diff --git a/.cspell.json b/.cspell.json index e5640a2..bd053c9 100644 --- a/.cspell.json +++ b/.cspell.json @@ -48,6 +48,8 @@ "colcon", "costmap", "DCMAKE", + "downsample", + "downsampled", "Eigen", "GNUCXX", "gtest", @@ -55,10 +57,12 @@ "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 deleted file mode 100644 index eac8d72..0000000 --- a/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Route.msg +++ /dev/null @@ -1 +0,0 @@ -wheel_stuck_waypoint_msgs/Waypoint[] path diff --git a/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Waypoint.msg b/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Waypoint.msg deleted file mode 100644 index 5a62cb8..0000000 --- a/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/Waypoint.msg +++ /dev/null @@ -1,3 +0,0 @@ -int64 index -geometry_msgs/PoseStamped pose -wheel_stuck_waypoint_msgs/WaypointAttribute[] attributes diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/CMakeLists.txt b/src/planning/waypoint/wheel_stuck_waypoint_utils/CMakeLists.txt deleted file mode 100644 index b110ad8..0000000 --- a/src/planning/waypoint/wheel_stuck_waypoint_utils/CMakeLists.txt +++ /dev/null @@ -1,26 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(wheel_stuck_waypoint_utils) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - ament_auto_add_gtest(test_wheel_stuck_waypoint_utils test/test_wheel_stuck_waypoint_utils.cpp) - file(GLOB TEST_SOURCES "test/**/*.cpp") - target_sources(test_wheel_stuck_waypoint_utils PRIVATE ${TEST_SOURCES}) -endif() - -ament_auto_package() 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 deleted file mode 100644 index e69de29..0000000 diff --git a/src/planning/waypoint/wheel_stuck_waypoint_utils/package.xml b/src/planning/waypoint/wheel_stuck_waypoint_utils/package.xml deleted file mode 100644 index ee770f4..0000000 --- a/src/planning/waypoint/wheel_stuck_waypoint_utils/package.xml +++ /dev/null @@ -1,20 +0,0 @@ - - - - wheel_stuck_waypoint_utils - 0.1.0 - The wheel_stuck_waypoint_utils package - Akiro Harada - - Apache 2 - - ament_cmake_auto - - rclcpp - - ament_lint_auto - - - ament_cmake - - 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 deleted file mode 100644 index f8b0901..0000000 --- a/src/planning/waypoint/wheel_stuck_waypoint_utils/test/test_wheel_stuck_waypoint_utils.cpp +++ /dev/null @@ -1,21 +0,0 @@ -// Copyright 2024 Fool Stuck Engineers -// -// 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. - -#include - -int main(int argc, char ** argv) -{ - testing::InitGoogleTest(&argc, argv); - return RUN_ALL_TESTS(); -} diff --git a/src/planning/waypoint/wheel_stuck_waypoint_msgs/CMakeLists.txt b/src/planning/wheel_stuck_planning_msgs/CMakeLists.txt similarity index 79% rename from src/planning/waypoint/wheel_stuck_waypoint_msgs/CMakeLists.txt rename to src/planning/wheel_stuck_planning_msgs/CMakeLists.txt index da61d49..607254e 100644 --- a/src/planning/waypoint/wheel_stuck_waypoint_msgs/CMakeLists.txt +++ b/src/planning/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 new file mode 100644 index 0000000..5acdaee --- /dev/null +++ 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 new file mode 100644 index 0000000..c904a1b --- /dev/null +++ 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/src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/WaypointAttribute.msg b/src/planning/wheel_stuck_planning_msgs/msg/PathPointAttribute.msg similarity index 100% rename from src/planning/waypoint/wheel_stuck_waypoint_msgs/msg/WaypointAttribute.msg rename to src/planning/wheel_stuck_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 new file mode 100644 index 0000000..3c49e42 --- /dev/null +++ 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 new file mode 100644 index 0000000..ed86de5 --- /dev/null +++ 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/src/planning/waypoint/wheel_stuck_waypoint_msgs/package.xml b/src/planning/wheel_stuck_planning_msgs/package.xml similarity index 87% rename from src/planning/waypoint/wheel_stuck_waypoint_msgs/package.xml rename to src/planning/wheel_stuck_planning_msgs/package.xml index 56db194..2d3dcd5 100644 --- a/src/planning/waypoint/wheel_stuck_waypoint_msgs/package.xml +++ b/src/planning/wheel_stuck_planning_msgs/package.xml @@ -1,9 +1,9 @@ - wheel_stuck_waypoint_msgs + wheel_stuck_planning_msgs 0.1.0 - The wheel_stuck_waypoint_msgs package + The wheel_stuck_planning_msgs package Akiro Harada Apache License 2.0