-devel/
+install/
logs/
build/
bin/
# Catkin custom files
CATKIN_IGNORE
+
+# Colcom custom files
+COLCON_IGNORE
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
project(pose2d_trajectories)
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
-## 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
- roscpp
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_ros REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-# DEPENDENCIES
-# geometry_msgs
-# )
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-# cfg/DynReconf1.cfg
-# cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
- INCLUDE_DIRS include
- LIBRARIES pose2d_trajectories
-# CATKIN_DEPENDS geometry_msgs roscpp
- DEPENDS EIGEN3
+add_library(pose2d_trajectories
+ src/circle_path.cpp
+ src/eight_path.cpp)
+target_compile_features(pose2d_trajectories PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
+target_include_directories(pose2d_trajectories PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<BUILD_INTERFACE:${EIGEN3_INCLUDE_DIR}>
+ $<INSTALL_INTERFACE:include>)
+ament_target_dependencies(
+ pose2d_trajectories
+ "rclcpp"
+ "geometry_msgs"
+ "Eigen3"
)
-###########
-## Build ##
-###########
+# Causes the visibility macros to use dllexport rather than dllimport,
+# which is appropriate when building the dll but not consuming it.
+target_compile_definitions(pose2d_trajectories PRIVATE "POSE2D_TRAJECTORIES_BUILDING_LIBRARY")
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
- include
- ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen3)
- ${EIGEN3_INCLUDE_DIRS}
+install(
+ DIRECTORY include/
+ DESTINATION include
)
-
-## Declare a C++ library
-add_library(${PROJECT_NAME}
- src/circle_path.cpp
- src/eight_path.cpp
+install(
+ TARGETS pose2d_trajectories
+ EXPORT export_${PROJECT_NAME}
+ ARCHIVE DESTINATION lib
+ LIBRARY DESTINATION lib
+ RUNTIME DESTINATION bin
)
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
add_executable(eight_trajectory src/eight_trajectory.cpp)
-add_executable(pose2d_stamp src/pose2d_stamp.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+target_include_directories(eight_trajectory PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>)
+target_link_libraries(eight_trajectory pose2d_trajectories)
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}
- ${catkin_LIBRARIES}
-# ${Eigen3_LIBRARIES}
-)
-
-target_link_libraries(eight_trajectory
- ${catkin_LIBRARIES}
- ${PROJECT_NAME}
-)
-
-target_link_libraries(pose2d_stamp
- ${catkin_LIBRARIES}
-)
-
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+add_executable(pose2d_stamp src/pose2d_stamp.cpp)
+target_include_directories(pose2d_stamp PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>)
+target_link_libraries(pose2d_stamp pose2d_trajectories)
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS eight_trajectory pose2d_stamp
- RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ DESTINATION lib/${PROJECT_NAME})
+
+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_export_include_directories(
+ include
)
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
- install(TARGETS ${PROJECT_NAME}
- ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
- RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+ament_export_libraries(
+ pose2d_trajectories
)
-
-## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
- DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
+ament_export_targets(
+ export_${PROJECT_NAME}
)
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_pose2d_trajectories.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ament_package()
+++ /dev/null
-/******************************************************************************
- ROS pose2d_trajectories Package
- Circle Path Class
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful, but
- WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see
- <http://www.gnu.org/licenses/>.
-
-*******************************************************************************/
-
-#ifndef CIRCLE_PATH_H
-#define CIRCLE_PATH_H
-
-#include <Eigen/Dense>
-
-/** Circle path
-* @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-class CirclePath
-{
- Eigen::Vector2d pc_;
- double phi0_;
- double r_;
- double w_;
-
- public:
-
- /** Build a circle path.
- * @param pc circle center point.
- * @param phi0 initial phase.
- * @param r circle radius.
- * @param w angular velocity.
- */
- CirclePath(const Eigen::Vector2d &pc,double phi0,double r,double w);
-
- /** Build a circle path.
- * @param p0 starting pose.
- * @param r circle radius.
- * @param w angular velocity.
- */
- CirclePath(const Eigen::Vector3d &p0,double r,double w);
-
- /** Build a circle path.
