory of the `profiles` directory contains a set of persistent
-configuration options for separate profiles. The default profile is called
-`default`. If another profile is desired, it can be described in the
-`profiles.yaml` file in this directory.
-
-Please see the catkin_tools documentation before editing any files in this
-directory. Most actions can be performed with the `catkin` command-line
-program.

workspace/.catkin_tools/VERSION

@@ -1 +0,0 @@
-0.4.5

workspace/.catkin_tools/profiles/default/build.yaml

@@ -1,17 +0,0 @@
-blacklist: []
-build_space: build
-catkin_make_args: []
-cmake_args: []
-devel_layout: linked
-devel_space: devel
-extend_path: null
-install: false
-install_space: install
-isolate_install: false
-jobs_args: []
-log_space: logs
-make_args: []
-source_space: src
-use_env_cache: false
-use_internal_make_jobserver: true
-whitelist: []

workspace/.catkin_tools/profiles/default/config.yaml

@@ -1 +0,0 @@
-{}

workspace/.catkin_tools/profiles/default/devel_collisions.txt

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-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock 89

workspace/.catkin_tools/profiles/default/packages/bebop_description/devel_manifest.txt

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-bebop_autonomy/bebop_description
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_description/cmake.lock /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_description/lib/pkgconfig/bebop_description.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/bebop_description.pc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_description/share/bebop_description/cmake/bebop_descriptionConfig-version.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_description/cmake/bebop_descriptionConfig-version.cmake
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_description/share/bebop_description/cmake/bebop_descriptionConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_description/cmake/bebop_descriptionConfig.cmake

workspace/.catkin_tools/profiles/default/packages/bebop_description/package.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>bebop_description</name>
-  <version>0.7.0</version>
-  <description>URDF robot description for Parrot Bebop Drones</description>
-
-  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
-  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
-  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
-  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
-
-  <license>BSD</license>
-
-  <url type="website">http://wiki.ros.org/bebop_description</url>
-  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
-  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roslaunch</build_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>xacro</run_depend>
-
-  <export>
-  </export>
-</package>

workspace/.catkin_tools/profiles/default/packages/bebop_driver/devel_manifest.txt

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-bebop_autonomy/bebop_driver
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/cmake.lock /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/libbebop.so /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/libbebop.so
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/libbebop_driver_nodelet.so /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/libbebop_driver_nodelet.so
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/bebop_driver/bebop_driver_node /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/bebop_driver/bebop_driver_node
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/python2.7/dist-packages/bebop_driver/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_driver/__init__.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/python2.7/dist-packages/bebop_driver/cfg/BebopArdrone3Config.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_driver/cfg/BebopArdrone3Config.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/lib/python2.7/dist-packages/bebop_driver/cfg/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_driver/cfg/__init__.py
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-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/share/bebop_driver/docs/BebopArdrone3Config.wikidoc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_driver/docs/BebopArdrone3Config.wikidoc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/share/bebop_driver/docs/BebopArdrone3Config.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_driver/docs/BebopArdrone3Config.dox
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/share/bebop_driver/docs/BebopArdrone3Config-usage.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_driver/docs/BebopArdrone3Config-usage.dox
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/share/bebop_driver/cmake/bebop_driverConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_driver/cmake/bebop_driverConfig.cmake
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_driver/share/bebop_driver/cmake/bebop_driverConfig-version.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_driver/cmake/bebop_driverConfig-version.cmake

workspace/.catkin_tools/profiles/default/packages/bebop_driver/package.xml

@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>bebop_driver</name>
-  <version>0.7.1</version>
-  <description>ROS driver for Parrot Bebop drone, based on Parrot’s official ARDroneSDK3</description>
-
-  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
-  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
-  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
-  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
-
-  <license>BSD</license>
-
-  <url type="website">http://wiki.ros.org/bebop_driver</url>
-  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
-
-  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend version_gte="3.12.6">parrot_arsdk</build_depend>
-  <build_depend>bebop_msgs</build_depend>
-  <build_depend>bebop_description</build_depend>
-  <build_depend>pkg-config</build_depend>
-  <build_depend>nodelet</build_depend>
-  <build_depend>camera_info_manager</build_depend>
-  <build_depend>ffmpeg</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf2</build_depend>
-  <build_depend>tf2_ros</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>roslint</build_depend>
-  <build_depend>rostest</build_depend>
-
-  <run_depend version_eq="3.12.6">parrot_arsdk</run_depend>
-  <run_depend>bebop_msgs</run_depend>
-  <run_depend>bebop_description</run_depend>
-  <run_depend>nodelet</run_depend>
-  <run_depend>camera_info_manager</run_depend>
-  <run_depend>ffmpeg</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tf2</run_depend>
-  <run_depend>tf2_ros</run_depend>
-  <run_depend>tf2_geometry_msgs</run_depend>
-  <run_depend>ffmpeg</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-
-  <test_depend>angles</test_depend>
-
-  <export>
-    <nodelet plugin="${prefix}/nodelet_plugins.xml" />
-  </export>
-</package>

