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ROS2 Trapezoidal planner + mobility testing #704

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merged 39 commits into from
Apr 3, 2023
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8f7ed31
initial work on trapezoidal, CMake and package.xml
joris997 Feb 19, 2023
81012f6
added trapezoidal launch.py file
joris997 Feb 20, 2023
42fba4e
added trapezoidal header file, using rclcpp::Time
joris997 Feb 20, 2023
e1db1ff
removed log files from most recent push
joris997 Feb 20, 2023
03dc426
changed ff_nodelet to ff_component
joris997 Feb 20, 2023
cfa00c7
removed more nodelet dependencies in package.xml and CMake
joris997 Feb 20, 2023
e262be6
removed comma in launch.py to avoid lint error?
joris997 Feb 20, 2023
af5cf7f
converted planner_trapezoid.cpp to ros2, only chaning import and rclc…
joris997 Feb 20, 2023
7035294
changed nodelet into component and rewrote core class methods, trapez…
joris997 Feb 26, 2023
f9959f2
trying to pass lint_check_cpp
joris997 Feb 26, 2023
1583e02
many minor errors, still some issues with importing config_client and…
joris997 Feb 26, 2023
8056eac
updates to actionlib, now need to pull upstream choreographer
joris997 Mar 4, 2023
42a8801
Merge branch 'ros2' into ros2-mobility
joris997 Mar 4, 2023
06479a9
upstream update
joris997 Mar 6, 2023
f557f40
push with updated CMakeLists (as general as possible) and added ament…
joris997 Mar 6, 2023
3087a00
Merge branch 'ros2' of https://github.com/nasa/astrobee into ros2-mob…
marinagmoreira Mar 21, 2023
2f94f1b
trapezoidal planner compiling
marinagmoreira Mar 22, 2023
73e521a
converting mobility - still issues
marinagmoreira Mar 22, 2023
bd45e12
mapper compiling
marinagmoreira Mar 24, 2023
01c97c1
fixing runtime errors
marinagmoreira Mar 24, 2023
fafd956
choreographer comms with control + teleop tool; control crshing
marinagmoreira Mar 24, 2023
4613305
fixing pinv
marinagmoreira Mar 28, 2023
e7e0241
debugging progress
marinagmoreira Mar 28, 2023
8c48c1b
disabling intra process communication
marinagmoreira Mar 28, 2023
c411669
fixing sim update rate
marinagmoreira Mar 29, 2023
428ce1f
adding use_sim_time
marinagmoreira Mar 29, 2023
d1a4a2b
adding _ to vars, and initializing them - was giving a ROS2 error whe…
marinagmoreira Mar 29, 2023
0adadc5
changing time method
marinagmoreira Mar 29, 2023
150d967
add check to ff_timer
marinagmoreira Mar 29, 2023
d9b34a1
uncommenting the ConfigClient code
marinagmoreira Mar 29, 2023
1a6ac4b
fixing config client build
marinagmoreira Mar 30, 2023
dfbc76a
comments from review
marinagmoreira Mar 31, 2023
b6c361b
removing old launchfiles
marinagmoreira Mar 31, 2023
bf51ab4
fixes from reviews
marinagmoreira Mar 31, 2023
1f05987
fixes from comments3
marinagmoreira Mar 31, 2023
68e0767
delete diagnostics
marinagmoreira Mar 31, 2023
d58d21d
fixing cmake dependencies + converting plangen
marinagmoreira Mar 31, 2023
6a20b7d
Merge branch 'ros2' of https://github.com/nasa/astrobee into ros2-mob…
marinagmoreira Mar 31, 2023
23c0eb7
moving logger out of planner.h
marinagmoreira Mar 31, 2023
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initial work on trapezoidal, CMake and package.xml
joris997 committed Feb 19, 2023
commit 8f7ed317448785f25d930acc0b528ef857e7be4b
109 changes: 67 additions & 42 deletions mobility/planner_trapezoidal/CMakeLists.txt
Original file line number Diff line number Diff line change
@@ -15,44 +15,61 @@
# License for the specific language governing permissions and limitations
# under the License.