- * @param pc circle center point.
- * @param p0 starting point.
- * @param w angular velocity.
- */
- CirclePath(const Eigen::Vector2d &pc,Eigen::Vector2d &p0,double w);
-
- /** Destroy a circle path.
- */
- ~CirclePath(void) { };
-
- /** Get path point.
- * @param t path time.
- * @return path point.
- */
- Eigen::Vector3d point(double t) const;
-
- /** Get path steering controls.
- * @param t path time.
- * @return steering controls.
- */
- Eigen::Vector2d steering(double t) const;
-};
-#endif
--- /dev/null
+/******************************************************************************
+ ROS 2 pose2d_trajectories Package
+ Circle Path Class
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#ifndef POSE2D_TRAJECTORIES__CIRCLE_PATH_HPP_
+#define POSE2D_TRAJECTORIES__CIRCLE_PATH_HPP_
+
+#include <Eigen/Dense>
+
+#include <pose2d_trajectories/visibility_control.h>
+
+namespace pose2d_trajectories
+{
+
+ /** Circle path
+ * @author Walter Fetter Lages <w.fetter@ieee.org>
+ */
+ class CirclePath
+ {
+ Eigen::Vector2d pc_;
+ double phi0_;
+ double r_;
+ double w_;
+
+ public:
+
+ /** Build a circle path.
+ * @param pc circle center point.
+ * @param phi0 initial phase.
+ * @param r circle radius.
+ * @param w angular velocity.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ CirclePath(const Eigen::Vector2d &pc,double phi0,double r,double w);
+
+ /** Build a circle path.
+ * @param p0 starting pose.
+ * @param r circle radius.
+ * @param w angular velocity.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ CirclePath(const Eigen::Vector3d &p0,double r,double w);
+
+ /** Build a circle path.
+ * @param pc circle center point.
+ * @param p0 starting point.
+ * @param w angular velocity.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ CirclePath(const Eigen::Vector2d &pc,Eigen::Vector2d &p0,double w);
+
+ /** Destroy a circle path.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ ~CirclePath(void) { };
+
+ /** Get path point.
+ * @param t path time.
+ * @return path point.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ Eigen::Vector3d point(double t) const;
+
+ /** Get path steering controls.
+ * @param t path time.
+ * @return steering controls.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ Eigen::Vector2d steering(double t) const;
+ };
+}
+#endif
+++ /dev/null
-/******************************************************************************
- ROS pose2d_trajectories Package
- Eigth Path Class
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
-
- This program is free software: you can redistribute it and/or modify
- it under the terms of the GNU General Public License as published by
- the Free Software Foundation, either version 3 of the License, or
- (at your option) any later version.
-
- This program is distributed in the hope that it will be useful, but
- WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program. If not, see
- <http://www.gnu.org/licenses/>.
-
-*******************************************************************************/
-
-#ifndef EIGHT_PATH_H
-#define EIGHT_PATH_H
-
-#include <pose2d_trajectories/circle_path.h>
-
-/** 8 path
-* @author Walter Fetter Lages <w.fetter@ieee.org>
-*/
-class EightPath
-{
- CirclePath c1_;
- CirclePath c2_;
- double period_;
-
- public:
-
- /** Build an 8 path.
- * @param pc center point.
- * @param r radius.
- * @param w angular velocity.
- */
- EightPath(const Eigen::Vector2d &pc,double r,double w);
-
- /** Destroy an 8 path.
- */
- ~EightPath(void) { };
-
- /** Get path point.
- * @param t path time.
- * @return path point.
- */
- Eigen::Vector3d point(double t) const;
-
- /** Get path steering controls.
- * @param t path time.
- * @return steering controls.
- */
- Eigen::Vector2d steering(double t) const;
-};
-#endif
--- /dev/null
+/******************************************************************************
+ ROS2 pose2d_trajectories Package
+ Eigth Path Class
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful, but
+ WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see
+ <http://www.gnu.org/licenses/>.
