From 66ede789244f73dbdcd64da333d812cb9f612607 Mon Sep 17 00:00:00 2001
From: Franz Bethke <bethke@math.hu-berlin.de>
Date: Mon, 5 Feb 2018 18:21:47 +0100
Subject: [PATCH] Init catkin car porject
---
.../catkin_ws/src/autonom_a/CMakeLists.txt | 4 ++--
modules/catkin_ws/src/car/CMakeLists.txt | 20 +++++++++++++------
.../src/car/include/mainNode/mainNode.h | 17 ++++++++++++++++
.../msg/{enableLogging.msg => camDataMsg.msg} | 0
modules/catkin_ws/src/car/msg/ccDataMsg.msg | 1 +
.../src/car/msg/environmentDataMsg.msg | 2 ++
.../catkin_ws/src/car/msg/logEnabledMsg.msg | 1 +
.../catkin_ws/src/car/msg/logStringMsg.msg | 1 +
.../catkin_ws/src/car/msg/rcEnabledMsg.msg | 1 +
modules/catkin_ws/src/car/msg/stmDataMsg.msg | 2 ++
modules/catkin_ws/src/car/msg/ussDataMsg.msg | 1 +
.../src/car/plugins/nodelet_plugins.xml | 16 +++++++++------
.../src/car/src/mainNode/mainNode.cpp | 19 ++++++++++++++++++
13 files changed, 71 insertions(+), 14 deletions(-)
create mode 100644 modules/catkin_ws/src/car/include/mainNode/mainNode.h
rename modules/catkin_ws/src/car/msg/{enableLogging.msg => camDataMsg.msg} (100%)
create mode 100644 modules/catkin_ws/src/car/msg/ccDataMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/environmentDataMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/logEnabledMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/logStringMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/rcEnabledMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/stmDataMsg.msg
create mode 100644 modules/catkin_ws/src/car/msg/ussDataMsg.msg
create mode 100644 modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
diff --git a/modules/catkin_ws/src/autonom_a/CMakeLists.txt b/modules/catkin_ws/src/autonom_a/CMakeLists.txt
index 3c4eae4c..c31b5ab8 100644
--- a/modules/catkin_ws/src/autonom_a/CMakeLists.txt
+++ b/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}
)
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 20b046a7..8aec3951 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/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}
)
diff --git a/modules/catkin_ws/src/car/include/mainNode/mainNode.h b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
new file mode 100644
index 00000000..0d497c28
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
@@ -0,0 +1,17 @@
+#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_;
+ };
+}
diff --git a/modules/catkin_ws/src/car/msg/enableLogging.msg b/modules/catkin_ws/src/car/msg/camDataMsg.msg
similarity index 100%
rename from modules/catkin_ws/src/car/msg/enableLogging.msg
rename to modules/catkin_ws/src/car/msg/camDataMsg.msg
diff --git a/modules/catkin_ws/src/car/msg/ccDataMsg.msg b/modules/catkin_ws/src/car/msg/ccDataMsg.msg
new file mode 100644
index 00000000..81eb8293
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/ccDataMsg.msg
@@ -0,0 +1 @@
+float32 speed
diff --git a/modules/catkin_ws/src/car/msg/environmentDataMsg.msg b/modules/catkin_ws/src/car/msg/environmentDataMsg.msg
new file mode 100644
index 00000000..8fb4625f
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/environmentDataMsg.msg
@@ -0,0 +1,2 @@
+float32 distance
+float32 prevSpeed
diff --git a/modules/catkin_ws/src/car/msg/logEnabledMsg.msg b/modules/catkin_ws/src/car/msg/logEnabledMsg.msg
new file mode 100644
index 00000000..c8151d3f
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/logEnabledMsg.msg
@@ -0,0 +1 @@
+bool enabled
diff --git a/modules/catkin_ws/src/car/msg/logStringMsg.msg b/modules/catkin_ws/src/car/msg/logStringMsg.msg
new file mode 100644
index 00000000..37f691ff
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/logStringMsg.msg
@@ -0,0 +1 @@
+string logMsg
diff --git a/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg b/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg
new file mode 100644
index 00000000..c8151d3f
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/rcEnabledMsg.msg
@@ -0,0 +1 @@
+bool enabled
diff --git a/modules/catkin_ws/src/car/msg/stmDataMsg.msg b/modules/catkin_ws/src/car/msg/stmDataMsg.msg
new file mode 100644
index 00000000..0f41f8e3
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/stmDataMsg.msg
@@ -0,0 +1,2 @@
+float32 speed
+float32 angle
diff --git a/modules/catkin_ws/src/car/msg/ussDataMsg.msg b/modules/catkin_ws/src/car/msg/ussDataMsg.msg
new file mode 100644
index 00000000..5cd4939c
--- /dev/null
+++ b/modules/catkin_ws/src/car/msg/ussDataMsg.msg
@@ -0,0 +1 @@
+float32 distance
diff --git a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
index bc047157..fa351127 100644
--- a/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
+++ b/modules/catkin_ws/src/car/plugins/nodelet_plugins.xml
@@ -1,11 +1,15 @@
-<!--
-<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>
--->
diff --git a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
new file mode 100644
index 00000000..265ad0c0
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
@@ -0,0 +1,19 @@
+#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");
+ }
+}
--
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