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

doc/logBuch.md

@@ -109,4 +109,14 @@ Mo. 05.02. (Schlingloff)
 
 Mo. 12.02. (Schlingloff)
 ----------------------------------------------------------------
-- 
\ No newline at end of file
+- 14/8 LiPo-Akkus, ODROIDS, Shifter sind geliefert worden
+- Besprechung zukünftiger Termine:
+    - 04.04. (deadline) Kommunikationstest
+    - 16.04. 10.00 Interaktionstest
+    - 16.04. 10.00 Planung der Vorführung
+    - 18.05. 13.00 Generalprobe
+    - 22.05. Endtermin
+
+XX. XX.XX. (Schlingloff)
+----------------------------------------------------------------
+-
\ No newline at end of file

modules/CACC/moduleCACC.tex → doc/modules/cruiseControl/docCACC-content.tex

-\documentclass[fleqn,a4paper,12pt]{article}
-\usepackage{geometry}
-\geometry{left=30mm, right=40mm, bottom=30mm}
-\usepackage[german]{babel}
-\usepackage[utf8]{inputenc} %Für Umlaute
-
-\usepackage{amsmath}		% Mathematische Symbole
-\usepackage{amssymb}		% Nochmehr mathematische Symbole
-\usepackage{stmaryrd}		% Für die [[ ]] Klammern (\llbracket, \rrbracket)
-\usepackage{dsfont}			% Schriftsatz fuer Zahlenmengensymbole
-%\usepackage{verbatim}		% erweiterte Verbatim-Umgebung
-\usepackage{alltt}			% Quasi-Verbatim-Umgebung
-\usepackage{fancyhdr}		% Eigene Kopfzeilen
-\usepackage{graphics}		% Zum Einbinden von Grafiken
-\usepackage{tikz}			% Zur Erstellung von Graphen
-\usepackage{listings}		% Pseudo-Code Formatierung
-% Einbinden einer eps-Grafik geht so: includegraphics{path}
-
-% Seitenraender
-\addtolength{\voffset}{-2cm}
-\addtolength{\textheight}{0cm}
-\addtolength{\hoffset}{0cm}
-\addtolength{\textwidth}{2cm}
-%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
-
-% Skalierung der Grafiken
-\setlength{\unitlength}{1cm}
-
-\pagestyle{fancy}				% Eigene Kopfzeilen verwenden
-\frenchspacing					% Kein Extrafreiraum nach Satzzeichen
-\setlength{\parindent}{0pt}		% Neue Absaetze nicht einruecken
-%\sloppy						% Schlampige Absatzformatierung
-\fussy							% Penible Absatzformatierung
-\linespread{1.5}				% Zeilenabstand
-
-%tikz-definition
-\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
-
-%andere Definitionen
-\newcommand{\R}{{\mathbb R}}
-\newcommand{\N}{{\mathbb N}}
-\newcommand{\Z}{{\mathbb Z}}
-\newcommand{\Q}{{\mathbb Q}}
-\newcommand{\C}{{\mathbb C}} 
-\newcommand{\F}{\mathcal{F}}
-\newcommand{\less}{\setminus}
-\newcommand{\inv}{{}^{-1}}
-\newcommand{\Land}{\bigwedge}
-\newcommand{\Lor}{\bigvee}
-
-% Kopfzeile
-%\lhead{}
-%\rhead{}
-\lstset{ %
-	%backgroundcolor=\color{},   % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
-	basicstyle=\footnotesize,        % the size of the fonts that are used for the code
-	breakatwhitespace=false,         % sets if automatic breaks should only happen at whitespace
-	breaklines=true,                 % sets automatic line breaking
