diff --git a/modules/catkin_ws/less b/modules/catkin_ws/less
new file mode 100644
index 0000000000000000000000000000000000000000..5b8e6d39a982673a415c7e917a6549fd363c10a5
--- /dev/null
+++ b/modules/catkin_ws/less
@@ -0,0 +1,88 @@
+[0m[ INFO] [1521718243.071038508]: Initializing nodelet with 16 worker threads.[0m
+[0m[ INFO] [1521718243.080567261]: Environment::onInit -- START[0m
+[0m[ INFO] [1521718243.120601869]: Environment::onInit -- END[0m
+[0m[ INFO] [1521718243.126112582]: Ultrasonic::onInit -- START[0m
+[0m[ INFO] [1521718243.127296067]: Ultrasonic::onInit -- END[0m
+Called MainNode().
+[0m[ INFO] [1521718243.131586669]: MainNode::onInit -- START[0m
+[0m[ INFO] [1521718243.136267795]: MainNode::onInit -- END[0m
+[0m[ INFO] [1521718243.139709753]: Camera::onInit -- START[0m
+[0m[ INFO] [1521718243.140808953]: Camera::onInit -- END[0m
+[0m[ INFO] [1521718243.144232873]: Lanekeeping::onInit -- START[0m
+[0m[ INFO] [1521718243.148060006]: Lanekeeping::onInit -- END[0m
+[0m[ INFO] [1521718243.151645771]: MavLink::onInit -- START[0m
+[0m[ INFO] [1521718243.162937607]: MavLink::onInit -- END[0m
+[0m[ INFO] [1521718243.167137851]: Logging::onInit -- START[0m
+[0m[ INFO] [1521718243.222565839]: Logging::onInit -- END[0m
+Environment recived new uss data (0).
+Environment recived new cam data ( ).
+MainNode recived new environmentData data (0, 1).
+Logging received new environment data ( ).
+Environment recived new uss data (1).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (1, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+Environment recived new uss data (2).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (2, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+Environment recived new uss data (3).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (3, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+... logging to /home/philipp/.ros/log/f1d86846-2dba-11e8-933d-dc53600aa2a3/roslaunch-philipp-ThinkPad-L450-6448.log
+Checking log directory for disk usage. This may take awhile.
+Press Ctrl-C to interrupt
+Done checking log file disk usage. Usage is <1GB.
+]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch
+[1mstarted roslaunch server http://philipp-ThinkPad-L450:37696/[0m
+
+SUMMARY
+========
+
+PARAMETERS
+ * /Master/num_worker_threads: 16
+ * /rosdistro: kinetic
+ * /rosversion: 1.12.12
+
+NODES
+ /
+ Master (nodelet/nodelet)
+ nodelet_camera (nodelet/nodelet)
+ nodelet_environment (nodelet/nodelet)
+ nodelet_lanekeeping (nodelet/nodelet)
+ nodelet_logging (nodelet/nodelet)
+ nodelet_main_node (nodelet/nodelet)
+ nodelet_mav_link (nodelet/nodelet)
+ nodelet_ultrasonic (nodelet/nodelet)
+
+[1mROS_MASTER_URI=http://localhost:11311[0m
+]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch http://localhost:11311
+[1mprocess[Master-1]: started with pid [6465][0m
+[1mprocess[nodelet_main_node-2]: started with pid [6466][0m
+[1mprocess[nodelet_environment-3]: started with pid [6467][0m
+[1mprocess[nodelet_ultrasonic-4]: started with pid [6469][0m
+[1mprocess[nodelet_camera-5]: started with pid [6488][0m
+[1mprocess[nodelet_lanekeeping-6]: started with pid [6505][0m
+[1mprocess[nodelet_mav_link-7]: started with pid [6541][0m
+[1mprocess[nodelet_logging-8]: started with pid [6559][0m
+[nodelet_logging-8] killing on exit
+[nodelet_mav_link-7] killing on exit
+[nodelet_lanekeeping-6] killing on exit
+[nodelet_camera-5] killing on exit
+[nodelet_environment-3] killing on exit
+[nodelet_ultrasonic-4] killing on exit
+[Master-1] killing on exit
+[nodelet_main_node-2] killing on exit
+shutting down processing monitor...
