code-iai · mtenorth · Aug 12, 2014 · Aug 1, 2014 · Aug 1, 2014 · Aug 1, 2014
diff --git a/CMakeLists.txt b/CMakeLists.txt
diff --git a/Makefile b/Makefile
diff --git a/README.md b/README.md
@@ -0,0 +1,13 @@
+iai_maps
+========
+
+The semantic and ground lab and environment maps for projects in the IAI group in the University of Bremen.
+
+The maps have been split into several packages:
+
+  * iai_maps: 2D maps for localization
+  -> formerly subfolders 'maps', 'launch'
+  * iai_kitchen_defs: URDF model of the kitchen
+  -> formerly subfolders 'defs', 'room', 'Media'
+  * iai_semantic_map: Semantic OWL map of the kitchen
+  -> formerly subfolders 'prolog', 'owl'
diff --git a/iai_kitchen_defs/CMakeLists.txt b/iai_kitchen_defs/CMakeLists.txt
@@ -0,0 +1,9 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_kitchen_defs)
+
+find_package(catkin REQUIRED COMPONENTS xacro)
+
+catkin_package(
+    DEPENDS xacro
+)
diff --git a/Media/materials/scripts/LAB.material → ...defs/Media/materials/scripts/LAB.material b/Media/materials/scripts/LAB.material → ...defs/Media/materials/scripts/LAB.material
diff --git a/...aterials/textures/auf_saeule_bei_shop.png → ...aterials/textures/auf_saeule_bei_shop.png b/...aterials/textures/auf_saeule_bei_shop.png → ...aterials/textures/auf_saeule_bei_shop.png
diff --git a/Media/materials/textures/cooking_plate.jpg → ...edia/materials/textures/cooking_plate.jpg b/Media/materials/textures/cooking_plate.jpg → ...edia/materials/textures/cooking_plate.jpg
diff --git a/...xtures/ganz_links_neben_roboterplakat.png → ...xtures/ganz_links_neben_roboterplakat.png b/...xtures/ganz_links_neben_roboterplakat.png → ...xtures/ganz_links_neben_roboterplakat.png
diff --git a/...s/textures/ganz_links_vorn_bei_biolab.png → ...s/textures/ganz_links_vorn_bei_biolab.png b/...s/textures/ganz_links_vorn_bei_biolab.png → ...s/textures/ganz_links_vorn_bei_biolab.png
diff --git a/...xtures/ganz_rechts_neben_kuecheninsel.png → ...xtures/ganz_rechts_neben_kuecheninsel.png b/...xtures/ganz_rechts_neben_kuecheninsel.png → ...xtures/ganz_rechts_neben_kuecheninsel.png
diff --git a/...tures/hinter_shopschraenken_an_saeule.png → ...tures/hinter_shopschraenken_an_saeule.png b/...tures/hinter_shopschraenken_an_saeule.png → ...tures/hinter_shopschraenken_an_saeule.png
diff --git a/...s/textures/mittig_neben_roboterplakat.png → ...s/textures/mittig_neben_roboterplakat.png b/...s/textures/mittig_neben_roboterplakat.png → ...s/textures/mittig_neben_roboterplakat.png
diff --git a/Media/materials/textures/sink.png → ...en_defs/Media/materials/textures/sink.png b/Media/materials/textures/sink.png → ...en_defs/Media/materials/textures/sink.png
diff --git a/Media/materials/textures/stove.png → ...n_defs/Media/materials/textures/stove.png b/Media/materials/textures/stove.png → ...n_defs/Media/materials/textures/stove.png
diff --git a/Media/materials/textures/wallpaper.png → ...fs/Media/materials/textures/wallpaper.png b/Media/materials/textures/wallpaper.png → ...fs/Media/materials/textures/wallpaper.png
diff --git a/Media/materials/textures/wallpaper2.png → ...s/Media/materials/textures/wallpaper2.png b/Media/materials/textures/wallpaper2.png → ...s/Media/materials/textures/wallpaper2.png