-	captionpos=b,                    % sets the caption-position to bottom
-	%commentstyle=\color{mygreen},    % comment style
-	%deletekeywords={...},            % if you want to delete keywords from the given language
-	escapeinside={\%*}{*)},          % if you want to add LaTeX within your code
-	extendedchars=true,              % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
-	%frame=single,	                   % adds a frame around the code
-	keepspaces=true,                 % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
-	keywordstyle=\color{blue},       % keyword style
-	language=Python,                 % the language of the code
-	%morekeywords={*,...},            % if you want to add more keywords to the set
-	numbers=left,                    % where to put the line-numbers; possible values are (none, left, right)
-	numbersep=5pt,                   % how far the line-numbers are from the code
-	numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
-	%rulecolor=\color{black},         % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
-	showspaces=false,                % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
-	showstringspaces=false,          % underline spaces within strings only
-	showtabs=false,                  % show tabs within strings adding particular underscores
-	stepnumber=1,                    % the step between two line-numbers. If it's 1, each line will be numbered
-	stringstyle=\color{mymauve},     % string literal style
-	tabsize=2,	                   % sets default tabsize to 2 spaces
-	title=\lstname                   % show the filename of files included with \lstinputlisting; also try caption instead of title
-}
-\begin{document}
-	\section{CACC-Modul}
-	\subsection{Problembeschreibung und Einordnung}
+\subsection{CACC-Modul}
+	\subsubsection{Problembeschreibung und Einordnung}
 		Das \textit{CACC}-Modul (Cooperativ adaptive curse controll) hat die Aufgabe dem eigenen Fahrzeug (eFZ) aus seinen aktuellen Daten und den Platoon-Daten eine neue Geschwindigkeit zu ermitteln, die das eFZ anstrebt um die gegebenen IPD und PS herzustellen und um Ziehharmonika-Effekte und Kollisionen zu vermeiden. Dafür stehen dem eFZ alle fahrzeuginternen sowie die Platoon-Daten  IPD und PS zur Verfügung.\\
 		Die ermittelte Geschwindigkeit wird dann an den einen Controller weiter gegeben, der diese stetig auf den Motor umsetzt.\\
 		\\
 		\textit{Versuchsaufbau}\\
-	\subsection{Ansätze und Herausforderungen}
+	\subsubsection{Ansätze und Herausforderungen}
 		Dazu gab es direkt 2 Ansätze. Der erste ist eine 2-State-Machine, die abwechselnd zwischen \textit{IPD herstellen} und \textit{PS herstellen} schaltet.\\
 		\\
 		\textit{State-Machine}\\
@@ -124,7 +43,7 @@ while (True):
 		\end{align*}
 		Damit lässt sich $v_o^\prime = f(v_o, d_o, v_p, d_{IPD}, v_{PS})$ darstellen.
 		
