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

modules/catkin_ws/less

-[ INFO] [1521718243.071038508]: Initializing nodelet with 16 worker threads.
-[ INFO] [1521718243.080567261]: Environment::onInit -- START
-[ INFO] [1521718243.120601869]: Environment::onInit -- END
-[ INFO] [1521718243.126112582]: Ultrasonic::onInit -- START
-[ INFO] [1521718243.127296067]: Ultrasonic::onInit -- END
-Called MainNode().
-[ INFO] [1521718243.131586669]: MainNode::onInit -- START
-[ INFO] [1521718243.136267795]: MainNode::onInit -- END
-[ INFO] [1521718243.139709753]: Camera::onInit -- START
-[ INFO] [1521718243.140808953]: Camera::onInit -- END
-[ INFO] [1521718243.144232873]: Lanekeeping::onInit -- START
-[ INFO] [1521718243.148060006]: Lanekeeping::onInit -- END
-[ INFO] [1521718243.151645771]: MavLink::onInit -- START
-[ INFO] [1521718243.162937607]: MavLink::onInit -- END
-[ INFO] [1521718243.167137851]: Logging::onInit -- START
-[ INFO] [1521718243.222565839]: Logging::onInit -- END
-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
-started roslaunch server http://philipp-ThinkPad-L450:37696/
-
-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)
-
-ROS_MASTER_URI=http://localhost:11311
-]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch http://localhost:11311
-process[Master-1]: started with pid [6465]
-process[nodelet_main_node-2]: started with pid [6466]
-process[nodelet_environment-3]: started with pid [6467]
-process[nodelet_ultrasonic-4]: started with pid [6469]
-process[nodelet_camera-5]: started with pid [6488]
-process[nodelet_lanekeeping-6]: started with pid [6505]
-process[nodelet_mav_link-7]: started with pid [6541]
-process[nodelet_logging-8]: started with pid [6559]
-[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
-done

modules/catkin_ws/src/CMakeLists.txt

-/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file
+/opt/ros/lunar/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

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

+#ifndef EGOMOTION_H
+#define EGOMOTION_H
+
+#endif
+
+namespace car
+{
+class EgoMotion 
+{
+  public:
+    EgoMotion(){};
+    ~EgoMotion(){};
+};
+}

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

@@ -5,12 +5,16 @@
 #include <ros/ros.h>
 #include "boost/thread.hpp"
 #include "car/environmentDataMsg.h"
+
 #include "NotifiableThread.h"
 #include "NetworkingLib/Networking.h"
-#include "PlatoonController.h"
 #include "PlatoonProtocolLib/Vehicle.h"
 #include "PC2CarLib/CommandReceiver.h"
 
+#include "PlatoonController.h"
+#include "EgoMotion.h"
+// #include "CruiseController.h"
+
 namespace car
 {
 class MainNode : public nodelet::Nodelet
@@ -25,26 +29,27 @@ public:
     ~MainNode();
 
 private:
+    networking::Networking c2cNet;
+    networking::Networking pcNet;
+
+    EgoMotion egoMotion;
+    
     PlatoonController platoonController;
     NotifiableThread platoonControllerThread;
      
      std::function<void()> platoonControllerNotify =
          [this] { platoonControllerThread.notify(); };
+     
+    // CruiseController cruiseController;
 
-    // dont touch!
-    // networking::Networking c2cNet;
-    //  networking::Networking pcNet;
-    //  
-    //  platoonProtocol::Vehicle::Ptr c2c;
-    //  pc2car::CommandReceiver::Ptr commandReceiver;
-    //  
+    platoonProtocol::Vehicle::Ptr c2c;
+    pc2car::CommandReceiver::Ptr commandReceiver;
+      
     ros::NodeHandle nh;
     std::string name;
     
     ros::Publisher logEnabled;
 
-    networking::Networking net;
-    
     ros::Subscriber environmentData;
     void environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg);
 };

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

+#include "mainNode/EgoMotion.h"

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

@@ -17,12 +17,14 @@ PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
 namespace car
 {
 MainNode::MainNode(ros::NodeHandle & nh, std::string & name) :
-    platoonController()
+    c2cNet()
+    , pcNet()
+    , egoMotion()
+    , platoonController()
     , platoonControllerThread([this] { platoonController.run(); })
- // , c2cNet()
- // , pcNet()
- // , c2c()
- // , commandReceiver(pc2car::CommandReceiver::create(pcNet))
+    // , cruiseController()
+    , c2c()
+    , commandReceiver(pc2car::CommandReceiver::create(pcNet))
     , nh(nh)  
     , name(name)
 {
@@ -30,12 +32,14 @@ MainNode::MainNode(ros::NodeHandle & nh, std::string & name) :
 }
 
 MainNode::MainNode() : 
-    platoonController()
+    c2cNet()
+    , pcNet()
+    , egoMotion()
+    , platoonController()
     , platoonControllerThread([this] { platoonController.run(); })
- // , c2cNet()
- // , pcNet()
- // , c2c()
- // , commandReceiver(pc2car::CommandReceiver::create(pcNet))
+    // , cruiseController()
+    , c2c()
+    , commandReceiver(pc2car::CommandReceiver::create(pcNet))
 {
   std::cout << "Called MainNode()." << std::endl;
 }