+
+*******************************************************************************/
+
+#ifndef POSE2D_TRAJECTORIES__EIGHT_PATH_HPP_
+#define POSE2D_TRAJECTORIES__EIGHT_PATH_HPP_
+
+#include <pose2d_trajectories/circle_path.hpp>
+
+#include <pose2d_trajectories/visibility_control.h>
+
+namespace pose2d_trajectories
+{
+ /** 8 path
+ * @author Walter Fetter Lages <w.fetter@ieee.org>
+ */
+ class EightPath
+ {
+ CirclePath c1_;
+ CirclePath c2_;
+ double period_;
+
+ public:
+
+ /** Build an 8 path.
+ * @param pc center point.
+ * @param r radius.
+ * @param w angular velocity.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ EightPath(const Eigen::Vector2d &pc,double r,double w);
+
+ /** Destroy an 8 path.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ ~EightPath(void) { };
+
+ /** Get path point.
+ * @param t path time.
+ * @return path point.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ Eigen::Vector3d point(double t) const;
+
+ /** Get path steering controls.
+ * @param t path time.
+ * @return steering controls.
+ */
+ POSE2D_TRAJECTORIES_PUBLIC
+ Eigen::Vector2d steering(double t) const;
+ };
+}
+#endif
--- /dev/null
+#ifndef POSE2D_TRAJECTORIES__VISIBILITY_CONTROL_H_
+#define POSE2D_TRAJECTORIES__VISIBILITY_CONTROL_H_
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+// https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+ #ifdef __GNUC__
+ #define POSE2D_TRAJECTORIES_EXPORT __attribute__ ((dllexport))
+ #define POSE2D_TRAJECTORIES_IMPORT __attribute__ ((dllimport))
+ #else
+ #define POSE2D_TRAJECTORIES_EXPORT __declspec(dllexport)
+ #define POSE2D_TRAJECTORIES_IMPORT __declspec(dllimport)
+ #endif
+ #ifdef POSE2D_TRAJECTORIES_BUILDING_LIBRARY
+ #define POSE2D_TRAJECTORIES_PUBLIC POSE2D_TRAJECTORIES_EXPORT
+ #else
+ #define POSE2D_TRAJECTORIES_PUBLIC POSE2D_TRAJECTORIES_IMPORT
+ #endif
+ #define POSE2D_TRAJECTORIES_PUBLIC_TYPE POSE2D_TRAJECTORIES_PUBLIC
+ #define POSE2D_TRAJECTORIES_LOCAL
+#else
+ #define POSE2D_TRAJECTORIES_EXPORT __attribute__ ((visibility("default")))
+ #define POSE2D_TRAJECTORIES_IMPORT
+ #if __GNUC__ >= 4
+ #define POSE2D_TRAJECTORIES_PUBLIC __attribute__ ((visibility("default")))
+ #define POSE2D_TRAJECTORIES_LOCAL __attribute__ ((visibility("hidden")))
+ #else
+ #define POSE2D_TRAJECTORIES_PUBLIC
+ #define POSE2D_TRAJECTORIES_LOCAL
+ #endif
+ #define POSE2D_TRAJECTORIES_PUBLIC_TYPE
+#endif
+
+#endif // POSE2D_TRAJECTORIES__VISIBILITY_CONTROL_H_
<?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
<name>pose2d_trajectories</name>
- <version>3.2.0</version>
- <description>The pose2d_trajectories package</description>
-
- <!-- One maintainer tag required, multiple allowed, one person per tag -->
- <!-- Example: -->
- <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <version>4.0.0</version>
+ <description>Pose 2D trajectory generation</description>
<maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-
-
- <!-- One license tag required, multiple allowed, one license per tag -->
- <!-- Commonly used license strings: -->
- <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>GPLv3</license>
+ <buildtool_depend>ament_cmake_ros</buildtool_depend>
- <!-- Url tags are optional, but multiple are allowed, one per tag -->
- <!-- Optional attribute type can be: website, bugtracker, or repository -->
- <!-- Example: -->
- <!-- <url type="website">http://wiki.ros.org/pose2d_trajectories</url> -->
-
+ <depend>rclcpp</depend>