diff --git a/...materials/textures/wallpaper_ai_unihb.png → ...materials/textures/wallpaper_ai_unihb.png b/...materials/textures/wallpaper_ai_unihb.png → ...materials/textures/wallpaper_ai_unihb.png
diff --git a/...ials/textures/wallpaper_project_logos.png → ...ials/textures/wallpaper_project_logos.png b/...ials/textures/wallpaper_project_logos.png → ...ials/textures/wallpaper_project_logos.png
diff --git a/Media/models/cash_register.urdf.xml → ..._defs/Media/models/cash_register.urdf.xml b/Media/models/cash_register.urdf.xml → ..._defs/Media/models/cash_register.urdf.xml
diff --git a/Media/models/chair.urdf.xml → iai_kitchen_defs/Media/models/chair.urdf.xml b/Media/models/chair.urdf.xml → iai_kitchen_defs/Media/models/chair.urdf.xml
diff --git a/Media/models/cnc.urdf.xml → iai_kitchen_defs/Media/models/cnc.urdf.xml b/Media/models/cnc.urdf.xml → iai_kitchen_defs/Media/models/cnc.urdf.xml
diff --git a/Media/models/glasses.urdf.xml → ...itchen_defs/Media/models/glasses.urdf.xml b/Media/models/glasses.urdf.xml → ...itchen_defs/Media/models/glasses.urdf.xml
diff --git a/Media/models/meshes/Cash_Register.dae → ...efs/Media/models/meshes/Cash_Register.dae b/Media/models/meshes/Cash_Register.dae → ...efs/Media/models/meshes/Cash_Register.dae
diff --git a/...shes/Cash_Register/cash_register_keys.jpg → ...shes/Cash_Register/cash_register_keys.jpg b/...shes/Cash_Register/cash_register_keys.jpg → ...shes/Cash_Register/cash_register_keys.jpg
diff --git a/Media/models/meshes/Chair.dae → ...itchen_defs/Media/models/meshes/Chair.dae b/Media/models/meshes/Chair.dae → ...itchen_defs/Media/models/meshes/Chair.dae
diff --git a/Media/models/meshes/Chair/__Wood-cherry_.jpg → ...ia/models/meshes/Chair/__Wood-cherry_.jpg b/Media/models/meshes/Chair/__Wood-cherry_.jpg → ...ia/models/meshes/Chair/__Wood-cherry_.jpg
diff --git a/Media/models/meshes/cnc.dae → iai_kitchen_defs/Media/models/meshes/cnc.dae b/Media/models/meshes/cnc.dae → iai_kitchen_defs/Media/models/meshes/cnc.dae
diff --git a/...s/meshes/cnc/Metal_Aluminum_Anodized_.jpg → ...s/meshes/cnc/Metal_Aluminum_Anodized_.jpg b/...s/meshes/cnc/Metal_Aluminum_Anodized_.jpg → ...s/meshes/cnc/Metal_Aluminum_Anodized_.jpg
diff --git a/...ls/meshes/cnc/Metal_Corrogated_Shiny_.jpg → ...ls/meshes/cnc/Metal_Corrogated_Shiny_.jpg b/...ls/meshes/cnc/Metal_Corrogated_Shiny_.jpg → ...ls/meshes/cnc/Metal_Corrogated_Shiny_.jpg
diff --git a/Media/models/meshes/cnc/Metal_Rough_.jpg → .../Media/models/meshes/cnc/Metal_Rough_.jpg b/Media/models/meshes/cnc/Metal_Rough_.jpg → .../Media/models/meshes/cnc/Metal_Rough_.jpg
diff --git a/Media/models/meshes/cnc/Metal_Seamed_.jpg → ...Media/models/meshes/cnc/Metal_Seamed_.jpg b/Media/models/meshes/cnc/Metal_Seamed_.jpg → ...Media/models/meshes/cnc/Metal_Seamed_.jpg
diff --git a/Media/models/meshes/glasses.dae → ...chen_defs/Media/models/meshes/glasses.dae b/Media/models/meshes/glasses.dae → ...chen_defs/Media/models/meshes/glasses.dae
diff --git a/...a/models/meshes/glasses/__Color_A05_4.png → ...a/models/meshes/glasses/__Color_A05_4.png b/...a/models/meshes/glasses/__Color_A05_4.png → ...a/models/meshes/glasses/__Color_A05_4.png
diff --git a/Media/models/meshes/test_glasses.dae → ...defs/Media/models/meshes/test_glasses.dae b/Media/models/meshes/test_glasses.dae → ...defs/Media/models/meshes/test_glasses.dae