workspace/.catkin_tools/profiles/default/packages/bebop_msgs/devel_manifest.txt

@@ -1,482 +0,0 @@
-bebop_autonomy/bebop_msgs
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/cmake.lock /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/__init__.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStateOrientationV2.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStateOrientationV2.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAltitudeChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAltitudeChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateWifiSignalChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateWifiSignalChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3MediaStreamingStateVideoStreamModeChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3MediaStreamingStateVideoStreamModeChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAccessoryStateAccessoryConfigModificationEnabled.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAccessoryStateAccessoryConfigModificationEnabled.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3GPSStateHomeTypeChosenChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3GPSStateHomeTypeChosenChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonOverHeatStateOverHeatRegulationChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonOverHeatStateOverHeatRegulationChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonChargerStateChargingInfo.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonChargerStateChargingInfo.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateMassStorageContent.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateMassStorageContent.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3NetworkStateAllWifiAuthChannelChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3NetworkStateAllWifiAuthChannelChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonARLibsVersionsStateSkyControllerLibARCommandsVersion.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonARLibsVersionsStateSkyControllerLibARCommandsVersion.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAudioStateAudioStreamingRunning.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAudioStateAudioStreamingRunning.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateVideoRecordingTimestamp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateVideoRecordingTimestamp.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateSpeedChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateSpeedChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStatemoveToChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStatemoveToChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonChargerStateLastChargeRateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonChargerStateLastChargeRateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateLockStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateLockStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateBatteryStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateBatteryStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStatedefaultCameraOrientationV2.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStatedefaultCameraOrientationV2.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateComponentStateListChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateComponentStateListChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonHeadlightsStateintensityChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonHeadlightsStateintensityChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAlertStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAlertStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3NetworkStateWifiAuthChannelListChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3NetworkStateWifiAuthChannelListChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateAllStatesChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateAllStatesChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3AccessoryStateConnectedAccessories.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3AccessoryStateConnectedAccessories.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStateVelocityRange.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3CameraStateVelocityRange.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonMavlinkStateMissionItemExecuted.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonMavlinkStateMissionItemExecuted.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCalibrationStateMagnetoCalibrationStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCalibrationStateMagnetoCalibrationStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAirSpeedChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateAirSpeedChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateAvailabilityStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonFlightPlanStateAvailabilityStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonMavlinkStateMavlinkFilePlayingStateChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonMavlinkStateMavlinkFilePlayingStateChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateFlatTrimChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3PilotingStateFlatTrimChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonOverHeatStateOverHeatChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonOverHeatStateOverHeatChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateMassStorageInfoRemainingListChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonCommonStateMassStorageInfoRemainingListChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3GPSStateHomeTypeAvailabilityChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_Ardrone3GPSStateHomeTypeAvailabilityChanged.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAccessoryStateAccessoryConfigChanged.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonAccessoryStateAccessoryConfigChanged.py
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-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_msgs/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonARLibsVersionsStateControllerLibARCommandsVersion.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/bebop_msgs/msg/_CommonARLibsVersionsStateControllerLibARCommandsVersion.py
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workspace/.catkin_tools/profiles/default/packages/bebop_msgs/package.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>bebop_msgs</name>
-  <version>0.7.0</version>
-  <description>Common message definitions for bebop_autonomy</description>
-
-  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
-  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
-  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
-  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
-
-  <license>BSD</license>
-  <url type="website">http://wiki.ros.org/bebop_msgs</url>
-  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
-  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>message_generation</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-  </export>
-</package>