+ <depend>geometry_msgs</depend>
+ <depend>Eigen3</depend>
- <!-- Author tags are optional, multiple are allowed, one per tag -->
- <!-- Authors do not have to be maintainers, but could be -->
- <!-- Example: -->
- <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
- <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
-
- <!-- The *depend tags are used to specify dependencies -->
- <!-- Dependencies can be catkin packages or system dependencies -->
- <!-- Examples: -->
- <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
- <!-- <depend>roscpp</depend> -->
- <!-- Note that this is equivalent to the following: -->
- <!-- <build_depend>roscpp</build_depend> -->
- <!-- <exec_depend>roscpp</exec_depend> -->
- <!-- Use build_depend for packages you need at compile time: -->
- <!-- <build_depend>message_generation</build_depend> -->
- <!-- Use build_export_depend for packages you need in order to build against this package: -->
- <!-- <build_export_depend>message_generation</build_export_depend> -->
- <!-- Use buildtool_depend for build tool packages: -->
- <!-- <buildtool_depend>catkin</buildtool_depend> -->
- <!-- Use exec_depend for packages you need at runtime: -->
- <!-- <exec_depend>message_runtime</exec_depend> -->
- <!-- Use test_depend for packages you need only for testing: -->
- <!-- <test_depend>gtest</test_depend> -->
- <!-- Use doc_depend for packages you need only for building documentation: -->
- <!-- <doc_depend>doxygen</doc_depend> -->
- <buildtool_depend>catkin</buildtool_depend>
- <build_depend>Eigen3</build_depend>
- <build_depend>geometry_msgs</build_depend>
- <build_depend>roscpp</build_depend>
- <build_export_depend>Eigen3</build_export_depend>
- <build_export_depend>geometry_msgs</build_export_depend>
- <build_export_depend>roscpp</build_export_depend>
- <exec_depend>Eigen3</exec_depend>
- <exec_depend>geometry_msgs</exec_depend>
- <exec_depend>roscpp</exec_depend>
-
-
- <!-- The export tag contains other, unspecified, tags -->
<export>
- <!-- Other tools can request additional information be placed here -->
-
+ <build_type>ament_cmake</build_type>
</export>
</package>
/******************************************************************************
- ROS pose2d_trajectories Package
+ ROS 2 pose2d_trajectories Package
Circle Path Class
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
*******************************************************************************/
-#include <pose2d_trajectories/circle_path.h>
+#include <pose2d_trajectories/circle_path.hpp>
#define sqr(x) ((x)*(x))
#define sgn(x) (((x) == 0.0)? 0.0:((x)/fabs(x)))
+namespace pose2d_trajectories
+{
+
CirclePath::CirclePath(const Eigen::Vector2d &pc,double phi0,double r,double w)
{
pc_=pc;
return p;
}
-Eigen::Vector2d CirclePath::steering(double t) const
+Eigen::Vector2d CirclePath::steering(double /* t */) const
{
Eigen::Vector2d e(2);
return e;
}
+
+}
/******************************************************************************
- ROS pose2d_trajectories Package
+ ROS 2 pose2d_trajectories Package
Eigth Path Class
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
*******************************************************************************/
-#include <pose2d_trajectories/eight_path.h>
+#include <pose2d_trajectories/eight_path.hpp>
#define sgn(x) (((x) == 0.0)? 0.0:((x)/fabs(x)))
+namespace pose2d_trajectories
+{
+
EightPath::EightPath(const Eigen::Vector2d &pc,double r,double w):