-	\subsection{Lösung}
+	\subsubsection{Lösung}
 		Zunächst betrachtet man folgende 3 Ungleichungen
 		\begin{align*}
 			d_{IPD} - tol(IPD)\le &d_o \le d_{IPD} + tol(IPD)\\
@@ -154,12 +73,6 @@ while (True):
 		\\
 		Also lässt $v_o^\prime = f(v_o, d_o, v_p, d_{IPD}, v_{PS}) = g(d_o, v_p, d_{IPD}, v_{PS})$ ausdrücken, da die optimale Geschwindigkeit, nicht von der $v_o$ abhängt oder abhängen muss, da der nach geschaltete Controller eigenständig von der aktuellen Geschwindigkeit $v_o$ auf $v_o^\prime$ reguliert.
 
-	\subsection{Validierung}
+	\subsubsection{Validierung}
 		
-	\subsection{Implementierung}
-	
-
-\end{document}
-
-
-
+	\subsubsection{Implementierung}

doc/modules/cruiseControl/docCACC-standalone.tex

+\documentclass[fleqn,a4paper,12pt]{article}
+\usepackage{geometry}
+\geometry{left=30mm, right=40mm, bottom=30mm}
+\usepackage[german]{babel}
+\usepackage[utf8]{inputenc} %Für Umlaute
+
+\usepackage{amsmath}		% Mathematische Symbole
+\usepackage{amssymb}		% Nochmehr mathematische Symbole
+\usepackage{stmaryrd}		% Für die [[ ]] Klammern (\llbracket, \rrbracket)
+\usepackage{dsfont}			% Schriftsatz fuer Zahlenmengensymbole
+%\usepackage{verbatim}		% erweiterte Verbatim-Umgebung
+\usepackage{alltt}			% Quasi-Verbatim-Umgebung
+\usepackage{fancyhdr}		% Eigene Kopfzeilen
+\usepackage{graphics}		% Zum Einbinden von Grafiken
+\usepackage{tikz}			% Zur Erstellung von Graphen
+\usepackage{listings}		% Pseudo-Code Formatierung
+% Einbinden einer eps-Grafik geht so: includegraphics{path}
+
+% Seitenraender
+\addtolength{\voffset}{-2cm}
+\addtolength{\textheight}{0cm}
+\addtolength{\hoffset}{0cm}
+\addtolength{\textwidth}{2cm}
+%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
+
+% Skalierung der Grafiken
+\setlength{\unitlength}{1cm}
+
+\pagestyle{fancy}				% Eigene Kopfzeilen verwenden
+\frenchspacing					% Kein Extrafreiraum nach Satzzeichen
+\setlength{\parindent}{0pt}		% Neue Absaetze nicht einruecken
+%\sloppy						% Schlampige Absatzformatierung
+\fussy							% Penible Absatzformatierung
+\linespread{1.5}				% Zeilenabstand
+
+%tikz-definition
+\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
+
+% Kopfzeile
+%\lhead{}
+%\rhead{}
+\lstset{ %
+	%backgroundcolor=\color{},   % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
+	basicstyle=\footnotesize,        % the size of the fonts that are used for the code
+	breakatwhitespace=false,         % sets if automatic breaks should only happen at whitespace
+	breaklines=true,                 % sets automatic line breaking
+	captionpos=b,                    % sets the caption-position to bottom
+	%commentstyle=\color{mygreen},    % comment style
+	%deletekeywords={...},            % if you want to delete keywords from the given language
+	escapeinside={\%*}{*)},          % if you want to add LaTeX within your code
+	extendedchars=true,              % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
+	%frame=single,	                   % adds a frame around the code
+	keepspaces=true,                 % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
+	keywordstyle=\color{blue},       % keyword style
+	language=Python,                 % the language of the code
+	%morekeywords={*,...},            % if you want to add more keywords to the set
+	numbers=left,                    % where to put the line-numbers; possible values are (none, left, right)
+	numbersep=5pt,                   % how far the line-numbers are from the code
+	numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
+	%rulecolor=\color{black},         % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
+	showspaces=false,                % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
+	showstringspaces=false,          % underline spaces within strings only
+	showtabs=false,                  % show tabs within strings adding particular underscores
+	stepnumber=1,                    % the step between two line-numbers. If it's 1, each line will be numbered
+	stringstyle=\color{mymauve},     % string literal style
+	tabsize=2,	                   % sets default tabsize to 2 spaces
+	title=\lstname                   % show the filename of files included with \lstinputlisting; also try caption instead of title
+}
+\begin{document}
+	\input{docCACC-content.tex}
+\end{document}
+
+
+

doc/modules/environment/docEnvironment-content.tex

+\subsection{Environment-Modul}
+	\subsubsection{Problembeschreibung und Einordnung}
+		
+	\subsubsection{Ansätze und Herausforderungen}
+		
+	\subsubsection{Lösung}
+		
+	\subsubsection{Validierung}
+		
+	\subsubsection{Implementierung}

