diff --git a/modules/catkin_ws/less b/modules/catkin_ws/less
deleted file mode 100644
index 5b8e6d39a982673a415c7e917a6549fd363c10a5..0000000000000000000000000000000000000000
--- a/modules/catkin_ws/less
+++ /dev/null
@@ -1,88 +0,0 @@
-[0m[ INFO] [1521718243.071038508]: Initializing nodelet with 16 worker threads.[0m
-[0m[ INFO] [1521718243.080567261]: Environment::onInit -- START[0m
-[0m[ INFO] [1521718243.120601869]: Environment::onInit -- END[0m
-[0m[ INFO] [1521718243.126112582]: Ultrasonic::onInit -- START[0m
-[0m[ INFO] [1521718243.127296067]: Ultrasonic::onInit -- END[0m
-Called MainNode().
-[0m[ INFO] [1521718243.131586669]: MainNode::onInit -- START[0m
-[0m[ INFO] [1521718243.136267795]: MainNode::onInit -- END[0m
-[0m[ INFO] [1521718243.139709753]: Camera::onInit -- START[0m
-[0m[ INFO] [1521718243.140808953]: Camera::onInit -- END[0m
-[0m[ INFO] [1521718243.144232873]: Lanekeeping::onInit -- START[0m
-[0m[ INFO] [1521718243.148060006]: Lanekeeping::onInit -- END[0m
-[0m[ INFO] [1521718243.151645771]: MavLink::onInit -- START[0m
-[0m[ INFO] [1521718243.162937607]: MavLink::onInit -- END[0m
-[0m[ INFO] [1521718243.167137851]: Logging::onInit -- START[0m
-[0m[ INFO] [1521718243.222565839]: Logging::onInit -- END[0m
-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
-[1mstarted roslaunch server http://philipp-ThinkPad-L450:37696/[0m
-
-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)
-
-[1mROS_MASTER_URI=http://localhost:11311[0m
-]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch http://localhost:11311
-[1mprocess[Master-1]: started with pid [6465][0m
-[1mprocess[nodelet_main_node-2]: started with pid [6466][0m
-[1mprocess[nodelet_environment-3]: started with pid [6467][0m
-[1mprocess[nodelet_ultrasonic-4]: started with pid [6469][0m
-[1mprocess[nodelet_camera-5]: started with pid [6488][0m
-[1mprocess[nodelet_lanekeeping-6]: started with pid [6505][0m
-[1mprocess[nodelet_mav_link-7]: started with pid [6541][0m
-[1mprocess[nodelet_logging-8]: started with pid [6559][0m
-[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
-[1mdone[0m
diff --git a/modules/catkin_ws/src/CMakeLists.txt b/modules/catkin_ws/src/CMakeLists.txt
index 581e61db89fce59006b1ceb2d208d9f3e5fbcb5e..3421623bd042f7eb4d2675c8c9ca624feb01cd4f 120000
--- a/modules/catkin_ws/src/CMakeLists.txt
+++ b/modules/catkin_ws/src/CMakeLists.txt
@@ -1 +1 @@
-/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
diff --git a/modules/catkin_ws/src/car/include/mainNode/EgoMotion.h b/modules/catkin_ws/src/car/include/mainNode/EgoMotion.h
new file mode 100644
index 0000000000000000000000000000000000000000..aac0199006346b6366b0a5558c859e7e1c80cfcd
--- /dev/null
+++ b/modules/catkin_ws/src/car/include/mainNode/EgoMotion.h
@@ -0,0 +1,14 @@
+#ifndef EGOMOTION_H
+#define EGOMOTION_H
+
+#endif
+
+namespace car
+{
+class EgoMotion
+{
+ public:
+ EgoMotion(){};
+ ~EgoMotion(){};
+};
+}
diff --git a/modules/catkin_ws/src/car/include/mainNode/MainNode.h b/modules/catkin_ws/src/car/include/mainNode/MainNode.h
index ab237efe45d005c27a81fcc82745de828ddd9b7d..046ba523f0cb48e89ca8244d78cc3882ed462410 100644
--- a/modules/catkin_ws/src/car/include/mainNode/MainNode.h
+++ b/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);
};
diff --git a/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp b/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..5a2c6841b9ce23f6e9a213a24fcf80144a1b8cf8
--- /dev/null
+++ b/modules/catkin_ws/src/car/src/mainNode/EgoMotion.cpp
@@ -0,0 +1 @@
+#include "mainNode/EgoMotion.h"
diff --git a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
index b489b9c9756a459efdc57e1e8056a1cd497b6c83..6e37c055c0e36a8e4ebe8fc587c0738cc938ec53 100644
--- a/modules/catkin_ws/src/car/src/mainNode/MainNode.cpp
+++ b/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;
}