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‎.github/workflows/main.yml

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name: CI
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on: [push, pull_request]
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jobs:
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industrial_ci:
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strategy:
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matrix:
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env:
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- {ROS_DISTRO: melodic, ROS_REPO: main, UPSTREAM_WORKSPACE: 'github:nobleo/mobile_robot_simulator#fix/install'}
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v1
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- uses: 'ros-industrial/industrial_ci@master'
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env: ${{matrix.env}}

‎CHANGELOG.rst

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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package tracking_pid
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Forthcoming
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-----------
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1.0.0 (2019-04-19)
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------------------
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* Add Apache 2.0 as license as per ROSIN
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* Add backwards compatibility to ROS-Kinetic by overloading planner initialize function.
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* Add ~loop param to make interpolator loop
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* Deal with 0.0 velocity in Python path_interpolator
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* Ported path_interpolator.py/PathInterpolator itself to path_interpolator.cpp and integrating it
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* Re-format code according to ROS standard (https://github.com/davetcoleman/roscpp_code_format)
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* Contributors: Alaa Alassi, Ferry Schoenmakers, Jasper Verhoeven, Loy van Beek, Mukunda Bharatheesha, Tim Clephas
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0.6.4 (2019-01-03)
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------------------
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* Drive backwards when control point is behind robot (negative)
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* Deal with paths that have duplicate poses
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* Contributors: Loy van Beek, Tim Clephas
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0.6.3 (2018-08-24)
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------------------
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* Added dynamic reconfigure parameter for velocity
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* Add options for different start-time than current time to allow for faster resuming after paused state
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* Do not re-initialise interpolator on every pause callback but only when paused
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* Contributors: Tim Clephas
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0.6.2 (2018-07-19)
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------------------
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* Publish when the path is done tracking
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* The functionality of the Interpolator would also be suitable for an ActionServer, called with a path
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* Add node to interpolate nav_msgs/Path and send that to the tracking_pid node
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* Added interpolation between data points to allow for paths with data points further apart in time and space
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* Add parameter to allow chosing controller frames
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* Contributors: Loy van Beek, Tim Clephas, Yuri Steinbuch
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0.1.0 (2017-10-16)
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------------------
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* Added backwards driving compatibility to the controller
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* Fixed feedforward issue and some improvements in the perf_logger
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* Added performance logger wrt to future lifetime tests
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* Added general launch file in which desired trajectory can be set. Added dynamic reconfigure for the global_planner to change trajectories online easily
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* Bugfixes and dynamic reconfigure of local planner
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* Added feedforward actions, improved overall performance, bug fixes
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* Contributors: Michiel Francke, Tim Clephas, Yuri Steinbuch

‎CMakeLists.txt

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cmake_minimum_required(VERSION 3.0.2)
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project(tracking_pid)
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add_compile_options(-std=c++11)
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## Find catkin and any catkin packages
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find_package(catkin REQUIRED
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COMPONENTS
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actionlib
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actionlib_msgs
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angles
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dynamic_reconfigure
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geometry_msgs
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message_generation
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nav_msgs
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pluginlib
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roscpp
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roslib
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roslint
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rostest
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std_msgs
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std_srvs
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tf
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tf2
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tf2_geometry_msgs
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tf2_ros
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visualization_msgs
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)
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catkin_python_setup()
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add_message_files(
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FILES
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PidDebug.msg
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traj_point.msg
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trajectory.msg
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)
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add_action_files(
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DIRECTORY
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action
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FILES
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FollowPath.action
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)
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generate_dynamic_reconfigure_options(
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cfg/Pid.cfg
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cfg/TargetVelocity.cfg
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)
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generate_messages(
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DEPENDENCIES
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actionlib_msgs
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geometry_msgs
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nav_msgs
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std_msgs
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)
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## Declare a catkin package
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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${PROJECT_NAME}
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CATKIN_DEPENDS
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actionlib
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actionlib_msgs
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angles
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dynamic_reconfigure
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geometry_msgs
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message_runtime
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nav_msgs
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roscpp
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std_msgs
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tf
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tf2_geometry_msgs
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tf2_ros
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visualization_msgs
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)
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add_executable(controller src/controller.cpp src/controller_node.cpp)
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add_dependencies(controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(controller ${catkin_LIBRARIES})
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add_library(${PROJECT_NAME} src/controller.cpp)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME})
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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# Configure roslint for nodes
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# Roslint cpp
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set(ROSLINT_CPP_OPTS "--filter=-legal/copyright")
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roslint_cpp()
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install(
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TARGETS
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controller
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${PROJECT_NAME}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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install(
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DIRECTORY
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include/controller
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(
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FILES
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${PROJECT_NAME}_plugin.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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catkin_install_python(
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PROGRAMS
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nodes/path_interpolator
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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if (CATKIN_ENABLE_TESTING)
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catkin_add_gtest(test_controller test/test_controller.cpp src/controller.cpp)
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add_dependencies(test_controller ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(test_controller ${catkin_LIBRARIES})
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catkin_add_nosetests(test/test_interpolator.py)
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add_rostest(test/${PROJECT_NAME}/test_${PROJECT_NAME}.test)
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endif()

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