mirror of
https://gitlab.com/yikestone/qt_pi.git
synced 2025-08-03 05:34:13 +05:30
Added gazebo world and model. Created launch files. gmapping not working.
This commit is contained in:
yikestone
parent
8cc0486ed6
commit
2a5297cbb4
@ -1,5 +1,8 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
project(qt_pi)
|
||||
|
||||
set(CMAKE_CXX_FLAGS "-fpermissive -std=c++0x")
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_python_setup()
|
||||
|
||||
2045
gazebo_sim/worlds/playground.world
Normal file
2045
gazebo_sim/worlds/playground.world
Normal file
File diff suppressed because it is too large
Load Diff
11
launch/gazebo_sim.launch
Normal file
11
launch/gazebo_sim.launch
Normal file
@ -0,0 +1,11 @@
|
||||
<launch>
|
||||
|
||||
<include file="$(find gazebo_ros)/launch/empty_world.launch">
|
||||
<arg name="world_name" value="$(find qt_pi)/gazebo_sim/worlds/playground.world"/>
|
||||
</include>
|
||||
|
||||
<include file="$(find qt_pi)/launch/gazebo_sim/static_tf_sim.launch"/>
|
||||
<include file="$(find qt_pi)/launch/gazebo_sim/depth_to_laser_sim.launch"/>
|
||||
<!--<include file="$(find qt_pi)/launch/gazebo_sim/gmapping.launch"/>-->
|
||||
|
||||
</launch>
|
||||
8
launch/gazebo_sim/depth_to_laser_sim.launch
Normal file
8
launch/gazebo_sim/depth_to_laser_sim.launch
Normal file
@ -0,0 +1,8 @@
|
||||
<launch>
|
||||
<remap from="image" to="qt_pi/camera_ir/depth/image_raw"/>
|
||||
|
||||
<node name="depthimage_to_laserscan" pkg="depthimage_to_laserscan" type="depthimage_to_laserscan">
|
||||
<param name="scan_height" value="1"/>
|
||||
<param name="range_max" value="100"/>
|
||||
</node>
|
||||
</launch>
|
||||
9
launch/gazebo_sim/gmapping_sim.launch
Normal file
9
launch/gazebo_sim/gmapping_sim.launch
Normal file
@ -0,0 +1,9 @@
|
||||
<launch>
|
||||
<node name="gmapping" pkg="gmapping" type="slam_gmapping">
|
||||
<param name="base_frame" value="qt_pi/base_link" type="string"/>
|
||||
<param name="odom" value="qt_pi/odom" type="string"/>
|
||||
<param name="maxUrange" value="90"/>
|
||||
<param name="maxRange" value="100"/>
|
||||
<param name="minimumScore" value="50"/>
|
||||
</node>
|
||||
</launch>
|
||||
3
launch/gazebo_sim/static_tf_sim.launch
Normal file
3
launch/gazebo_sim/static_tf_sim.launch
Normal file
@ -0,0 +1,3 @@
|
||||
<launch>
|
||||
<node pkg="tf" type="static_transform_publisher" name="camera_depth" args="0.2 0 0.2 0 0 0 1 qt_pi/base_link camera_depth_frame 33"/>
|
||||
</launch>
|
||||
4
launch/gazebo_sim/teleop.launch
Normal file
4
launch/gazebo_sim/teleop.launch
Normal file
@ -0,0 +1,4 @@
|
||||
<launch>
|
||||
<remap from="cmd_vel" to="qt_pi/cmd_vel"/>
|
||||
<node pkg="teleop_twist_keyboard" type="teleop_twist_keyboard.py" respawn="false" name="qt_pi-teleop" output="screen"></node>
|
||||
</launch>
|
||||
@ -1,161 +0,0 @@
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <memory>
|
||||
#include <limits>
|
||||
#include <stdexcept>
|
||||
|
||||
#include <openssl/evp.h>
|
||||
#include <openssl/rand.h>
|
||||
|
||||
static const unsigned int KEY_SIZE = 32;
|
||||
static const unsigned int BLOCK_SIZE = 16;
|
||||
|
||||
template <typename T>
|
||||
struct zallocator
|
||||
{
|
||||
public:
|
||||
typedef T value_type;
|
||||
typedef value_type* pointer;
|
||||
typedef const value_type* const_pointer;
|
||||
typedef value_type& reference;
|
||||
typedef const value_type& const_reference;
|
||||
typedef std::size_t size_type;
|
||||
typedef std::ptrdiff_t difference_type;
|
||||
|
||||
pointer address (reference v) const {return &v;}
|
||||
const_pointer address (const_reference v) const {return &v;}
|
||||
|
||||
pointer allocate (size_type n, const void* hint = 0) {
|
||||
if (n > std::numeric_limits<size_type>::max() / sizeof(T))
|
||||
throw std::bad_alloc();
|
||||
return static_cast<pointer> (::operator new (n * sizeof (value_type)));
|
||||
}
|
||||
|
||||
void deallocate(pointer p, size_type n) {
|
||||
OPENSSL_cleanse(p, n*sizeof(T));
|
||||
::operator delete(p);
|
||||
}
|
||||
|
||||
size_type max_size() const {
|
||||
return std::numeric_limits<size_type>::max() / sizeof (T);
|
||||
}
|
||||
|
||||
template<typename U>
|
||||
struct rebind
|
||||
{
|
||||
typedef zallocator<U> other;
|
||||
};
|
||||
|
||||
void construct (pointer ptr, const T& val) {
|
||||
new (static_cast<T*>(ptr) ) T (val);
|
||||
}
|