+... shutting down processing monitor complete
+[1mdone[0m
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 030ce89b1fcf7fd0aef3e78993b9af4b1d41d67a..93bbf7d685aecb9ea26238cd4d9065ba36828e81 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -51,10 +51,10 @@ include_directories(
)
set(MAIN_NODE_SOURCE_FILES
- include/mainNode/mainNode.h
+ include/mainNode/MainNode.h
include/mainNode/NotifiableThread.h
include/mainNode/PlatoonController.h
- src/mainNode/mainNode.cpp
+ src/mainNode/MainNode.cpp
src/mainNode/NotifiableThread.cpp
src/mainNode/PlatoonController.cpp)
@@ -79,23 +79,27 @@ target_include_directories(main_node PUBLIC
${PlatoonProtocolLib_INCLUDE_DIRS}
${PC2CarLib_INCLUDE_DIRS})
-add_library(environment src/environment/environment.cpp)
+add_library(environment src/environment/Environment.cpp)
add_dependencies(environment ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(environment ${catkin_LIBRARIES})
-add_library(ultrasonic src/ultrasonic/ultrasonic.cpp)
+add_library(logging src/logging/Logging.cpp)
+add_dependencies(logging ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(logging ${catkin_LIBRARIES})
+
+add_library(ultrasonic src/ultrasonic/Ultrasonic.cpp)
add_dependencies(ultrasonic ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(ultrasonic ${catkin_LIBRARIES})
-add_library(camera src/camera/camera.cpp)
+add_library(camera src/camera/Camera.cpp)
add_dependencies(camera ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(camera ${catkin_LIBRARIES})
-add_library(lanekeeping src/lanekeeping/lanekeeping.cpp)
+add_library(lanekeeping src/lanekeeping/Lanekeeping.cpp)
add_dependencies(lanekeeping ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(lanekeeping ${catkin_LIBRARIES})
-add_library(mav_link src/mavLink/mavLink.cpp)
+add_library(mav_link src/mavLink/MavLink.cpp)
add_dependencies(mav_link ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(mav_link ${catkin_LIBRARIES})
diff --git a/modules/catkin_ws/src/car/include/camera/camera.h b/modules/catkin_ws/src/car/include/camera/Camera.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/camera/camera.h
rename to modules/catkin_ws/src/car/include/camera/Camera.h
diff --git a/modules/catkin_ws/src/car/include/environment/Environment.h b/modules/catkin_ws/src/car/include/environment/Environment.h
new file mode 100644
index 0000000000000000000000000000000000000000..00f1970048235fb39ae1ddd792a5c5f3b787b36d
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/environment/Environment.h
@@ -0,0 +1,40 @@
+#ifndef ENVIRONMENT_H
+#define ENVIRONMENT_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/ussDataMsg.h"
+#include "car/camDataMsg.h"
+
+namespace car
+{
+class Environment : public nodelet::Nodelet
+{
+public:
+ virtual void onInit();
+
+ Environment(ros::NodeHandle & nh, std::string & name);
+
+ Environment();
+
+ ~Environment();
+
+private:
+ ros::NodeHandle nh_;
+ std::string name_;
+
+ float distance;
+ float prevSpeed;
+
+ ros::Publisher environmentData;
+ ros::Subscriber ussData;
+ ros::Subscriber camData;
+
+
+ void ussDataCallback(const ussDataMsg::ConstPtr & inMsg);
+
+ void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+};
+}
+#endif
diff --git a/modules/catkin_ws/src/car/include/environment/environment.h b/modules/catkin_ws/src/car/include/environment/environment.h
deleted file mode 100644
index 58e7ab6871bb5e039e28367aaf389a2e8a222296..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/car/include/environment/environment.h