diff --git a/...odels/meshes/test_glasses/Water_Deep_.jpg → ...odels/meshes/test_glasses/Water_Deep_.jpg b/...odels/meshes/test_glasses/Water_Deep_.jpg → ...odels/meshes/test_glasses/Water_Deep_.jpg
diff --git a/...odels/meshes/test_glasses/Water_Pool_.jpg → ...odels/meshes/test_glasses/Water_Pool_.jpg b/...odels/meshes/test_glasses/Water_Pool_.jpg → ...odels/meshes/test_glasses/Water_Pool_.jpg
diff --git a/.../meshes/test_glasses/Water_Sparkling_.jpg → .../meshes/test_glasses/Water_Sparkling_.jpg b/.../meshes/test_glasses/Water_Sparkling_.jpg → .../meshes/test_glasses/Water_Sparkling_.jpg
diff --git a/Media/models/meshes/wine_cooler.dae → ..._defs/Media/models/meshes/wine_cooler.dae b/Media/models/meshes/wine_cooler.dae → ..._defs/Media/models/meshes/wine_cooler.dae
diff --git a/...els/meshes/wine_cooler/__Blue_Glass_4.JPG → ...els/meshes/wine_cooler/__Blue_Glass_4.JPG b/...els/meshes/wine_cooler/__Blue_Glass_4.JPG → ...els/meshes/wine_cooler/__Blue_Glass_4.JPG
diff --git a/...models/meshes/wine_cooler/material_25.jpg → ...models/meshes/wine_cooler/material_25.jpg b/...models/meshes/wine_cooler/material_25.jpg → ...models/meshes/wine_cooler/material_25.jpg
diff --git a/Media/models/test_glasses.urdf.xml → ...n_defs/Media/models/test_glasses.urdf.xml b/Media/models/test_glasses.urdf.xml → ...n_defs/Media/models/test_glasses.urdf.xml
diff --git a/Media/models/wine_cooler.urdf.xml → ...en_defs/Media/models/wine_cooler.urdf.xml b/Media/models/wine_cooler.urdf.xml → ...en_defs/Media/models/wine_cooler.urdf.xml
diff --git a/defs/ias_kitchen/cuboid.xml → iai_kitchen_defs/defs/ias_kitchen/cuboid.xml b/defs/ias_kitchen/cuboid.xml → iai_kitchen_defs/defs/ias_kitchen/cuboid.xml
diff --git a/defs/ias_kitchen/fridge_block.xml → ...en_defs/defs/ias_kitchen/fridge_block.xml b/defs/ias_kitchen/fridge_block.xml → ...en_defs/defs/ias_kitchen/fridge_block.xml
diff --git a/defs/ias_kitchen/furniture_defs.xml → ..._defs/defs/ias_kitchen/furniture_defs.xml b/defs/ias_kitchen/furniture_defs.xml → ..._defs/defs/ias_kitchen/furniture_defs.xml
diff --git a/defs/ias_kitchen/island_block.xml → ...en_defs/defs/ias_kitchen/island_block.xml b/defs/ias_kitchen/island_block.xml → ...en_defs/defs/ias_kitchen/island_block.xml
diff --git a/defs/ias_kitchen/materials.xml → ...tchen_defs/defs/ias_kitchen/materials.xml b/defs/ias_kitchen/materials.xml → ...tchen_defs/defs/ias_kitchen/materials.xml
diff --git a/defs/ias_kitchen/oven_block.xml → ...chen_defs/defs/ias_kitchen/oven_block.xml b/defs/ias_kitchen/oven_block.xml → ...chen_defs/defs/ias_kitchen/oven_block.xml
diff --git a/defs/ias_kitchen/shopping_block.xml → ..._defs/defs/ias_kitchen/shopping_block.xml b/defs/ias_kitchen/shopping_block.xml → ..._defs/defs/ias_kitchen/shopping_block.xml
diff --git a/defs/ias_kitchen/sink_block.xml → ...chen_defs/defs/ias_kitchen/sink_block.xml b/defs/ias_kitchen/sink_block.xml → ...chen_defs/defs/ias_kitchen/sink_block.xml
diff --git a/defs/ias_kitchen/small_table.xml → ...hen_defs/defs/ias_kitchen/small_table.xml b/defs/ias_kitchen/small_table.xml → ...hen_defs/defs/ias_kitchen/small_table.xml
diff --git a/defs/ias_kitchen/table.xml → iai_kitchen_defs/defs/ias_kitchen/table.xml b/defs/ias_kitchen/table.xml → iai_kitchen_defs/defs/ias_kitchen/table.xml