||||
|
||||
void destroy(pointer ptr) {
|
||||
static_cast<T*>(ptr)->~T();
|
||||
}
|
||||
|
||||
#if __cpluplus >= 201103L
|
||||
template<typename U, typename... Args>
|
||||
void construct (U* ptr, Args&& ... args) {
|
||||
::new (static_cast<void*> (ptr) ) U (std::forward<Args> (args)...);
|
||||
}
|
||||
|
||||
template<typename U>
|
||||
void destroy(U* ptr) {
|
||||
ptr->~U();
|
||||
}
|
||||
#endif
|
||||
};
|
||||
|
||||
typedef unsigned char byte;
|
||||
typedef std::basic_string<char, std::char_traits<char>, zallocator<char> > secure_string;
|
||||
using EVP_CIPHER_CTX_free_ptr = std::unique_ptr<EVP_CIPHER_CTX, decltype(&::EVP_CIPHER_CTX_free)>;
|
||||
|
||||
void gen_params(byte key[KEY_SIZE], byte iv[BLOCK_SIZE]);
|
||||
void aes_encrypt(const byte key[KEY_SIZE], const byte iv[BLOCK_SIZE], const secure_string& ptext, secure_string& ctext);
|
||||
void aes_decrypt(const byte key[KEY_SIZE], const byte iv[BLOCK_SIZE], const secure_string& ctext, secure_string& rtext);
|
||||
|
||||
// g++ -Wall -std=c++11 evp-encrypt.cxx -o evp-encrypt.exe -lcrypto
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
// Load the necessary cipher
|
||||
EVP_add_cipher(EVP_aes_256_cbc());
|
||||
|
||||
// plaintext, ciphertext, recovered text
|
||||
secure_string ptext = "Now is the time for all good men to come to the aide of their country";
|
||||
secure_string ctext, rtext;
|
||||
|
||||
byte key[KEY_SIZE], iv[BLOCK_SIZE];
|
||||
gen_params(key, iv);
|
||||
|
||||
aes_encrypt(key, iv, ptext, ctext);
|
||||
aes_decrypt(key, iv, ctext, rtext);
|
||||
|
||||
OPENSSL_cleanse(key, KEY_SIZE);
|
||||
OPENSSL_cleanse(iv, BLOCK_SIZE);
|
||||
|
||||
std::cout << "Original message:\n" << ptext << std::endl;
|
||||
std::cout << "Recovered message:\n" << rtext << std::endl;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
void gen_params(byte key[KEY_SIZE], byte iv[BLOCK_SIZE])
|
||||
{
|
||||
int rc = RAND_bytes(key, KEY_SIZE);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("RAND_bytes key failed");
|
||||
|
||||
rc = RAND_bytes(iv, BLOCK_SIZE);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("RAND_bytes for iv failed");
|
||||
}
|
||||
|
||||
void aes_encrypt(const byte key[KEY_SIZE], const byte iv[BLOCK_SIZE], const secure_string& ptext, secure_string& ctext)
|
||||
{
|
||||
EVP_CIPHER_CTX_free_ptr ctx(EVP_CIPHER_CTX_new(), ::EVP_CIPHER_CTX_free);
|
||||
int rc = EVP_EncryptInit_ex(ctx.get(), EVP_aes_256_cbc(), NULL, key, iv);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_EncryptInit_ex failed");
|
||||
|
||||
// Recovered text expands upto BLOCK_SIZE
|
||||
ctext.resize(ptext.size()+BLOCK_SIZE);
|
||||
int out_len1 = (int)ctext.size();
|
||||
|
||||
rc = EVP_EncryptUpdate(ctx.get(), (byte*)&ctext[0], &out_len1, (const byte*)&ptext[0], (int)ptext.size());
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_EncryptUpdate failed");
|
||||
|
||||
int out_len2 = (int)ctext.size() - out_len1;
|
||||
rc = EVP_EncryptFinal_ex(ctx.get(), (byte*)&ctext[0]+out_len1, &out_len2);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_EncryptFinal_ex failed");
|
||||
|
||||
// Set cipher text size now that we know it
|
||||
ctext.resize(out_len1 + out_len2);
|
||||
}
|
||||
|
||||
void aes_decrypt(const byte key[KEY_SIZE], const byte iv[BLOCK_SIZE], const secure_string& ctext, secure_string& rtext)
|
||||
{
|
||||
EVP_CIPHER_CTX_free_ptr ctx(EVP_CIPHER_CTX_new(), ::EVP_CIPHER_CTX_free);
|
||||
int rc = EVP_DecryptInit_ex(ctx.get(), EVP_aes_256_cbc(), NULL, key, iv);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_DecryptInit_ex failed");
|
||||
|
||||
// Recovered text contracts upto BLOCK_SIZE
|
||||
rtext.resize(ctext.size());
|
||||
int out_len1 = (int)rtext.size();
|
||||
|
||||
rc = EVP_DecryptUpdate(ctx.get(), (byte*)&rtext[0], &out_len1, (const byte*)&ctext[0], (int)ctext.size());
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_DecryptUpdate failed");
|
||||
|
||||
int out_len2 = (int)rtext.size() - out_len1;
|
||||
rc = EVP_DecryptFinal_ex(ctx.get(), (byte*)&rtext[0]+out_len1, &out_len2);
|
||||
if (rc != 1)
|
||||
throw std::runtime_error("EVP_DecryptFinal_ex failed");
|
||||
|
||||
// Set recovered text size now that we know it
|
||||
rtext.resize(out_len1 + out_len2);
|
||||
}
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user