Merge branch 'master' of https://gitlab.informatik.hu-berlin.de/badenhop/Hochautomatisiertes-Fahren

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

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

+#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

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>
 
 <!--

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>

modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp

+#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";
+  }
+  
+  
+}