Init catkin car porject

modules/catkin_ws/src/autonom_a/CMakeLists.txt

@@ -32,8 +32,8 @@ catkin_package(
 
 include_directories(
   include
-  include/testnodelets
   include/testnodelets2
+  include/testnodelets
   ${catkin_INCLUDE_DIRS}
 )
 
@@ -61,8 +61,8 @@ install(
 
 install(
   DIRECTORY
-    include/testnodelets/
     include/testnodelets2/
+    include/testnodelets/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 

modules/catkin_ws/src/car/CMakeLists.txt

@@ -14,6 +14,14 @@ find_package(Boost REQUIRED COMPONENTS system)
 
 add_message_files(
   FILES
+  camDataMsg.msg
+  ccDataMsg.msg
+  environmentDataMsg.msg
+  logEnabledMsg.msg
+  logStringMsg.msg
+  rcEnabledMsg.msg
+  stmDataMsg.msg
+  ussDataMsg.msg
 )
 generate_messages(
   DEPENDENCIES
@@ -22,7 +30,7 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include
-  #LIBRARIES nodelet_talker
+  LIBRARIES main_node
   CATKIN_DEPENDS roscpp std_msgs nodelet rospy #message_runtime
 )
 
@@ -31,13 +39,13 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-#add_library(nodelet_talker src/testnodelets/NodeletTalker.cpp)
-#add_dependencies(nodelet_talker ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
-#target_link_libraries(nodelet_talker ${catkin_LIBRARIES})
+add_library(main_node src/mainNode/mainNode.cpp)
+add_dependencies(main_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(main_node ${catkin_LIBRARIES})
 
 install(
   TARGETS
-    #nodelet_talker
+    main_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -45,7 +53,7 @@ install(
 
 install(
   DIRECTORY
-    #include/testnodelets/
+    include/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 

modules/catkin_ws/src/car/include/mainNode/mainNode.h

+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+namespace car
+{
+	class MainNode : public nodelet::Nodelet
+	{
+		public:
+			virtual void onInit();
+			MainNode(ros::NodeHandle &nh, std::string &name);
+			MainNode();
+			~MainNode();
+		private:
+			ros::NodeHandle nh_;
+			std::string name_;
+	};
+}

modules/catkin_ws/src/car/msg/ccDataMsg.msg

+float32 speed

modules/catkin_ws/src/car/msg/environmentDataMsg.msg

+float32 distance
+float32 prevSpeed

modules/catkin_ws/src/car/msg/logEnabledMsg.msg

+bool enabled

modules/catkin_ws/src/car/msg/logStringMsg.msg

+string logMsg

modules/catkin_ws/src/car/msg/rcEnabledMsg.msg

+bool enabled

modules/catkin_ws/src/car/msg/stmDataMsg.msg

+float32 speed
+float32 angle

modules/catkin_ws/src/car/msg/ussDataMsg.msg

+float32 distance

modules/catkin_ws/src/car/plugins/nodelet_plugins.xml

-<!--
-<library path="lib/libnodelet_talker">
-  <class name="autonom_a/nodelet_talker"
-	 type="autonom_a::NodeletTalker"
+<library path="lib/libmain_node">
+  <class name="car/main_node"
+	 type="car::mainNode"
 	 base_class_type="nodelet::Nodelet">
   <description>
-  This is my.
+  This node holds the threads:
+    - C2C
+    - PC2C
+    - LOG
+    - PLC
+    - EGM
+    - CC
   </description>
   </class>
 </library>
--->

modules/catkin_ws/src/car/src/mainNode/mainNode.cpp

+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "mainNode/mainNode.h"
+
+PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
+
+namespace car
+{
+	MainNode::MainNode(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
+	MainNode::MainNode() {}
+	MainNode::~MainNode() {}
+	void MainNode::onInit()
+	{
+		NODELET_INFO("MainNode::onInit -- START");
+    // CODE GOES HERE
+		NODELET_INFO("MainNode::onInit -- END");
+	}
+}