diff --git a/defs/util_defs.xml → iai_kitchen_defs/defs/util_defs.xml b/defs/util_defs.xml → iai_kitchen_defs/defs/util_defs.xml
diff --git a/iai_kitchen_defs/package.xml b/iai_kitchen_defs/package.xml
@@ -0,0 +1,17 @@
+<package>
+  <name>iai_kitchen_defs</name>
+  <version>1.0.0</version>
+  <description>URDF description of the kitchen laboratory of the IAI in Bremen</description>
+
+  <maintainer email="winkler@cs.uni-bremen.de">Jan Winkler</maintainer>
+
+  <license>LGPL</license>
+
+  <author>Jan Winkler</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>xacro</build_depend>
+  <run_depend>xacro</run_depend>
+
+</package>
diff --git a/room/allInOne.urdf.xml → iai_kitchen_defs/room/allInOne.urdf.xml b/room/allInOne.urdf.xml → iai_kitchen_defs/room/allInOne.urdf.xml
diff --git a/room/bio_area.urdf.xml → iai_kitchen_defs/room/bio_area.urdf.xml b/room/bio_area.urdf.xml → iai_kitchen_defs/room/bio_area.urdf.xml
diff --git a/room/cnc_area.urdf.xml → iai_kitchen_defs/room/cnc_area.urdf.xml b/room/cnc_area.urdf.xml → iai_kitchen_defs/room/cnc_area.urdf.xml
diff --git a/room/colorTest.urdf.xml → iai_kitchen_defs/room/colorTest.urdf.xml b/room/colorTest.urdf.xml → iai_kitchen_defs/room/colorTest.urdf.xml
diff --git a/room/kitchen_area.urdf.xml → iai_kitchen_defs/room/kitchen_area.urdf.xml b/room/kitchen_area.urdf.xml → iai_kitchen_defs/room/kitchen_area.urdf.xml
diff --git a/room/lab_macros.xml → iai_kitchen_defs/room/lab_macros.xml b/room/lab_macros.xml → iai_kitchen_defs/room/lab_macros.xml
diff --git a/room/room.urdf.xml → iai_kitchen_defs/room/room.urdf.xml b/room/room.urdf.xml → iai_kitchen_defs/room/room.urdf.xml
diff --git a/room/shopping_area.urdf.xml → iai_kitchen_defs/room/shopping_area.urdf.xml b/room/shopping_area.urdf.xml → iai_kitchen_defs/room/shopping_area.urdf.xml
diff --git a/room/test.urdf.xml → iai_kitchen_defs/room/test.urdf.xml b/room/test.urdf.xml → iai_kitchen_defs/room/test.urdf.xml
diff --git a/room/worktables.urdf.xml → iai_kitchen_defs/room/worktables.urdf.xml b/room/worktables.urdf.xml → iai_kitchen_defs/room/worktables.urdf.xml
diff --git a/iai_maps/CMakeLists.txt b/iai_maps/CMakeLists.txt
@@ -0,0 +1,7 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_maps)
+
+find_package(catkin)
+
+catkin_package()
diff --git a/launch/iai_maps.launch → iai_maps/launch/iai_maps.launch b/launch/iai_maps.launch → iai_maps/launch/iai_maps.launch
diff --git a/launch/iai_maps2.launch → iai_maps/launch/iai_maps2.launch b/launch/iai_maps2.launch → iai_maps/launch/iai_maps2.launch
diff --git a/launch/iai_maps_nogroundmap.launch → iai_maps/launch/iai_maps_nogroundmap.launch b/launch/iai_maps_nogroundmap.launch → iai_maps/launch/iai_maps_nogroundmap.launch
diff --git a/launch/iai_maps_restricted.launch → iai_maps/launch/iai_maps_restricted.launch b/launch/iai_maps_restricted.launch → iai_maps/launch/iai_maps_restricted.launch
diff --git a/iai_maps/launch/json.launch b/iai_maps/launch/json.launch
@@ -0,0 +1,6 @@
+<launch>
+  <param name="initial_package" type="string" value="knowrob_map_data" />
+  <param name="initial_goal" type="string" value="owl_parse('package://iai_semantic_maps/owl/room.owl')" />
+
+  <node name="json_prolog" pkg="json_prolog" type="json_prolog_node" cwd="node" output="screen" />
+</launch>
