ellensohn/rmp220_middleware
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This commit is contained in:
Björn Ellensohn 2023-08-18 09:30:35 +02:00
parent 0cf1825e2d
commit d43ebfef7b
2 changed files with 8 additions and 23 deletions
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19
CMakeLists.txt
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@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.8) cmake_minimum_required(VERSION 3.5)
project(rmp220_middleware) project(rmp220_middleware)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
@ -7,29 +7,14 @@ endif()
# find dependencies # find dependencies
find_package(ament_cmake REQUIRED) find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED) find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED) find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED) find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED) find_package(sensor_msgs REQUIRED)
find_package(segway_msgs REQUIRED) find_package(segway_msgs REQUIRED)
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()
add_executable(rmp220_middleware rmp220_middleware.cpp) add_executable(rmp220_middleware rmp220_middleware.cpp)
ament_target_dependencies(state_machine_node rclcpp std_msgs geometry_msgs sensor_msgs segway_msgs) ament_target_dependencies(rmp220_middleware rclcpp std_msgs geometry_msgs sensor_msgs segway_msgs)
install(TARGETS rmp220_middleware DESTINATION lib/${PROJECT_NAME}) install(TARGETS rmp220_middleware DESTINATION lib/${PROJECT_NAME})

12
src/rmp220_middleware.cpp
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@ -15,23 +15,23 @@ enum class State {
ENABLED ENABLED
}; };
class StateMachineNode : public rclcpp::Node { class rmp220_middleware : public rclcpp::Node {
public: public:
StateMachineNode() : Node("state_machine_node") { rmp220_middleware() : Node("state_machine_node") {
state = State::DISABLED; state = State::DISABLED;
timeout = 20.0; timeout = 20.0;
cmd_vel_pub = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel_out", 10); cmd_vel_pub = create_publisher<geometry_msgs::msg::Twist>("/cmd_vel_out", 10);
cmd_vel_sub = create_subscription<geometry_msgs::msg::Twist>( cmd_vel_sub = create_subscription<geometry_msgs::msg::Twist>(
"/cmd_vel_mux", 10, "/cmd_vel_mux", 10,
std::bind(&StateMachineNode::cmd_vel_callback, this, std::placeholders::_1) std::bind(&rmp220_middleware::cmd_vel_callback, this, std::placeholders::_1)
); );
joy_sub = create_subscription<sensor_msgs::msg::Joy>( joy_sub = create_subscription<sensor_msgs::msg::Joy>(
"/joy", 10, "/joy", 10,
std::bind(&StateMachineNode::joy_callback, this, std::placeholders::_1) std::bind(&rmp220_middleware::joy_callback, this, std::placeholders::_1)
); );
timer = create_wall_timer(10ms, std::bind(&StateMachineNode::timer_callback, this)); timer = create_wall_timer(10ms, std::bind(&rmp220_middleware::timer_callback, this));
chassis_enable_client = create_client<segway_msgs::srv::RosSetChassisEnableCmd>("set_chassis_enable"); chassis_enable_client = create_client<segway_msgs::srv::RosSetChassisEnableCmd>("set_chassis_enable");
while (!chassis_enable_client->wait_for_service(1s)) { while (!chassis_enable_client->wait_for_service(1s)) {
@ -107,7 +107,7 @@ private:
int main(int argc, char * argv[]) { int main(int argc, char * argv[]) {
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
auto node = std::make_shared<StateMachineNode>(); auto node = std::make_shared<rmp220_middleware>();
rclcpp::spin(node); rclcpp::spin(node);
rclcpp::shutdown(); rclcpp::shutdown();
return 0; return 0;