c1_(Eigen::Vector2d(pc[0],pc[1]+r),-M_PI_2*sgn(w),r,w),
c2_(Eigen::Vector2d(pc[0],pc[1]-r),2.5*M_PI*sgn(w),r,-w)
{
period_=4*M_PI/w;
-};
+}
Eigen::Vector3d EightPath::point(double t) const
{
if(int(t/(period_/2.0)) % 2 == 0) return c1_.steering(tc);
else return c2_.steering(tc);
}
+
+}
/******************************************************************************
- ROS pose2d_trajectories Package
+ ROS 2 pose2d_trajectories Package
Eigth Trajectory Node
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
*******************************************************************************/
-#include <ros/ros.h>
-#include <geometry_msgs/Pose2D.h>
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/pose2_d.hpp>
-#include <pose2d_trajectories/eight_path.h>
+#include <pose2d_trajectories/eight_path.hpp>
-class EightTrajectory
+class EightTrajectory: public rclcpp::Node
{
public:
- EightTrajectory(ros::NodeHandle node);
- ~EightTrajectory(void);
- void setCommand(ros::Duration t);
+ EightTrajectory(void);
+ void setCommandCB(void);
private:
- ros::NodeHandle node_;
- const EightPath *path;
+ std::unique_ptr<const pose2d_trajectories::EightPath> path_;
+ rclcpp::TimerBase::SharedPtr timer_;
+ rclcpp::Time t0_;
- ros::Publisher commandPublisher;
+ rclcpp::Publisher<geometry_msgs::msg::Pose2D>::SharedPtr commandPublisher_;
};
-EightTrajectory::EightTrajectory(ros::NodeHandle node)
+EightTrajectory::EightTrajectory(void): Node("eight_trajectory")
{
- node_=node;
Eigen::Vector2d pc;
double w;
double r;
- ros::param::get("~x",pc[0]);
- ros::param::get("~y",pc[1]);
- ros::param::get("~radius",r);
- ros::param::get("~ang_vel",w);
-
- path=new EightPath(pc,r,w);
- commandPublisher=node_.advertise<geometry_msgs::Pose2D>("command",1000);
-}
+ try
+ {
+ declare_parameter("x",rclcpp::PARAMETER_DOUBLE);
+ if(!get_parameter("x",pc[0]))
+ throw std::runtime_error("No 'x' parameter.");
+
+ declare_parameter("y",rclcpp::PARAMETER_DOUBLE);
+ if(!get_parameter("y",pc[1]))
+ throw std::runtime_error("No 'y' parameter.");
-EightTrajectory::~EightTrajectory(void)
-{
- commandPublisher.shutdown();
- delete path;
+ declare_parameter("radius",rclcpp::PARAMETER_DOUBLE);
+ if(!get_parameter("radius",r))
+ throw std::runtime_error("No 'radius' parameter.");
+
+ declare_parameter("ang_vel",rclcpp::PARAMETER_DOUBLE);
+ if(!get_parameter("ang_vel",w))
+ throw std::runtime_error("No 'ang_vel' parameter.");
+ }
+ catch(const std::exception &e)
+ {
+ RCLCPP_ERROR(get_logger(), e.what());
+ return;
+ }
+
+ path_=std::make_unique<const pose2d_trajectories::EightPath>(pc,r,w);
+ commandPublisher_=create_publisher<geometry_msgs::msg::Pose2D>("command",100);
+
+ timer_=rclcpp::create_timer(this,get_clock(),rclcpp::Duration::from_seconds(0.01),std::bind(&EightTrajectory::setCommandCB,this));
+ t0_=get_clock()->now();
}
-void EightTrajectory::setCommand(ros::Duration t)
+void EightTrajectory::setCommandCB(void)
{
- Eigen::Vector3d p=path->point(t.toSec());
+ rclcpp::Duration dt=get_clock()->now()-t0_;
+ Eigen::Vector3d p=path_->point(dt.seconds());
- geometry_msgs::Pose2D command;
+ geometry_msgs::msg::Pose2D command;
command.x=p[0];
command.y=p[1];
command.theta=p[2];
- commandPublisher.publish(command);
+ commandPublisher_->publish(command);
}
int main(int argc,char* argv[])
{
-
- ros::init(argc,argv,"eight_trajectory");
- ros::NodeHandle node;
-
- EightTrajectory eightTrajectory(node);
-
- ros::Rate loop(100);
-
