#1 update basic setting for ros2

control/.gitignore

@@ -0,0 +1,5 @@
+.vscode
+build
+log
+install
+.DStore

control/CMakeLists.txt

@@ -0,0 +1,56 @@
+cmake_minimum_required(VERSION 3.5)
+project(control)
+
+# 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)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(ackermann_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs 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()
+
+include_directories(
+  include/${PROJECT_NAME}
+  )
+
+add_executable(${PROJECT_NAME}
+  src/main.cpp
+  src/control.cpp
+)
+ament_target_dependencies(${PROJECT_NAME} rclcpp nav_msgs ackermann_msgs tf2 tf2_geometry_msgs)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME})

control/include/control/control.h

@@ -0,0 +1,50 @@
+#pragma once
+
+#include "msg_structs.h"
+
+#include "rclcpp/rclcpp.hpp"
+#include "nav_msgs/msg/path.hpp"
+#include "std_msgs/msg/int8.hpp"
+#include "geometry_msgs/msg/pose_stamped.hpp"
+// #include "nav_msgs/msg/odometry.hpp"
+
+#include "ackermann_msgs/msg/ackermann_drive_stamped.hpp"
+#include "tf2/LinearMath/Quaternion.h"
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/convert.h>
+#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
+
+#include <string>
+#include <cmath>
+
+class Control : public rclcpp::Node {
+public:
+    Control();
+
+private:
+    std::vector<Pose> refPoses;
+    Pose currPose;
+    int currVel;
+    bool currDirection;
+
+    float speedCommand;
+    float steerCommand;
+
+    bool velocityValid;
+    bool poseValid;
+
+    rclcpp::Publisher<ackermann_msgs::msg::AckermannDriveStamped>::SharedPtr drive_publisher_;
+    rclcpp::Subscription<nav_msgs::msg::Path>::SharedPtr path_subscription_;
+    rclcpp::Subscription<std_msgs::msg::Int8>::SharedPtr velocity_subscription_;
+    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_subscription_;
+    // rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr pose_subscription_;
+    rclcpp::TimerBase::SharedPtr publisher_timer_;
+
+    void path_callback(const nav_msgs::msg::Path::SharedPtr path_msg);
+    void velocity_callback(const std_msgs::msg::Int8::SharedPtr velocity_msg);
+    void pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr pose_msg);
+    // void pose_callback(const nav_msgs::msg::Odometry::SharedPtr pose_msg);
+    void publisher_timer_callback();
+    void publish_drive(float speed, float steer);
+    float quat_to_yaw(const geometry_msgs::msg::Quaternion quat_msg);
+};

control/include/control/msg_structs.h

@@ -0,0 +1,9 @@
+#pragma once
+
+#include <string>
+
+struct Pose {
+    float x;
+    float y;
+    float heading;
+};

control/package.xml

@@ -0,0 +1,26 @@
+<?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>
+  <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>
+
+  <depend>rclcpp</depend>
+  <depend>nav_msgs</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>ackermann_msgs</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

control/src/control.cpp

@@ -0,0 +1,83 @@
+#include "control.h"
+
+Control::Control() : rclcpp::Node("vehicle_control") {
+    // Subscribe
+    path_subscription_ = this->create_subscription<nav_msgs::msg::Path>(
+        "/planner/path", 10, std::bind(&Control::path_callback, this,  std::placeholders::_1));
+    velocity_subscription_ = this->create_subscription<std_msgs::msg::Int8>(
+        "/planner/velocity", 10, std::bind(&Control::velocity_callback, this,  std::placeholders::_1));
+    // pose_subscription_ = this->create_subscription<geometry_msgs::msg::PoseStamped>(
+    //     "/localization/pose", 10, std::bind(&Control::pose_callback, this,  std::placeholders::_1));
+
+    // Publish
+    drive_publisher_ = this->create_publisher<ackermann_msgs::msg::AckermannDriveStamped>(
+        "/controller/drive", 10);
+
+    publisher_timer_ = this->create_wall_timer(
+        std::chrono::milliseconds(100),
+        std::bind(&Control::publisher_timer_callback, this)
+    );
+}
+
+void Control::path_callback(const nav_msgs::msg::Path::SharedPtr path_msg) {
+    this->refPoses.clear();
+    Pose refPose;
+    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.heading = this->quat_to_yaw(path_msg->poses[i].pose.orientation);
+        this->refPoses.push_back(refPose);
+    }
+    // this->controller.resetIndex(0);
+}
+
+void Control::velocity_callback(const std_msgs::msg::Int8::SharedPtr velocity_msg) {
+    this->velocityValid = false;
+    this->currVel = velocity_msg->data;
+    if (this->currVel >= 0) {this->currDirection = true;}
+    else {this->currDirection = false;}
+    this->velocityValid = true;
+}
+
+// void Control::pose_callback(const geometry_msgs::msg::PoseStamped::SharedPtr pose_msg) {
+//     this->poseValid = false;
+//     this->currPose.x = pose_msg->pose.position.x;
+//     this->currPose.y = pose_msg->pose.position.y;
+//     this->currPose.heading = this->quat_to_yaw(pose_msg->pose.orientation);
+//     this->poseValid = true;
+// }
+
+void Control::publisher_timer_callback() {
+    // if (this->refPoses.empty() || !this->poseValid || !this->velocityValid) {return;}
+
+    // // this->controller.calculateControl(refPoses, currPose, currVel, currDirection);
+    // this->speedCommand = this->controller.getSpeedCommand();
+    // this->steerCommand = - this->controller.getSteerCommand() * 180 / M_PI;
+    // // this->steerCommand = 0.5*this->controller.getSteerCommand() + 0.5*this->steerCommand;
+
+    // this->publish_drive(this->speedCommand, this->steerCommand);
+}
+
+void Control::publish_drive(float speed, float steer) {
+    ackermann_msgs::msg::AckermannDriveStamped drive_msg;
+
+    drive_msg.header = std_msgs::msg::Header();
+    drive_msg.header.stamp = rclcpp::Clock().now();
+    drive_msg.header.frame_id = "map";
+
+    drive_msg.drive.speed = speed;
+    drive_msg.drive.steering_angle = steer;
+
+    this->drive_publisher_->publish(drive_msg);
+}
+
+float Control::quat_to_yaw(const geometry_msgs::msg::Quaternion quat) {
+    tf2::Quaternion tf2_quat;
+    tf2::fromMsg(quat, tf2_quat);
+    double roll;
+    double pitch;
+    double yaw;
+    tf2::Matrix3x3 matrix(tf2_quat);
+    matrix.getRPY(roll, pitch, yaw);
+    return yaw;
+}

control/src/main.cpp

@@ -0,0 +1,9 @@
+#include "control.h"
+
+int main(int argc, char * argv[])
+{
+	rclcpp::init(argc, argv);
+	rclcpp::spin(std::make_shared<Control>());
+	rclcpp::shutdown();
+	return 0;
+}