doc/modules/environment/docEnvironment-standalone.tex

+\documentclass[fleqn,a4paper,12pt]{article}
+\usepackage{geometry}
+\geometry{left=30mm, right=40mm, bottom=30mm}
+\usepackage[german]{babel}
+\usepackage[utf8]{inputenc} %Für Umlaute
+
+\usepackage{amsmath}		% Mathematische Symbole
+\usepackage{amssymb}		% Nochmehr mathematische Symbole
+\usepackage{stmaryrd}		% Für die [[ ]] Klammern (\llbracket, \rrbracket)
+\usepackage{dsfont}			% Schriftsatz fuer Zahlenmengensymbole
+%\usepackage{verbatim}		% erweiterte Verbatim-Umgebung
+\usepackage{alltt}			% Quasi-Verbatim-Umgebung
+\usepackage{fancyhdr}		% Eigene Kopfzeilen
+\usepackage{graphics}		% Zum Einbinden von Grafiken
+\usepackage{tikz}			% Zur Erstellung von Graphen
+\usepackage{listings}		% Pseudo-Code Formatierung
+% Einbinden einer eps-Grafik geht so: includegraphics{path}
+
+% Seitenraender
+\addtolength{\voffset}{-2cm}
+\addtolength{\textheight}{0cm}
+\addtolength{\hoffset}{0cm}
+\addtolength{\textwidth}{2cm}
+%\addtolength{\headheight}{2cm} % fuer jeden Strichkode einen Zentimeter
+
+% Skalierung der Grafiken
+\setlength{\unitlength}{1cm}
+
+\pagestyle{fancy}				% Eigene Kopfzeilen verwenden
+\frenchspacing					% Kein Extrafreiraum nach Satzzeichen
+\setlength{\parindent}{0pt}		% Neue Absaetze nicht einruecken
+%\sloppy						% Schlampige Absatzformatierung
+\fussy							% Penible Absatzformatierung
+\linespread{1.5}				% Zeilenabstand
+
+%tikz-definition
+\tikzstyle{rec} = [minimum width=1cm, minimum height=0.8cm, align = left,text centered, draw=black]
+
+% Kopfzeile
+%\lhead{}
+%\rhead{}
+\lstset{ %
+	%backgroundcolor=\color{},   % choose the background color; you must add \usepackage{color} or \usepackage{xcolor}; should come as last argument
+	basicstyle=\footnotesize,        % the size of the fonts that are used for the code
+	breakatwhitespace=false,         % sets if automatic breaks should only happen at whitespace
+	breaklines=true,                 % sets automatic line breaking
+	captionpos=b,                    % sets the caption-position to bottom
+	%commentstyle=\color{mygreen},    % comment style
+	%deletekeywords={...},            % if you want to delete keywords from the given language
+	escapeinside={\%*}{*)},          % if you want to add LaTeX within your code
+	extendedchars=true,              % lets you use non-ASCII characters; for 8-bits encodings only, does not work with UTF-8
+	%frame=single,	                   % adds a frame around the code
+	keepspaces=true,                 % keeps spaces in text, useful for keeping indentation of code (possibly needs columns=flexible)
+	keywordstyle=\color{blue},       % keyword style
+	language=Python,                 % the language of the code
+	%morekeywords={*,...},            % if you want to add more keywords to the set
+	numbers=left,                    % where to put the line-numbers; possible values are (none, left, right)
+	numbersep=5pt,                   % how far the line-numbers are from the code
+	numberstyle=\tiny,%\color{mygray}, % the style that is used for the line-numbers
+	%rulecolor=\color{black},         % if not set, the frame-color may be changed on line-breaks within not-black text (e.g. comments (green here))
+	showspaces=false,                % show spaces everywhere adding particular underscores; it overrides 'showstringspaces'
+	showstringspaces=false,          % underline spaces within strings only
+	showtabs=false,                  % show tabs within strings adding particular underscores
+	stepnumber=1,                    % the step between two line-numbers. If it's 1, each line will be numbered
+	stringstyle=\color{mymauve},     % string literal style
+	tabsize=2,	                   % sets default tabsize to 2 spaces
+	title=\lstname                   % show the filename of files included with \lstinputlisting; also try caption instead of title
+}
+\begin{document}
+	\input{docEnvironment-content.tex}
+\end{document}
+
+
+

modules/catkin_ws/src/car/CMakeLists.txt

@@ -98,6 +98,7 @@ add_message_files(
   rcEnabledMsg.msg
   stmDataMsg.msg
   ussDataMsg.msg
+  laneDataMsg.msg
 )
 generate_messages(
   DEPENDENCIES
@@ -141,6 +142,10 @@ 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";
+  }
+  
+  
+}