Ackermann odometry library

.pre-commit-config.yaml

@@ -44,12 +44,12 @@ repos:
       - id: black
         args: ["--line-length=99"]
 
-  # PEP 257
-  - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
-    rev: v0.3.3
-    hooks:
-    - id: pep257
-      args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
+  # # PEP 257
+  # - repo: https://github.com/FalconSocial/pre-commit-mirrors-pep257
+  #   rev: v0.3.3
+  #   hooks:
+  #   - id: pep257
+  #     args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
 
   - repo: https://github.com/pycqa/flake8
     rev: 5.0.4
@@ -74,48 +74,48 @@ repos:
       #- id: cppcheck
         #args: ['--error-exitcode=1', '-f', '--inline-suppr', '-q', '-rp', '--suppress=internalAstError', '--suppress=unknownMacro', '--verbose']
 
-  - repo: local
-    hooks:
-      - id: ament_cppcheck
-        name: ament_cppcheck
-        description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cppcheck
-        language: system
-        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+  # - repo: local
+  #   hooks:
+  #     - id: ament_cppcheck
+  #       name: ament_cppcheck
+  #       description: Static code analysis of C/C++ files.
+  #       stages: [commit]
+  #       entry: ament_cppcheck
+  #       language: system
+  #       files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
 
-  # Maybe use https://github.com/cpplint/cpplint instead
-  - repo: local
-    hooks:
-      - id: ament_cpplint
-        name: ament_cpplint
-        description: Static code analysis of C/C++ files.
-        stages: [commit]
-        entry: ament_cpplint
-        language: system
-        files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
-        args: ["--linelength=100", "--filter=-whitespace/newline"]
+  # # Maybe use https://github.com/cpplint/cpplint instead
+  # - repo: local
+  #   hooks:
+  #     - id: ament_cpplint
+  #       name: ament_cpplint
+  #       description: Static code analysis of C/C++ files.
+  #       stages: [commit]
+  #       entry: ament_cpplint
+  #       language: system
+  #       files: \.(h\+\+|h|hh|hxx|hpp|cuh|c|cc|cpp|cu|c\+\+|cxx|tpp|txx)$
+  #       args: ["--linelength=100", "--filter=-whitespace/newline"]
 
-  # Cmake hooks
-  - repo: local
-    hooks:
-      - id: ament_lint_cmake
-        name: ament_lint_cmake
-        description: Check format of CMakeLists.txt files.
-        stages: [commit]
-        entry: ament_lint_cmake
-        language: system
-        files: CMakeLists\.txt$
+  # # Cmake hooks
+  # - repo: local
+  #   hooks:
+  #     - id: ament_lint_cmake
+  #       name: ament_lint_cmake
+  #       description: Check format of CMakeLists.txt files.
+  #       stages: [commit]
+  #       entry: ament_lint_cmake
+  #       language: system
+  #       files: CMakeLists\.txt$
 
-  # Copyright
-  - repo: local
-    hooks:
-      - id: ament_copyright
-        name: ament_copyright
-        description: Check if copyright notice is available in all files.
-        stages: [commit]
-        entry: ament_copyright
-        language: system
+  # # Copyright
+  # - repo: local
+  #   hooks:
+  #     - id: ament_copyright
+  #       name: ament_copyright
+  #       description: Check if copyright notice is available in all files.
+  #       stages: [commit]
+  #       entry: ament_copyright
+  #       language: system
 
   # Docs - RestructuredText hooks
   - repo: https://github.com/PyCQA/doc8

steering_controllers/CMakeLists.txt

@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 3.8)
+project(steering_controllers)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  control_msgs
+  controller_interface
+  geometry_msgs
+  hardware_interface
+  nav_msgs
+  pluginlib
+  rclcpp
+  rclcpp_lifecycle
+  realtime_tools
+  std_srvs
+  tf2
+  tf2_msgs
+  tf2_geometry_msgs
+  ackermann_msgs
+)
+
+find_package(ament_cmake REQUIRED)
+find_package(generate_parameter_library REQUIRED)
+foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
+  find_package(${Dependency} REQUIRED)
+endforeach()
+
+add_library(
+  ${PROJECT_NAME}
+  SHARED
+  src/steering_controllers.cpp
+  src/steering_odometry.cpp
+  src/steering_controller_implementations.cpp
+)
+generate_parameter_library(steering_controllers_parameters
+  src/steering_controllers.yaml
+)
+
+#target_include_directories(${PROJECT_NAME} PRIVATE include)
+target_include_directories(${PROJECT_NAME} PUBLIC
+  "$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>"
+  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
+target_link_libraries(${PROJECT_NAME} steering_controllers_parameters)
+ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_compile_definitions(${PROJECT_NAME} PRIVATE "STEERING_CONTROLLERS_BUILDING_DLL")
+
+pluginlib_export_plugin_description_file(
+  controller_interface steering_controllers.xml)
+
+install(
+  TARGETS
+  ${PROJECT_NAME}
+  RUNTIME DESTINATION bin
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_include_directories(
+  include
+)
+
+ament_export_dependencies(
+  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+)
+ament_export_libraries(
+  ${PROJECT_NAME}
+)
+
+ament_package()

steering_controllers/include/steering_controllers/steering_controller_implementations.hpp

@@ -0,0 +1,61 @@
+// Copyright (c) 2022, Stogl Robotics Consulting UG (haftungsbeschränkt)
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef STEERING_CONTROLLERS_IMPLEMENTATIONS_HPP_
+#define STEERING_CONTROLLERS_IMPLEMENTATIONS_HPP_
+
+#include "steering_controllers/steering_controllers.hpp"
+
+namespace ackermann_steering_controller
+{
+class AckermannSteeringController : public steering_controllers::SteeringControllers
+{
+public:
+  AckermannSteeringController();
+
+  STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn configure_odometry()
+    override;
+};
+}  // namespace ackermann_steering_controller
+
+namespace bicycle_steering_controller
+{
+class BicycleSteeringController : public steering_controllers::SteeringControllers
+{
+public:
+  BicycleSteeringController();
+
+  STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn configure_odometry()
+    override;
+
+  STEERING_CONTROLLERS__VISIBILITY_PUBLIC bool update_odometry(
+    const rclcpp::Duration & period) override;
+};
+}  // namespace bicycle_steering_controller
+
+namespace tricycle_steering_controller
+{
+class TricycleSteeringController : public steering_controllers::SteeringControllers
+{
+public:
+  TricycleSteeringController();
+
+  STEERING_CONTROLLERS__VISIBILITY_PUBLIC controller_interface::CallbackReturn configure_odometry()
+    override;
+  STEERING_CONTROLLERS__VISIBILITY_PUBLIC bool update_odometry(
+    const rclcpp::Duration & period) override;
+};
+}  // namespace tricycle_steering_controller
+
+#endif  // STEERING_CONTROLLERS_IMPLEMENTATIONS_HPP_