From 515234672c071b80a3b62bffa91168d00a6e6036 Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Mon, 12 Feb 2018 15:06:26 +0100
Subject: [PATCH] Add lanekeeping nodlet
---
modules/catkin_ws/src/car/CMakeLists.txt | 5 +++
.../src/car/include/lanekeeping/lanekeeping.h | 29 +++++++++++++++
.../catkin_ws/src/car/launch/fullstart.launch | 1 +
modules/catkin_ws/src/car/msg/laneDataMsg.msg | 0
.../src/car/plugins/nodelet_plugins.xml | 10 ++++++
.../src/car/src/lanekeeping/lanekeeping.cpp | 36 +++++++++++++++++++
6 files changed, 81 insertions(+)
create mode 100644 modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
create mode 100644 modules/catkin_ws/src/car/msg/laneDataMsg.msg
create mode 100644 modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 5633fb5e..5cb13628 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -22,6 +22,7 @@ add_message_files(
rcEnabledMsg.msg
stmDataMsg.msg
ussDataMsg.msg
+ laneDataMsg.msg
)
generate_messages(
DEPENDENCIES
@@ -58,6 +59,10 @@ 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_dependencies(lanekeeping ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(lanekeeping ${catkin_LIBRARIES})
+
install(
TARGETS
main_node
diff --git a/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h b/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
new file mode 100644
index 00000000..9446809b
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/lanekeeping/lanekeeping.h
@@ -0,0 +1,29 @@
+#ifndef LANEKEEPING_H
+#define LANEKEEPING_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/laneDataMsg.h"
+#include "car/camDataMsg.h"
+
+namespace car
+{
+ class Lanekeeping : public nodelet::Nodelet
+ {
+ public:
+ virtual void onInit();
+ Lanekeeping(ros::NodeHandle &nh, std::string &name);
+ Lanekeeping();
+ ~Lanekeeping();
+ private:
+ ros::NodeHandle nh_;
+ std::string name_;
+
+ ros::Publisher laneData;
+ ros::Subscriber camData;
+
+ void camDataCallback(const camDataMsg::ConstPtr& inMsg);
+ };
+}
+#endif
diff --git a/modules/catkin_ws/src/car/launch/fullstart.launch b/modules/catkin_ws/src/car/launch/fullstart.launch
index a0971bf8..5c39d9d8 100644
--- a/modules/catkin_ws/src/car/launch/fullstart.launch
+++ b/modules/catkin_ws/src/car/launch/fullstart.launch
@@ -7,6 +7,7 @@
<node pkg="nodelet" type="nodelet" name="nodelet_environment" args="load car/environment Master"/>
<node pkg="nodelet" type="nodelet" name="nodelet_ultrasonic" args="load car/ultrasonic Master"/>
<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"/>
</launch>
<!--
diff --git a/modules/catkin_ws/src/car/msg/laneDataMsg.msg b/modules/catkin_ws/src/car/msg/laneDataMsg.msg
new file mode 100644
index 00000000..e69de29b
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index 38af8257..6726b019 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -43,3 +43,13 @@
</description>
</class>
</library>
+
+<library path="lib/liblanekeeping">
+ <class name="car/lanekeeping"
+ type="car::Lanekeeping"
+ base_class_type="nodelet::Nodelet">
+ <description>
+ Missing
+ </description>
+ </class>
+</library>
diff --git a/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp b/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
new file mode 100644
index 00000000..363f3d54
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp
@@ -0,0 +1,36 @@
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "lanekeeping/lanekeeping.h"
+
+#include "car/camDataMsg.h"
+#include "car/environmentDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Lanekeeping, nodelet::Nodelet);
+
+namespace car
+{
+ Lanekeeping::Lanekeeping(ros::NodeHandle &nh, std::string &name) :
+ nh_(nh),
+ name_(name)
+ { }
+
+ Lanekeeping::Lanekeeping() {}
+
+ Lanekeeping::~Lanekeeping() {}
+
+ void Lanekeeping::onInit()
+ {
+ NODELET_INFO("Lanekeeping::onInit -- START");
+ laneData = nh_.advertise<laneDataMsg>("laneData", 1);
+ camData = nh_.subscribe("camData", 1, &Lanekeeping::camDataCallback, this);
+ NODELET_INFO("Lanekeeping::onInit -- END");
+ }
+
+ void Lanekeeping::camDataCallback(const camDataMsg::ConstPtr& inMsg)
+ {
+ std::cout << "Lanekeeping recived new cam data ( ).\n";
+ }
+
+
+}
--
GitLab