cmake_minimum_required(VERSION 3.0)
cmake_minimum_required(VERSION 3.5)
project(planner_trapezoidal)

## Compile as C++14, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)
add_definitions(-DROS1)

## Find catkin macros and libraries
find_package(catkin2 REQUIRED COMPONENTS
roscpp
nodelet
pluginlib
actionlib
choreographer
tf2_geometry_msgs
ff_util
ff_msgs
mapper
)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()

set( CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -fPIC" )

## Find amend and libraries
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

find_package(ff_common REQUIRED)
find_package(ff_util REQUIRED)
find_package(ff_msgs REQUIRED)

find_package(nodelet REQUIRED)
find_package(pluginlib REQUIRED)
find_package(actionlib REQUIRED)
find_package(choreographer REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(mapper REQUIRED)

# find_package(catkin2 REQUIRED COMPONENTS
# roscpp
# nodelet
# pluginlib
# actionlib
# choreographer
# tf2_geometry_msgs
# ff_util
# ff_msgs
# mapper
# )

## System dependencies are found with CMake's conventions
find_package(PCL REQUIRED COMPONENTS common)

catkin_package(
INCLUDE_DIRS include
LIBRARIES
planner_trapezoidal
CATKIN_DEPENDS
roscpp
nodelet
pluginlib
actionlib
choreographer
tf2_geometry_msgs
ff_util
ff_msgs
mapper
)
# catkin_package(
# INCLUDE_DIRS include
# LIBRARIES
# planner_trapezoidal
# CATKIN_DEPENDS
# roscpp
# nodelet
# pluginlib
# actionlib
# choreographer
# tf2_geometry_msgs
# ff_util
# ff_msgs
# mapper
# )

###########
## Build ##
@@ -61,7 +78,6 @@ catkin_package(
# Specify additional locations of header files
include_directories(
include
${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

@@ -70,33 +86,42 @@ add_library(planner_trapezoidal
src/planner_trapezoidal.cc
src/planner_trapezoidal_nodelet.cc
)
add_dependencies(planner_trapezoidal ${catkin_EXPORTED_TARGETS})
target_link_libraries(planner_trapezoidal ${catkin_LIBRARIES})
ament_target_dependencies(planner_trapezoidal rclcpp ff_common ff_util PCL)

# add_dependencies(planner_trapezoidal ${catkin_EXPORTED_TARGETS})
# target_link_libraries(planner_trapezoidal ${catkin_LIBRARIES})

#############
## Install ##
#############
ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/${PROJECT_NAME}.dsv.in")

ament_export_dependencies(ament_cmake rclcpp)

ament_export_include_directories(include)

# Mark libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
install(TARGETS
ARCHIVE DESTINATION lib/${PROJECT_NAME}
LIBRARY DESTINATION lib/${PROJECT_NAME}
RUNTIME DESTINATION bin
)

# Mark nodelet_plugin for installation
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
DESTINATION lib/${PROJECT_NAME}
)

# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)

# Mark launch files for installation
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
DESTINATION share/${PROJECT_NAME}/launch
PATTERN ".svn" EXCLUDE)

ament_package()
10 changes: 6 additions & 4 deletions mobility/planner_trapezoidal/package.xml
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
<?xml version="1.0"?>
<package>
<package format="3">
<name>planner_trapezoidal</name>
<version>0.0.0</version>
<description>
@@ -14,8 +14,9 @@
<maintainer email="astrobee-fsw@nx.arc.nasa.gov">
Astrobee Flight Software
</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>

<build_depend>ament_cmake</build_depend>
<build_depend>rclcpp</build_depend>
<build_depend>nodelet</build_depend>
<build_depend>pluginlib</build_depend>
<build_depend>actionlib</build_depend>
@@ -24,7 +25,8 @@
<build_depend>ff_util</build_depend>
<build_depend>ff_msgs</build_depend>
<build_depend>mapper</build_depend>
<run_depend>roscpp</run_depend>

<run_depend>rclcpp</run_depend>
<run_depend>nodelet</run_depend>
<run_depend>pluginlib</run_depend>
<run_depend>actionlib</run_depend>