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Feature: Basic Robot Simulator #5

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Merged
merged 18 commits into from
Jun 2, 2022
Merged

Feature: Basic Robot Simulator #5

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19dfdb8
tf broadcaster shouldn't necessarly use a timer
May 17, 2022
24c640c
peg the cpu 100% to allow timers to work at a higher rate than 30 Hz
May 17, 2022
5ae7ba2
add a simulated differential robot that broadcasts a global and base …
May 17, 2022
ce97024
add tests
May 17, 2022
cfb526c
update readme
May 17, 2022
e4543c4
folderize
May 17, 2022
f056d0f
i don't like folders
May 17, 2022
eb0c32f
fix imports coding style
May 19, 2022
ede8213
return nullptr if no msg has been received
May 19, 2022
3d5f658
add missing std namespace
May 19, 2022
3b35ca5
update package.xml
May 19, 2022
d4c9a08
remove garbage
May 19, 2022
45ecef7
fix typo in packages deps
May 19, 2022
0188885
hotfix: position was incrementing using y velocities
May 24, 2022
6d1821b
use const for sent goal
May 24, 2022
653b434
use pragma and fix deps
May 25, 2022
d4bc235
use api better
May 31, 2022
f65964a
use pragma once standalone
Jun 2, 2022
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folderize
  • Loading branch information
Erwin Lejeune committed May 17, 2022
commit e4543c42abe8458bf6eb0cbf24c9d0b048eaac0a
0 ...tests_utils/basic_publisher_node_test.hpp → ...onous_nodes/basic_publisher_node_test.hpp
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0 ...ests_utils/basic_subscriber_node_test.hpp → ...nous_nodes/basic_subscriber_node_test.hpp
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4 changes: 2 additions & 2 deletions ...ts_utils/simulated_differential_robot.hpp → ...s/robots/simulated_differential_robot.hpp
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Expand Up @@ -2,8 +2,8 @@
#define SIMULATED_DIFFERENTIAL_ROBOT

#include <chrono>
#include "cmr_tests_utils/basic_tf_broadcaster_node_test.hpp"
#include "cmr_tests_utils/basic_subscriber_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_tf_broadcaster_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_subscriber_node_test.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"

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2 changes: 1 addition & 1 deletion .../cmr_tests_utils/multi_thread_spinner.hpp → ...s_utils/spinners/multi_thread_spinner.hpp
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Expand Up @@ -4,7 +4,7 @@
#include "rclcpp/rclcpp.hpp"
#include <map>
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"

namespace cmr_tests_utils {

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0 ...cmr_tests_utils/single_thread_spinner.hpp → ..._utils/spinners/single_thread_spinner.hpp
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0 ..._tests_utils/basic_action_client_test.hpp → ...ronous_nodes/basic_action_client_test.hpp
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0 ..._tests_utils/basic_action_server_test.hpp → ...ronous_nodes/basic_action_server_test.hpp
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0 ...tests_utils/basic_service_client_test.hpp → ...onous_nodes/basic_service_client_test.hpp
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4 changes: 3 additions & 1 deletion ...tests_utils/basic_service_server_test.hpp → ...onous_nodes/basic_service_server_test.hpp
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Expand Up @@ -29,6 +29,7 @@ class BasicServiceServerTest: public rclcpp::Node
}

protected:

virtual void request_callback(
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<typename ServiceT::Request> request,
Expand All @@ -39,10 +40,11 @@ class BasicServiceServerTest: public rclcpp::Node
last_request_ = request;
}

std::shared_ptr<typename ServiceT::Request> last_request_;

private:

typename rclcpp::Service<ServiceT>::SharedPtr server_;
std::shared_ptr<typename ServiceT::Request> last_request_;
};

}
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0 ..._utils/basic_tf_broadcaster_node_test.hpp → ..._nodes/basic_tf_broadcaster_node_test.hpp
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0 ...sts_utils/basic_tf_listener_node_test.hpp → ...ous_nodes/basic_tf_listener_node_test.hpp
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6 changes: 3 additions & 3 deletions test/action_communication_test.cpp
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@@ -1,8 +1,8 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_action_server_test.hpp"
#include "cmr_tests_utils/basic_action_client_test.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_action_server_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_action_client_test.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"
#include "example_interfaces/action/fibonacci.hpp"
#include <chrono>
#include <thread>
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6 changes: 3 additions & 3 deletions test/pub_sub_communication_test.cpp
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@@ -1,8 +1,8 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/basic_subscriber_node_test.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/asynchronous_nodes/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/asynchronous_nodes/basic_subscriber_node_test.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"
#include "std_msgs/msg/int32.hpp"
#include <chrono>
#include <thread>
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6 changes: 3 additions & 3 deletions test/service_communication_test.cpp
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@@ -1,8 +1,8 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_service_server_test.hpp"
#include "cmr_tests_utils/basic_service_client_test.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_service_server_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_service_client_test.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"
#include "example_interfaces/srv/add_two_ints.hpp"
#include <chrono>
#include <thread>
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8 changes: 4 additions & 4 deletions test/simulated_robot_test.cpp
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@@ -1,9 +1,9 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/simulated_differential_robot.hpp"
#include "cmr_tests_utils/basic_tf_listener_node_test.hpp"
#include "cmr_tests_utils/multi_thread_spinner.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/robots/simulated_differential_robot.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_tf_listener_node_test.hpp"
#include "cmr_tests_utils/spinners/multi_thread_spinner.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/twist.hpp"
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8 changes: 4 additions & 4 deletions test/spinners_test.cpp
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@@ -1,10 +1,10 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/basic_subscriber_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_publisher_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_subscriber_node_test.hpp"
#include "std_msgs/msg/int32.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/multi_thread_spinner.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"
#include "cmr_tests_utils/spinners/multi_thread_spinner.hpp"
#include <chrono>
#include <thread>

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8 changes: 4 additions & 4 deletions test/transforms_test.cpp
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@@ -1,12 +1,12 @@
#include "gtest/gtest.h"
#include "rclcpp/rclcpp.hpp"
#include "cmr_tests_utils/basic_tf_listener_node_test.hpp"
#include "cmr_tests_utils/basic_tf_broadcaster_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_tf_listener_node_test.hpp"
#include "cmr_tests_utils/synchronous_nodes/basic_tf_broadcaster_node_test.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "geometry_msgs/msg/quaternion.hpp"
#include "cmr_tests_utils/single_thread_spinner.hpp"
#include "cmr_tests_utils/multi_thread_spinner.hpp"
#include "cmr_tests_utils/spinners/single_thread_spinner.hpp"
#include "cmr_tests_utils/spinners/multi_thread_spinner.hpp"
#include <chrono>
#include <thread>

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