#8 New ROS2 Structure for Control

.gitignore

@@ -2,4 +2,5 @@ build
 .vscode
 .DStore
 log
+install
 

control/CMakeLists.txt → control_ws/src/pure_pursuit/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(control)
+project(pure_pursuit)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)

control/include/control/control.h → control_ws/src/pure_pursuit/include/pure_pursuit/control.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "msg_structs.h"
+#include "utils/msg_structs.h"
 
 #include "controller/pure_pursuit.hpp"
 

control/include/control/controller/pure_pursuit.hpp → control_ws/src/pure_pursuit/include/pure_pursuit/controller/pure_pursuit.hpp

@@ -1,6 +1,6 @@
 #pragma once
 
-#include "msg_structs.h"
+#include "utils/msg_structs.h"
 
 #include <array>
 #include <cmath>
@@ -12,6 +12,9 @@ class PurePursuit {
 public:
     PurePursuit(double WB, double Kdd, double Ldc);
 
+    PurePursuit();
+    ~PurePursuit();
+
     void purepursuit_control(std::vector<Path> refPoses, double target_v, double x, double y, double yaw, double v);
 
     double getThrottle();

control/package.xml → control_ws/src/pure_pursuit/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>control</name>
+  <name>pure_pursuit</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="tjehdghks4356@gmail.com">dongdongo</maintainer>

control/src/control.cpp → control_ws/src/pure_pursuit/src/control.cpp

@@ -1,7 +1,7 @@
-#include "control.h"
+#include "control.hpp"
 
-Control::Control() : rclcpp::Node("vehicle_control"), controller(15, 0.5, 10.0) {
-    // this->controller = PurePursuit(2.7, 0.5, 4.0);
+Control::Control() : rclcpp::Node("vehicle_control") {
+    this->controller = PurePursuit(2.7, 0.5, 4.0);
 
     // Subscribe
     path_subscription_ = this->create_subscription<nav_msgs::msg::Path>(
@@ -28,7 +28,7 @@ void Control::path_callback(const nav_msgs::msg::Path::SharedPtr path_msg) {
     for (size_t i = 0; i < path_msg->poses.size(); ++i) {
         refPose.x = path_msg->poses[i].pose.position.x;
         refPose.y = path_msg->poses[i].pose.position.y;
-        // refPose.yaw = this->quat_to_yaw(path_msg->poses[i].pose.orientation);
+        refPose.yaw = this->quat_to_yaw(path_msg->poses[i].pose.orientation);
         this->refPoses.push_back(refPose);
     }
     this->pathValid = true;
@@ -74,7 +74,7 @@ void Control::publisher_timer_callback() {
 
 void Control::publish_drive(float speed, float steer) {
     auto drive_msg = std::make_unique<geometry_msgs::msg::Twist>();
-    drive_msg->linear.x = speed;
+    drive_msg->linear.x = speed * 0.8;
     drive_msg->angular.z = steer;
     std::cout << "Publish Throttle : " << speed << " Publish Steering : " << steer << std::endl;
     this->drive_publisher_->publish(std::move(drive_msg));

control/src/controller/pure_pursuit.cpp → control_ws/src/pure_pursuit/src/controller/pure_pursuit.cpp

@@ -33,6 +33,10 @@ PurePursuit::PurePursuit(double WB, double Kdd, double Ldc) {
     this->target_node = 0;
 }
 
+PurePursuit::PurePursuit() {}
+
+PurePursuit::~PurePursuit() {}
+
 void PurePursuit::purepursuit_control(std::vector<Path> refPoses, double target_v, double x, double y, double yaw, double v) {
     this->target_speed = target_v;
     this->refPoses = refPoses;

control/src/main.cpp → control_ws/src/pure_pursuit/src/main.cpp

@@ -1,4 +1,4 @@
-#include "control.h"
+#include "control.hpp"
 
 int main(int argc, char * argv[])
 {

control_ws/src/stanley/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.5)
+project(stanley)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

control_ws/src/stanley/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>stanley</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="tjehdghks4356@gmail.com">dongdongo</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>