Merge branch 'main' into feat/sensing/pointcloud_preprocessor

Fool-Stuck · Aug 11, 2024 · 40d613f · 40d613f
2 parents b88312f + 94e6bb9
commit 40d613f
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Showing 14 changed files with 21 additions and 77 deletions.
diff --git a/.cspell.json b/.cspell.json
@@ -48,17 +48,21 @@
     "colcon",
     "costmap",
     "DCMAKE",
+    "downsample",
+    "downsampled",
     "Eigen",
     "GNUCXX",
     "gtest",
     "odometry",
     "pkg",
     "pkgs",
     "pointcloud",
+    "RANSAC",
     "rclcpp",
     "rosdep",
     "rosdistro",
     "rosidl",
+    "SACMODEL",
     "schematypens",
     "urdf",
     "vcstool",

diff --git a/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Route.msg b/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Route.msg
diff --git a/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Waypoint.msg b/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Waypoint.msg
diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/CMakeLists.txt b/src/planning/waypoint/wheel_stuck_waypoint_utils/CMakeLists.txt
diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/include/wheel_stuck_waypoint_utils/.gitkeep b/src/planning/waypoint/wheel_stuck_waypoint_utils/include/wheel_stuck_waypoint_utils/.gitkeep
diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/package.xml b/src/planning/waypoint/wheel_stuck_waypoint_utils/package.xml
diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/test/test_wheel_stuck_waypoint_utils.cpp b/src/planning/waypoint/wheel_stuck_waypoint_utils/test/test_wheel_stuck_waypoint_utils.cpp
diff --git a/.../wheel_stuck_waypoint_msgs/CMakeLists.txt → .../wheel_stuck_planning_msgs/CMakeLists.txt b/.../wheel_stuck_waypoint_msgs/CMakeLists.txt → .../wheel_stuck_planning_msgs/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(wheel_stuck_waypoint_msgs)
+project(wheel_stuck_planning_msgs)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -15,9 +15,11 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/Route.msg"
-  "msg/Waypoint.msg"
-  "msg/WaypointAttribute.msg"
+  "msg/Path.msg"
+  "msg/PathPoint.msg"
+  "msg/PathPointAttribute.msg"
+  "msg/Trajectory.msg"
+  "msg/TrajectoryPoint.msg"
   DEPENDENCIES
     geometry_msgs
 )

diff --git a/src/planning/wheel_stuck_planning_msgs/msg/Path.msg b/src/planning/wheel_stuck_planning_msgs/msg/Path.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+wheel_stuck_planning_msgs/PathPoint[] points
diff --git a/src/planning/wheel_stuck_planning_msgs/msg/PathPoint.msg b/src/planning/wheel_stuck_planning_msgs/msg/PathPoint.msg
@@ -0,0 +1,2 @@
+geometry_msgs/Pose pose
+wheel_stuck_planning_msgs/PathPointAttribute[] attributes
diff --git a/...k_waypoint_msgs/msg/WaypointAttribute.msg → ..._planning_msgs/msg/PathPointAttribute.msg b/...k_waypoint_msgs/msg/WaypointAttribute.msg → ..._planning_msgs/msg/PathPointAttribute.msg
diff --git a/src/planning/wheel_stuck_planning_msgs/msg/Trajectory.msg b/src/planning/wheel_stuck_planning_msgs/msg/Trajectory.msg
@@ -0,0 +1,2 @@
+std_msgs/Header header
+wheel_stuck_planning_msgs/TrajectoryPoint[] points
diff --git a/src/planning/wheel_stuck_planning_msgs/msg/TrajectoryPoint.msg b/src/planning/wheel_stuck_planning_msgs/msg/TrajectoryPoint.msg
@@ -0,0 +1,3 @@
+geometry_msgs/Pose pose
+float32 linear_velocity
+float32 angular_velocity
diff --git a/...int/wheel_stuck_waypoint_msgs/package.xml → ...ing/wheel_stuck_planning_msgs/package.xml b/...int/wheel_stuck_waypoint_msgs/package.xml → ...ing/wheel_stuck_planning_msgs/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>wheel_stuck_waypoint_msgs</name>
+  <name>wheel_stuck_planning_msgs</name>
   <version>0.1.0</version>
-  <description>The wheel_stuck_waypoint_msgs package</description>
+  <description>The wheel_stuck_planning_msgs package</description>
   <maintainer email="[email protected]">Akiro Harada</maintainer>
   <license>Apache License 2.0</license>
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		wheel_stuck_planning_msgs/PathPoint[] points
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		geometry_msgs/Pose pose
		wheel_stuck_planning_msgs/PathPointAttribute[] attributes
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,2 @@
		std_msgs/Header header
		wheel_stuck_planning_msgs/TrajectoryPoint[] points