Split irobot_create_toolbox
#153
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Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: Alberto Soragna <[email protected]>
Signed-off-by: Alberto Soragna <[email protected]>
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| rclcpp_components_register_node(motion_control_lib |
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This CMake macro register the node as a component.
Essentially it does 2 things:
- automatically generate a main executable with the provided name
- allow to use dynamic composition, i.e. load multiple nodes in the same process through launch files (not using this feature yet)
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| // Data structure to hold the definitions related to bumper zones | ||
| const std::map<BumperZoneType, BumperZone> BUMPER_ZONES_MAP = { |
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these are examples of constants that previously were duplicated between the classic and ignition plugins.
eventually we should move all of them to files like this and also create common, reusable utilities that implement the sensor processing logic.
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| /// \brief Wrap angle between (-pi, pi] | ||
| template<typename T> | ||
| inline T WrapAngle(T angle) {return atan2(sin(angle), cos(angle));} |
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You could use angles::normalize_angle for this
| template<typename T> | ||
| bool IsAngleBetween(T target, T angle1, T angle2) | ||
| { | ||
| T t = WrapAngle(target); |
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You could probably use angles::shortest_angular_distance for this method
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| /// \brief Convert radians to degrees | ||
| template<typename T> | ||
| inline int Rad2Deg(T radians) {return radians / M_PI * 180;} |
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You can use angles::to_degrees instead (we already have an angles dependency elsewhere in the code). All the angles library suggestions for this file are just suggestions, not sure if this was code added for this review or just moved, in which case, don't worry about it.
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Yes, I copied these math operations from the existing code.
I created a ticket to eventually use the angles library #157
Description
Huge, but relatively simple PR that reworks the
irobot_create_toolboxpackage.Relevant changes:
irobot_create_nodes, with theirobot_create_toolboxbecoming the place where to define utilities and tools.irobot_create_nodeslibraries as rclcpp components. This will allow eventually to dynamically load the nodes into systems and also allows to remove all the boilerplatemain.cppfiles replacing them with automatically generated ones.declare_and_get_parameterutility and replace it with standarddeclare_parameterfunction. Moreover add a default argument to avoid crashes if a parameter is not provided in the yaml files.irobot_create_toolboxpackage with stuff that was previously duplicated between ignition and classic code.Type of change
How Has This Been Tested?
Smoke run using Gazebo classic and Gazebo ignition
Checklist