+++ /dev/null
@@ -1,35 +0,0 @@
-#ifndef ENVIRONMENT_H
-#define ENVIRONMENT_H
-
-#include <nodelet/nodelet.h>
-#include <ros/ros.h>
-
-#include "car/ussDataMsg.h"
-#include "car/camDataMsg.h"
-
-namespace car
-{
- class Environment : public nodelet::Nodelet
- {
- public:
- virtual void onInit();
- Environment(ros::NodeHandle &nh, std::string &name);
- Environment();
- ~Environment();
- private:
- ros::NodeHandle nh_;
- std::string name_;
-
- float distance;
- float prevSpeed;
-
- ros::Publisher environmentData;
- ros::Subscriber ussData;
- ros::Subscriber camData;
-
-
- void ussDataCallback(const ussDataMsg::ConstPtr& inMsg);
- void camDataCallback(const camDataMsg::ConstPtr& inMsg);
- };
-}
-#endif
diff --git a/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h b/modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
rename to modules/catkin_ws/src/car/include/lanekeeping/Lanekeeping.h
diff --git a/modules/catkin_ws/src/car/include/logging/Logging.h b/modules/catkin_ws/src/car/include/logging/Logging.h
new file mode 100644
index 0000000000000000000000000000000000000000..0c0f969ceed7e362596775f3deba84932d187b6f
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/logging/Logging.h
@@ -0,0 +1,60 @@
+//
+// Created by philipp on 22.03.18.
+//
+
+#ifndef MODULES_LOGGING_H
+#define MODULES_LOGGING_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/camDataMsg.h"
+#include "car/ccDataMsg.h"
+#include "car/environmentDataMsg.h"
+#include "car/laneDataMsg.h"
+#include "car/logEnabledMsg.h"
+#include "car/logStringMsg.h"
+#include "car/rcEnabledMsg.h"
+#include "car/stmDataMsg.h"
+#include "car/ussDataMsg.h"
+
+namespace car
+{
+class Logging : public nodelet::Nodelet
+{
+public:
+ virtual void onInit();
+
+ Logging(ros::NodeHandle & nh, std::string & name);
+
+ Logging();
+
+ ~Logging();
+
+private:
+ ros::NodeHandle nh_;
+ std::string name_;
+
+ ros::Subscriber camData;
+ ros::Subscriber ccData;
+ ros::Subscriber environmentData;
+ ros::Subscriber laneData;
+ ros::Subscriber logEnabled;
+ ros::Subscriber logString;
+ ros::Subscriber rcEnabled;
+ ros::Subscriber stmData;
+ ros::Subscriber ussData;
+
+ void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+ void ccDataCallback(const ccDataMsg::ConstPtr & inMsg);
+ void environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg);
+ void laneDataCallback(const laneDataMsg::ConstPtr & inMsg);
+ void logEnabledCallback(const logEnabledMsg::ConstPtr & inMsg);
+ void logStringCallback(const logStringMsg::ConstPtr & inMsg);
+ void rcEnabledCallback(const rcEnabledMsg::ConstPtr & inMsg);
+ void stmDataCallback(const stmDataMsg::ConstPtr & inMsg);
+ void ussDataCallback(const ussDataMsg::ConstPtr & inMsg);
+};
+}
+
+#endif //MODULES_LOGGING_H
diff --git a/modules/catkin_ws/src/car/include/mainNode/mainNode.h b/modules/catkin_ws/src/car/include/mainNode/MainNode.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/mainNode/mainNode.h
rename to modules/catkin_ws/src/car/include/mainNode/MainNode.h
diff --git a/modules/catkin_ws/src/car/include/mavLink/mavLink.h b/modules/catkin_ws/src/car/include/mavLink/MavLink.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/mavLink/mavLink.h
rename to modules/catkin_ws/src/car/include/mavLink/MavLink.h
diff --git a/modules/catkin_ws/src/car/include/ultrasonic/ultrasonic.h b/modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h
similarity index 100%
rename from modules/catkin_ws/src/car/include/ultrasonic/ultrasonic.h
