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Arc 63 Add trajectory follower wrapper (#2379)
* add trajectory follower wrapper to launch file * add trajectory follower wrapper pkg * add pkg to sonarqube * fix sonarqube * address comments and add unit test * update unit test * address comments2 * address comments3 * update logic and unit test * fix unit test * address comments * address comments * expose callbacks to enable unit testing * address comments2 * update unit test * add and update unit tests * address pr comments * address PR comments and added documentation * launch fixes
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| # Copyright (C) 2024 LEIDOS. | ||
| # | ||
| # 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. | ||
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| cmake_minimum_required(VERSION 3.5) | ||
| project(trajectory_follower_wrapper) | ||
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| # Declare carma package and check ROS version | ||
| find_package(carma_cmake_common REQUIRED) | ||
| carma_check_ros_version(2) | ||
| carma_package() | ||
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| ## Find dependencies using ament auto | ||
| find_package(ament_cmake_auto REQUIRED) | ||
| ament_auto_find_build_dependencies() | ||
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| # Name build targets | ||
| set(node_exec trajectory_follower_wrapper_node_exec) | ||
| set(node_lib trajectory_follower_wrapper_node) | ||
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| # Includes | ||
| include_directories( | ||
| include | ||
| ) | ||
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| # Build | ||
| ament_auto_add_library(${node_lib} SHARED | ||
| src/trajectory_follower_wrapper_node.cpp | ||
| ) | ||
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| ament_auto_add_executable(${node_exec} | ||
| src/main.cpp | ||
| ) | ||
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| # Register component | ||
| rclcpp_components_register_nodes(${node_lib} "trajectory_follower_wrapper::TrajectoryFollowerWrapperNode") | ||
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| # All locally created targets will need to be manually linked | ||
| # ament auto will handle linking of external dependencies | ||
| target_link_libraries(${node_exec} | ||
| ${node_lib} | ||
| ) | ||
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| # Testing | ||
| if(BUILD_TESTING) | ||
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| find_package(ament_lint_auto REQUIRED) | ||
| ament_lint_auto_find_test_dependencies() # This populates the ${${PROJECT_NAME}_FOUND_TEST_DEPENDS} variable | ||
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| ament_add_gtest(test_trajectory_follower_wrapper test/test_trajectory_follower_wrapper.cpp) | ||
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| ament_target_dependencies(test_trajectory_follower_wrapper ${${PROJECT_NAME}_FOUND_TEST_DEPENDS}) | ||
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| target_link_libraries(test_trajectory_follower_wrapper ${node_lib}) | ||
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| endif() | ||
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| # Install | ||
| ament_auto_package( | ||
| INSTALL_TO_SHARE config launch | ||
| ) |
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| # trajectory_follower_wrapper | ||
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| Design Document: https://usdot-carma.atlassian.net/wiki/spaces/CRMPLT/pages/2899312668/Detailed+Design+-+Trajectory+Follower+Wrapper |
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| # acceptable time difference from autoware's control command to still use the command in sec | ||
| incoming_cmd_time_threshold: 1.0 |
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...llower_wrapper/include/trajectory_follower_wrapper/trajectory_follower_wrapper_config.hpp
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| #pragma once | ||
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| /* | ||
| * Copyright (C) 2024 LEIDOS. | ||
| * | ||
| * 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. | ||
| */ | ||
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| #include <iostream> | ||
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| namespace trajectory_follower_wrapper | ||
| { | ||
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| /** | ||
| * \brief Stuct containing the algorithm configuration values for trajectory_follower_wrapper | ||
| */ | ||
| struct TrajectoryFollowerWrapperConfig | ||
| { | ||
| double vehicle_response_lag = 0.2; // approximation of the delay (sec) between sent vehicle commands and the vehicle beginning a meaningful acceleration to that command" | ||
| double incoming_cmd_time_threshold = 1.0; // acceptable time difference from autoware's contrl command to still use the command in sec | ||
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| // Stream operator for this config | ||
| friend std::ostream &operator<<(std::ostream &output, const TrajectoryFollowerWrapperConfig &c) | ||
| { | ||
| output << "trajectory_follower_wrapper::TrajectoryFollowerWrapperConfig { " << std::endl | ||
| << "vehicle_response_lag: " << c.vehicle_response_lag << std::endl | ||
| << "incoming_cmd_time_threshold: " << c.incoming_cmd_time_threshold << std::endl | ||
| << "}" << std::endl; | ||
| return output; | ||
| } | ||
| }; | ||
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| } // trajectory_follower_wrapper |
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