workspace/.catkin_tools/profiles/default/packages/bebop_tools/devel_manifest.txt

@@ -1,5 +0,0 @@
-bebop_autonomy/bebop_tools
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_tools/cmake.lock /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_tools/lib/pkgconfig/bebop_tools.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/bebop_tools.pc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_tools/share/bebop_tools/cmake/bebop_toolsConfig-version.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_tools/cmake/bebop_toolsConfig-version.cmake
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/bebop_tools/share/bebop_tools/cmake/bebop_toolsConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/bebop_tools/cmake/bebop_toolsConfig.cmake

workspace/.catkin_tools/profiles/default/packages/bebop_tools/package.xml

@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>bebop_tools</name>
-  <version>0.7.0</version>
-  <description>Miscellaneous tools for bebop_autonomy metapackage</description>
-
-  <maintainer email="mmonajje@sfu.ca">Mani Monajjemi</maintainer>
-  <maintainer email="smohaime@sfu.ca">Sepehr MohaimenianPour</maintainer>
-  <maintainer email="thomas.bamford@mail.utoronto.ca">Thomas Bamford</maintainer>
-  <maintainer email="naegelit@student.ethz.ch">Tobias Naegeli</maintainer>
-
-  <license>BSD</license>
-
-  <url type="website">http://wiki.ros.org/bebop_tools</url>
-  <url type="repository">http://github.com/AutonomyLab/bebop_autonomy</url>
-  <author email="mmonajje@sfu.ca">Mani Monajjemi</author>
-
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>bebop_msgs</build_depend>
-  <run_depend>bebop_driver</run_depend>
-  <run_depend>bebop_msgs</run_depend>
-  <run_depend>joy</run_depend>
-  <run_depend>joy_teleop</run_depend>
-  <run_depend>image_view</run_depend>
-
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-  </export>
-</package>

workspace/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/devel_manifest.txt

@@ -1,9 +0,0 @@
-/home/klafyvel/Documents/supelec/2A/projet/workspace/build/catkin_tools_prebuild
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/_setup_util.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./_setup_util.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/env.sh /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./env.sh
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/setup.sh /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./setup.sh
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/setup.bash /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./setup.bash
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/setup.zsh /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./setup.zsh
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/catkin_tools_prebuild.pc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake

workspace/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/package.xml

@@ -1,10 +0,0 @@
-<package>
-  <name>catkin_tools_prebuild</name>
-  <description>
-    This package is used to generate catkin setup files.
-  </description>
-  <version>0.0.0</version>
-  <license>BSD</license>
-  <maintainer email="jbo@jhu.edu">jbohren</maintainer>
-  <buildtool_depend>catkin</buildtool_depend>
-</package>

workspace/.catkin_tools/profiles/default/packages/demo_teleop/devel_manifest.txt

@@ -1,12 +0,0 @@
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-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/cmake.lock /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/./cmake.lock
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/lib/python2.7/dist-packages/demo_teleop/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/demo_teleop/__init__.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/lib/python2.7/dist-packages/demo_teleop/cfg/__init__.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/demo_teleop/cfg/__init__.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/lib/python2.7/dist-packages/demo_teleop/cfg/SafeDroneTeleopConfig.py /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/python2.7/dist-packages/demo_teleop/cfg/SafeDroneTeleopConfig.py
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/lib/pkgconfig/demo_teleop.pc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/lib/pkgconfig/demo_teleop.pc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/include/demo_teleop/SafeDroneTeleopConfig.h /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/include/demo_teleop/SafeDroneTeleopConfig.h
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/share/demo_teleop/docs/SafeDroneTeleopConfig.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/demo_teleop/docs/SafeDroneTeleopConfig.dox
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/share/demo_teleop/docs/SafeDroneTeleopConfig.wikidoc /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/demo_teleop/docs/SafeDroneTeleopConfig.wikidoc
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/share/demo_teleop/docs/SafeDroneTeleopConfig-usage.dox /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/demo_teleop/docs/SafeDroneTeleopConfig-usage.dox
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/share/demo_teleop/cmake/demo_teleopConfig-version.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/demo_teleop/cmake/demo_teleopConfig-version.cmake
-/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/demo_teleop/share/demo_teleop/cmake/demo_teleopConfig.cmake /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/share/demo_teleop/cmake/demo_teleopConfig.cmake