Merge pull request #168 from b-it-bots/devel

Release v1.4.2

.gitignore

@@ -16,3 +16,6 @@ mongod.lock
 local.0
 local.ns
 message_store.*
+
+# Kaldi models
+/mdr_speech/mdr_speech_recognition/config/models/*

.travis.yml

@@ -29,7 +29,8 @@ jobs:
     - stage: build
       script:
         - docker-compose build travis
-    - stage: build
+    - stage: test
+      if: fork = false
       name: "Sonarcloud.io"
       script:
         - sonar-scanner
@@ -40,7 +41,7 @@ jobs:
         - echo "$DOCKER_PASSWORD" | docker login --username "$DOCKER_USERNAME" --password-stdin
         - docker build -t $CONTAINER_RELEASE_IMAGE .
         - docker images
-        - docker push $CONTAINER_RELEASE_IMAGE
+        - travis_wait docker push $CONTAINER_RELEASE_IMAGE
 
 notifications:
   slack:

mas-domestic.rosinstall

@@ -42,6 +42,10 @@
     local-name: ftsm
     uri: https://github.com/b-it-bots/ftsm.git
     version: master
+- git:
+    local-name: topological_map
+    uri: https://github.com/b-it-bots/topological_map.git
+    version: master
 
 - git:
     local-name: zbar_ros
@@ -77,3 +81,8 @@
     local-name: kdl_parser
     uri: https://github.com/ros/kdl_parser.git
     version: kinetic-devel
+
+- git:
+    local-name: ros_dmp
+    uri: https://github.com/b-it-bots/ros_dmp.git
+    version: master

mdr_environments/README.md

@@ -0,0 +1,8 @@
+# mdr_environments
+
+This package contains the occupancy grids for the following environments:
+* `brsu-c069` - @Home lab at the Hochschule Bonn-Rhein-Sieg
+* `go-arena` - German Open Arena as mapped in 2019
+* `hbrs-ground-floor-cartographer`- Map of the ground floor of the Buildings A, B and C in the Sankt Augustin Campus of the Hochschule Bonn-Rhein-Sieg, created with cartographer.
+* `hbrs-ground-floor-gmapping` - Map of the ground floor of the Buildings A, B and C in the Sankt Augustin Campus of the Hochschule Bonn-Rhein-Sieg, created with gmapping.
+* `rheinbach` - Map of Building B in the Rheinbach campus of the Hochschule Bonn-Rhein-Sieg, created for Tag der Forschung in 2019

mdr_environments/brsu-c069/navigation_goals.yaml

@@ -1,14 +1,14 @@
-#[x,y,theta]
-
-exit: [0.0, 0.0, 0.0]
-charge: [0.0, 0.0, 0.0]
-
-kitchen: [4.116, -2.075, 0.115]
-living_room: [1.294, -0.655, 1.674]
-dinner_table: [1.564, 0.416, -1.497]
-couch_table: [1.223, -2.640, 0.056]
-
-# poses for introduction
-second_intro: [0.205, 0.486, 0.488]
-
-home: [1.294, -0.655, 1.674]
+# pose_name: [x,y,theta]
+
+kitchen: [-2.812322, -2.391720, 1.523404]
+inspection_area: [1.736851, -1.852319, -0.007200]
+living_room: [-2.602834, 0.447194, -0.141166]
+table: [0.202, -0.065, -0.029990]
+cupboard: [3.439431, -1.850106, -0.078829]
+shelf: [5.296342, -3.869892, -1.584282]
+second_door: [7.649597, -3.926382, -1.710213]
+second_door_outside: [7.491672, -5.544887, 1.502231]
+observation_pose: [-0.386269, -0.149052, -0.013196]
+trash_can: [-1.991786, -3.080515, -1.644647]
+shelf_cupboard: [4.372, -3.300, 3.113]
+trash_bin1: [6.55, -3.75, -0.00277]

mdr_environments/go-arena/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-51.224998, -51.224998, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+