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freyja_examples: Ported temporal_provider example #14

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f776811
refactor: initial ROS2 refactoring
Peter010103 Jan 12, 2022
bb1e8c4
feature: add lemiscate temporal trajectory
Peter010103 Jan 12, 2022
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55 changes: 23 additions & 32 deletions freyja_examples/CMakeLists.txt
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@@ -1,40 +1,31 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(freyja_examples)
set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -O3" )

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
message_generation
roscpp
freyja_msgs
std_msgs
)

add_compile_options( -std=c++14 -O3 -ffast-math -Wall )

catkin_package(
# INCLUDE_DIRS include
# LIBRARIES trajectory_provider
CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp std_msgs
# DEPENDS system_lib
)
find_package(ament_cmake REQUIRED)

###########
## Build ##
###########
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(freyja_msgs REQUIRED)

include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}

add_executable(temporal_provider src/temporal_provider.cpp)

target_include_directories( temporal_provider PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies( temporal_provider
rclcpp
freyja_msgs
std_msgs
)

# simple trajectory provider
add_executable(temporal_provider_node src/temporal_provider.cpp)
add_dependencies(temporal_provider_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(TARGETS
temporal_provider
DESTINATION lib/${PROJECT_NAME})

target_link_libraries(temporal_provider_node
${catkin_LIBRARIES}
)

ament_package()
55 changes: 55 additions & 0 deletions freyja_examples/include/temporal_provider.h
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/* Provides a trajectory for the vehicle to follow.
EXAMPLE FILE; ONLY FOR SUPPORT.
Whatever you do here, output a time-based continuous function to follow.
This node should generate a 7 vector: [pn pe pd vn ve vd yaw]' for the vehicle
to follow. The controller currently listens to this reference trajectory
and updates its knowledge of the "latest" reference point.

-- aj / 23rd Nov, 2017.
*/

#include <chrono>
#include <cmath>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/u_int8.hpp"
#include "freyja_msgs/msg/reference_state.hpp"

typedef freyja_msgs::msg::ReferenceState TrajRef;

#define DEG2RAD(D) ((D)*3.1415326/180.0)

using std::placeholders::_1;
using namespace std::chrono_literals;

rclcpp::Time init_time;
std::string traj_type;
int agg_level;
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These three are unused, I think?


class Temporal_Traj : public rclcpp::Node
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I think it might be better to remove the _ in the class name. It is redundant with this case-style, and also will maintain consistency.

{
TrajRef ref_state;
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Consider naming class member variables with an _ postfix: ref_state_

rclcpp::Time init_time;

std::string traj_type;
int agg_level;

public:
Temporal_Traj();

rclcpp::Subscription<std_msgs::msg::UInt8>::SharedPtr time_reset_sub_;
void timer_reset_cb( const std_msgs::msg::UInt8::SharedPtr msg );

rclcpp::Publisher<TrajRef>::SharedPtr traj_pub_;

rclcpp::TimerBase::SharedPtr traj_update_timer_;
void traj_update_cb();

TrajRef getHoverReference( rclcpp::Duration cur_time );
TrajRef getCircleReference( rclcpp::Duration cur_time, const int agg_level);
TrajRef getDefaultReference( rclcpp::Duration cur_time );
TrajRef getLemiscateReference( rclcpp::Duration cur_time, const int agg_level);

};

36 changes: 11 additions & 25 deletions freyja_examples/package.xml
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<?xml version="1.0"?>
<package>
<package format="3">
<name>freyja_examples</name>
<version>0.0.0</version>
<description>The examples package showing use cases</description>

<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="aj@todo.todo">aj</maintainer>

<description>ROS2 Trajectory Examples</description>
<maintainer email="hw527@cam.ac.uk">Peter Woo</maintainer>
<license>GPLv3</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<buildtool_depend>catkin</buildtool_depend>
<build_depend>geometry_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>freyja_msgs</build_depend>
<build_depend>std_msgs</build_depend>

<run_depend>geometry_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_generation</run_depend>


<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<depend>freyja_msgs</depend>

<export>
<build_type>ament_cmake</build_type>
</export>

</package>
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