rename to modules/catkin_ws/src/car/include/ultrasonic/Ultrasonic.h
diff --git a/modules/catkin_ws/src/car/launch/fullstart.launch b/modules/catkin_ws/src/car/launch/fullstart.launch
index 26f97c0b45bded7061cf299f0ab88ba61fdd26e0..c8f24d5bc13b17fe27fbd78372cb271b8124b936 100644
--- a/modules/catkin_ws/src/car/launch/fullstart.launch
+++ b/modules/catkin_ws/src/car/launch/fullstart.launch
@@ -9,6 +9,7 @@
<node pkg="nodelet" type="nodelet" name="nodelet_camera" args="load car/camera Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_lanekeeping" args="load car/lanekeeping Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_mav_link" args="load car/mav_link Master"/>
+ <node pkg="nodelet" type="nodelet" name="nodelet_logging" args="load car/logging Master"/>
</launch>
<!--
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index f41107561d1b1d855f4d742002355f022225c274..b39f41628573410da1ef9bdf388123e4caba3477 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -24,6 +24,16 @@
</class>
</library>
+<library path="lib/liblogging">
+<class name="car/logging"
+ type="car::Logging"
+ base_class_type="nodelet::Nodelet">
+ <description>
+ Missing
+ </description>
+</class>
+</library>
+
<library path="lib/libultrasonic">
<class name="car/ultrasonic"
type="car::Ultrasonic"
diff --git a/modules/catkin_ws/src/car/src/camera/Camera.cpp b/modules/catkin_ws/src/car/src/camera/Camera.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fb71a63fe793b516ab2cb6a10a44748308583c49
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/camera/Camera.cpp
@@ -0,0 +1,40 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "camera/Camera.h"
+
+#include "car/camDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Camera, nodelet::Nodelet);
+
+namespace car
+{
+
+Camera::Camera(ros::NodeHandle & nh, std::string & name) : nh_(nh), name_(name)
+{}
+
+Camera::Camera()
+{}
+
+Camera::~Camera()
+{}
+
+void Camera::onInit()
+{
+ NODELET_INFO("Camera::onInit -- START");
+ camData = nh_.advertise<camDataMsg>("camData", 1);
+ main = boost::thread(
+ [this]()
+ {
+ ros::Rate rate{1};
+ while (ros::ok())
+ {
+ camDataMsg msg;
+ camData.publish(msg);
+ rate.sleep();
+ }
+ });
+
+ NODELET_INFO("Camera::onInit -- END");
+}
+}
diff --git a/modules/catkin_ws/src/car/src/camera/camera.cpp b/modules/catkin_ws/src/car/src/camera/camera.cpp
deleted file mode 100644
index 699b1810afb7e56aa1f9ba191b00ffacefe806ca..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/car/src/camera/camera.cpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#include <pluginlib/class_list_macros.h>
-#include <ros/ros.h>
-
-#include "camera/camera.h"
-
-#include "car/camDataMsg.h"
-
-PLUGINLIB_EXPORT_CLASS(car::Camera, nodelet::Nodelet);
-
-namespace car
-{
- Camera::Camera(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
- Camera::Camera() {}
- Camera::~Camera() {}
- void Camera::onInit()
- {
- NODELET_INFO("Camera::onInit -- START");
- camData = nh_.advertise<camDataMsg>("camData", 1);
- main = boost::thread([this] () {
- ros::Rate rate{1};
- while(ros::ok()) {
- camDataMsg msg;
- camData.publish(msg);
- rate.sleep();
- }
- });
-
- NODELET_INFO("Camera::onInit -- END");
- }
-}
diff --git a/modules/catkin_ws/src/car/src/environment/environment.cpp b/modules/catkin_ws/src/car/src/environment/Environment.cpp
similarity index 97%
rename from modules/catkin_ws/src/car/src/environment/environment.cpp
rename to modules/catkin_ws/src/car/src/environment/Environment.cpp