- ros::Time t0=ros::Time::now();
- while(ros::ok())
- {
- eightTrajectory.setCommand(ros::Time::now()-t0);
-
- ros::spinOnce();
- loop.sleep();
- }
+ rclcpp::init(argc,argv);
+ rclcpp::spin(std::make_shared<EightTrajectory>());
+ rclcpp::shutdown();
return 0;
}
/******************************************************************************
- ROS pose2d_trajectories Package
+ ROS 2 pose2d_trajectories Package
Pose 2D Stamp Node
- Copyright (C) 2015..2018 Walter Fetter Lages <w.fetter@ieee.org>
+ Copyright (C) 2015..2022 Walter Fetter Lages <w.fetter@ieee.org>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
*******************************************************************************/
-#include <ros/ros.h>
+#include <rclcpp/rclcpp.hpp>
#include <Eigen/Dense>
-#include <geometry_msgs/Pose2D.h>
-#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/msg/pose2_d.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
-class Pose2DStamp
+class Pose2DStamp: public rclcpp::Node
{
public:
- Pose2DStamp(ros::NodeHandle node);
- ~Pose2DStamp(void);
+ Pose2DStamp(void);
private:
- ros::NodeHandle node_;
-
- ros::Subscriber poseSubscriber;
- ros::Publisher posePublisher;
+ rclcpp::Subscription<geometry_msgs::msg::Pose2D>::SharedPtr poseSubscriber_;
+ rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr posePublisher_;
- int seq;
- std::string frame_id;
+ std::string frame_id_;
- void poseCB(const geometry_msgs::Pose2D::ConstPtr &pose);
+ void poseCB(const geometry_msgs::msg::Pose2D::SharedPtr pose);
};
-Pose2DStamp::Pose2DStamp(ros::NodeHandle node)
+Pose2DStamp::Pose2DStamp(void): Node("pose2d_stamp")
{
- node_=node;
-
- poseSubscriber=node_.subscribe("command",1000,&Pose2DStamp::poseCB,this);
- posePublisher=node_.advertise<geometry_msgs::PoseStamped>("command_stamped",1000);
-
- seq=0;
-
- ros::param::get("~frame_id",frame_id);
-}
+ declare_parameter("frame_id",rclcpp::PARAMETER_STRING);
+ if(!get_parameter("frame_id",frame_id_))
+ RCLCPP_WARN(get_logger(),"No 'frame_id' parameter.");
-Pose2DStamp::~Pose2DStamp(void)
-{
- poseSubscriber.shutdown();
- posePublisher.shutdown();
+ posePublisher_=create_publisher<geometry_msgs::msg::PoseStamped>("command_stamped",100);
+
+ using std::placeholders::_1;
+ poseSubscriber_=create_subscription<geometry_msgs::msg::Pose2D>("command",100,std::bind(&Pose2DStamp::poseCB,this,_1));
}
-void Pose2DStamp::poseCB(const geometry_msgs::Pose2D::ConstPtr &pose)
+void Pose2DStamp::poseCB(const geometry_msgs::msg::Pose2D::SharedPtr pose)
{
- geometry_msgs::PoseStamped stamped;
- stamped.header.stamp=ros::Time::now();
- stamped.header.frame_id=frame_id;
+ geometry_msgs::msg::PoseStamped stamped;
+ stamped.header.stamp=get_clock()->now();
+ stamped.header.frame_id=frame_id_;
stamped.pose.position.x=pose->x;
stamped.pose.position.y=pose->y;
stamped.pose.position.z=0;
stamped.pose.orientation.y=0;
stamped.pose.orientation.z=sin(pose->theta/2.0);
stamped.pose.orientation.w=cos(pose->theta/2.0);
- posePublisher.publish(stamped);
+ posePublisher_->publish(stamped);
}
int main(int argc,char* argv[])
{
- ros::init(argc,argv,"pose2d_stamp");
- ros::NodeHandle node;
-
- Pose2DStamp pose2DStamp(node);
-
- ros::Rate loop(100);
- ros::Time t0=ros::Time::now();
- while(ros::ok())
- {
- ros::spinOnce();
- loop.sleep();
- }
+ rclcpp::init(argc,argv);
+ rclcpp::spin(std::make_shared<Pose2DStamp>());
+ rclcpp::shutdown();
return 0;
}
projects / pose2d_trajectories.git / commitdiff