partly fix App5 lab file (#8)

* add missing package
* fix install script
* fix bad python include

images/setup_vm_ubuntu2204_humble.bash

@@ -47,8 +47,13 @@ mkdir -p ros_ws/src
 cd ~/ros_ws/src
 
 git clone -b ros2 https://github.com/chameau5050/web_video_server
-git clone -b ros2 https://github.com/rst-tu-dortmund/costmap_converter.git
+git clone -b humble https://github.com/rst-tu-dortmund/costmap_converter.git
+
 git clone -b ros2-master https://github.com/rst-tu-dortmund/teb_local_planner.git
+cd teb_local_planner
+git checkout 630a22e88dc9fd45be726a762edbb5b776bef231
+cd ..
+
 git clone -b ros2 https://github.com/SherbyRobotics/racecar.git
 
 cd ~/ros_ws

racecar_behaviors/package.xml

@@ -16,6 +16,7 @@
   <depend>sensor_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>tf_transformations</depend>
   <depend>std_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>std_srvs</depend>

racecar_behaviors/racecar_behaviors/blob_detector.py

@@ -17,7 +17,7 @@
 from tf2_ros import Buffer, TransformListener
 import tf_transformations
 from visualization_msgs.msg import Marker
-from libbehaviors import *
+from racecar_behaviors.libbehaviors import *
 
 class BlobDetector(Node):
     def __init__(self):

racecar_behaviors/racecar_behaviors/labo_brushfire.py

@@ -6,7 +6,7 @@
 import cv2
 import numpy as np
 from nav_msgs.srv import GetMap
-from libbehaviors import brushfire
+from racecar_behaviors.libbehaviors import brushfire
 
 class Brushfire(Node):
     def __init__(self):

racecar_gazebo/launch/spawn_2_racecars.launch.py

@@ -86,14 +86,14 @@ def launch_setup(context, *args, **kwargs):
 
     cmd_vel_arb = Node(
         package='racecar_bringup',
-        executable='cmd_vel_arb',
+        executable='cmd_vel_arbitration',
         remappings=[(f'/{prefix}/cmd_vel_output', f'/{prefix}/cmd_vel')],
         namespace=prefix
     )
 
     cmd_vel_arb2 = Node(
         package='racecar_bringup',
-        executable='cmd_vel_arb',
+        executable='cmd_vel_arbitration',
         remappings=[(f'/{prefix}2/cmd_vel_output', f'/{prefix}2/cmd_vel')],
         namespace=prefix+'2'
     )
@@ -111,7 +111,7 @@ def launch_setup(context, *args, **kwargs):
 
     teleop = Node(
             package='racecar_teleop',
-            executable='racecar_teleop',
+            executable='slash_teleop',
             name='racecar_teleop',
             remappings=[(f'/{prefix}/ctl_ref', f'/{prefix}/cmd_vel_abtr_0')],
             namespace=prefix   
@@ -125,7 +125,7 @@ def launch_setup(context, *args, **kwargs):
     return [
         robot_state_publisher,
         robot_state_publisher2,
-        # bridge,
+        bridge,
         spawn1,
         spawn2,
         cmd_vel_arb,

racecar_navigation/launch/slam.launch.py

@@ -10,7 +10,7 @@ def launch_setup(context, *args, **kwargs):
     localization = LaunchConfiguration('localization').perform(context)
     database_path = LaunchConfiguration('database_path').perform(context)
     odom_correction = LaunchConfiguration('odom_correction').perform(context)
-    use_sim_time = LaunchConfiguration('use_sim_time').perform(context)
+    use_sim_time = LaunchConfiguration('use_sim_time')
     delete_db = LaunchConfiguration('delete_db').perform(context)
 
     rtabmap_node = Node(
@@ -44,7 +44,7 @@ def launch_setup(context, *args, **kwargs):
             {'RGBD/SavedLocalizationIgnored': 'true'},
             {'Icp/VoxelSize': '0.05'},
             {'Icp/MaxCorrespondenceDistance': '0.1'},
-            {'use_sim_time': True if use_sim_time == 'true' else False},
+            {'use_sim_time': use_sim_time},
             {'Mem/IncrementalMemory': 'false' if localization == 'true' else 'true'},
         ],
         remappings=[

racecar_navigation/package.xml

@@ -16,6 +16,8 @@
   <depend>racecar_bringup</depend>
   <depend>racecar_behaviors</depend>
   <depend>teb_local_planner</depend>
+  <depend>rtabmap_ros</depend>
+
 
   <export>
     <build_type>ament_python</build_type>