index b1b7e684748bb4fd951ed8c4f79c5ac419c6f03a..ed418339494868d9963afe2d01a5116ec54b23c0 100644
--- a/modules/catkin_ws/src/car/src/environment/environment.cpp
+++ b/modules/catkin_ws/src/car/src/environment/Environment.cpp
@@ -1,7 +1,7 @@
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
-#include "environment/environment.h"
+#include "environment/Environment.h"
#include "car/camDataMsg.h"
#include "car/environmentDataMsg.h"
diff --git a/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp b/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
similarity index 95%
rename from modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
rename to modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
index 363f3d5456c2acc442589988aa52d760cd480c5b..b072e46ec8589c13071dc095b922f7f65e3707f4 100644
--- a/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
+++ b/modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp
@@ -1,7 +1,7 @@
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
-#include "lanekeeping/lanekeeping.h"
+#include "lanekeeping/Lanekeeping.h"
#include "car/camDataMsg.h"
#include "car/environmentDataMsg.h"
diff --git a/modules/catkin_ws/src/car/src/logging/Logging.cpp b/modules/catkin_ws/src/car/src/logging/Logging.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..688eacfdee0d3c23348927686752dca0ffac2429
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/logging/Logging.cpp
@@ -0,0 +1,88 @@
+//
+// Created by philipp on 22.03.18.
+//
+
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "logging/Logging.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Logging, nodelet::Nodelet
+);
+
+namespace car
+{
+
+Logging::Logging(ros::NodeHandle & nh, std::string & name) :
+ nh_(nh), name_(name)
+{}
+
+Logging::Logging()
+{}
+
+Logging::~Logging()
+{}
+
+void Logging::onInit()
+{
+ NODELET_INFO("Logging::onInit -- START");
+
+ camData = nh_.subscribe("camData", 1, &Logging::camDataCallback, this);
+ ccData = nh_.subscribe("ccData", 1, &Logging::ccDataCallback, this);
+ environmentData = nh_.subscribe("environmentData", 1, &Logging::environmentDataCallback, this);
+ laneData = nh_.subscribe("laneData", 1, &Logging::laneDataCallback, this);
+ logEnabled = nh_.subscribe("logEnabled", 1, &Logging::logEnabledCallback, this);
+ logString = nh_.subscribe("logString", 1, &Logging::logStringCallback, this);
+ rcEnabled = nh_.subscribe("rcEnabled", 1, &Logging::rcEnabledCallback, this);
+ stmData = nh_.subscribe("stmData", 1, &Logging::stmDataCallback, this);
+ ussData = nh_.subscribe("ussData", 1, &Logging::ussDataCallback, this);
+
+ NODELET_INFO("Logging::onInit -- END");
+}
+
+void Logging::ccDataCallback(const ccDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new cc data ( ).\n";
+}
+
+void Logging::camDataCallback(const camDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new cam data ( ).\n";
+}
+
+void Logging::environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new environment data ( ).\n";
+}
+
+void Logging::laneDataCallback(const laneDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new lane data ( ).\n";
+}
+
+void Logging::logEnabledCallback(const logEnabledMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new log enabled ( ).\n";
+}
+
+void Logging::logStringCallback(const logStringMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new log string ( ).\n";
+}
+
+void Logging::rcEnabledCallback(const rcEnabledMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new rc enabled ( ).\n";
+}
+