diff --git a/launch/kitchen_with_state_publisher.launch → ...aunch/kitchen_with_state_publisher.launch b/launch/kitchen_with_state_publisher.launch → ...aunch/kitchen_with_state_publisher.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <param name="kitchen_description" 
-    command="$(find xacro)/xacro.py '$(find iai_maps)/room/kitchen_area.urdf.xml'"
+    command="$(find xacro)/xacro.py '$(find iai_kitchen_defs)/room/kitchen_area.urdf.xml'"
   />  
 
   <node pkg="tf" type="static_transform_publisher" name="kitchen_link_broadcaster" 

diff --git a/launch/map.launch → iai_maps/launch/map.launch b/launch/map.launch → iai_maps/launch/map.launch
diff --git a/launch/map2.launch → iai_maps/launch/map2.launch b/launch/map2.launch → iai_maps/launch/map2.launch
diff --git a/launch/map_restricted.launch → iai_maps/launch/map_restricted.launch b/launch/map_restricted.launch → iai_maps/launch/map_restricted.launch
diff --git a/launch/maps_only.launch → iai_maps/launch/maps_only.launch b/launch/maps_only.launch → iai_maps/launch/maps_only.launch
diff --git a/launch/no-json.launch → iai_maps/launch/no-json.launch b/launch/no-json.launch → iai_maps/launch/no-json.launch
diff --git a/launch/room.launch → iai_maps/launch/room.launch b/launch/room.launch → iai_maps/launch/room.launch
@@ -1,7 +1,7 @@
 <launch>
 
   <param name="room_description" 
-    command="$(find xacro)/xacro.py '$(find iai_maps)/room/room.urdf.xml'"
+    command="$(find xacro)/xacro.py '$(find iai_kitchen_defs)/room/room.urdf.xml'"
   />  
 
   <node pkg="tf" type="static_transform_publisher" name="room_link_broadcaster" 

diff --git a/launch/stp_pancake_table.launch → iai_maps/launch/stp_pancake_table.launch b/launch/stp_pancake_table.launch → iai_maps/launch/stp_pancake_table.launch
diff --git a/maps/map.pgm → iai_maps/maps/map.pgm b/maps/map.pgm → iai_maps/maps/map.pgm
diff --git a/maps/map.yaml → iai_maps/maps/map.yaml b/maps/map.yaml → iai_maps/maps/map.yaml
diff --git a/maps/map2.pgm → iai_maps/maps/map2.pgm b/maps/map2.pgm → iai_maps/maps/map2.pgm
diff --git a/maps/map2.yaml → iai_maps/maps/map2.yaml b/maps/map2.yaml → iai_maps/maps/map2.yaml
diff --git a/maps/map3.pgm → iai_maps/maps/map3.pgm b/maps/map3.pgm → iai_maps/maps/map3.pgm
diff --git a/maps/map3.yaml → iai_maps/maps/map3.yaml b/maps/map3.yaml → iai_maps/maps/map3.yaml
diff --git a/maps/map_restricted.pgm → iai_maps/maps/map_restricted.pgm b/maps/map_restricted.pgm → iai_maps/maps/map_restricted.pgm
diff --git a/maps/map_restricted.yaml → iai_maps/maps/map_restricted.yaml b/maps/map_restricted.yaml → iai_maps/maps/map_restricted.yaml
diff --git a/iai_maps/package.xml b/iai_maps/package.xml
@@ -0,0 +1,14 @@
+<package>
+  <name>iai_maps</name>
+  <version>1.0.0</version>
+  <description>Maps of the kitchen laboratory of the IAI in Bremen</description>
+
+  <maintainer email="winkler@cs.uni-bremen.de">Jan Winkler</maintainer>
+
+  <license>LGPL</license>
+
+  <author>Jan Winkler</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>
diff --git a/iai_semantic_maps/CMakeLists.txt b/iai_semantic_maps/CMakeLists.txt
@@ -0,0 +1,9 @@
+
+cmake_minimum_required(VERSION 2.8.3)
+project(iai_semantic_maps)
+
+find_package(catkin REQUIRED COMPONENTS comp_spatial)
+
+catkin_package(
+    DEPENDS comp_spatial
+)