+void Logging::stmDataCallback(const stmDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new stm data ( ).\n";
+}
+
+void Logging::ussDataCallback(const ussDataMsg::ConstPtr & inMsg)
+{
+ std::cout << "Logging received new uss data ( ).\n";
+}
+
+}
\ No newline at end of file
diff --git a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
similarity index 98%
rename from modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
rename to modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
index 9be2fc067163150aedfa78b70c19971925ea9f37..b489b9c9756a459efdc57e1e8056a1cd497b6c83 100644
--- a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
@@ -1,7 +1,7 @@
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
-#include "mainNode/mainNode.h"
+#include "mainNode/MainNode.h"
#include "car/camDataMsg.h"
#include "car/ccDataMsg.h"
diff --git a/modules/catkin_ws/src/car/src/mavLink/mavLink.cpp b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
similarity index 97%
rename from modules/catkin_ws/src/car/src/mavLink/mavLink.cpp
rename to modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
index 94246aac076976252847b42e35c675452ea35a84..6a735c5f9c5f82119173d34136820ae18e52b56e 100644
--- a/modules/catkin_ws/src/car/src/mavLink/mavLink.cpp
+++ b/modules/catkin_ws/src/car/src/mavLink/MavLink.cpp
@@ -1,7 +1,7 @@
#include <pluginlib/class_list_macros.h>
#include <ros/ros.h>
-#include "mavLink/mavLink.h"
+#include "mavLink/MavLink.h"
#include "car/stmDataMsg.h"
#include "car/ccDataMsg.h"
diff --git a/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..987a684f2094fca6cd665f7bff6229a8b8a95a6f
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp
@@ -0,0 +1,42 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "ultrasonic/Ultrasonic.h"
+
+#include "car/ussDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Ultrasonic, nodelet::Nodelet
+);
+
+namespace car
+{
+Ultrasonic::Ultrasonic(ros::NodeHandle & nh, std::string & name) : nh_(nh), name_(name)
+{}
+
+Ultrasonic::Ultrasonic()
+{}
+
+Ultrasonic::~Ultrasonic()
+{}
+
+void Ultrasonic::onInit()
+{
+ NODELET_INFO("Ultrasonic::onInit -- START");
+ ussData = nh_.advertise<ussDataMsg>("ussData", 1);
+ main = boost::thread(
+ [this]()
+ {
+ int counter = 0;
+ ros::Rate rate{1};
+ while (ros::ok())
+ {
+ ussDataMsg msg;
+ msg.distance = counter++;
+ ussData.publish(msg);
+ rate.sleep();
+ }
+ });
+
+ NODELET_INFO("Ultrasonic::onInit -- END");
+}
+}
diff --git a/modules/catkin_ws/src/car/src/ultrasonic/ultrasonic.cpp b/modules/catkin_ws/src/car/src/ultrasonic/ultrasonic.cpp
deleted file mode 100644
index 433b4c52fe8188d046520862cb549319645258ec..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/src/car/src/ultrasonic/ultrasonic.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#include <pluginlib/class_list_macros.h>
-#include <ros/ros.h>
-
-#include "ultrasonic/ultrasonic.h"
-
-#include "car/ussDataMsg.h"
-
-PLUGINLIB_EXPORT_CLASS(car::Ultrasonic, nodelet::Nodelet);
-
-namespace car
-{
- Ultrasonic::Ultrasonic(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
- Ultrasonic::Ultrasonic() {}
- Ultrasonic::~Ultrasonic() {}
- void Ultrasonic::onInit()
- {
- NODELET_INFO("Ultrasonic::onInit -- START");
- ussData = nh_.advertise<ussDataMsg>("ussData", 1);
- main = boost::thread([this] () {
- int counter = 0;
- ros::Rate rate{1};
- while(ros::ok()) {
- ussDataMsg msg;
- msg.distance = counter++;
- ussData.publish(msg);
- rate.sleep();
- }
- });
-
- NODELET_INFO("Ultrasonic::onInit -- END");
- }
-}