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ROS 2 port of cmd_vel_mux #2

Merged
merged 38 commits into from
Aug 31, 2020
Merged

ROS 2 port of cmd_vel_mux #2

merged 38 commits into from
Aug 31, 2020

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clalancette
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There's more information in the individual commits, but the basic sequence here goes like this:

  1. Import the original yocs_cmd_vel_mux from https://github.com/yujinrobot/yujin_ocs/tree/devel/yocs_cmd_vel_mux
  2. Do a bunch of cleanup on that old code
  3. Rename yocs_cmd_vel_mux -> cmd_vel_mux
  4. Port to ROS 2
  5. Make it so that parameters are much nicer
  6. Add in tests.

@stonier Review on this is appreciated!

@clalancette
Import original yocs_cmd_vel_mux.
19be963 
Originally taken from https://github.com/yujinrobot/yujin_ocs/tree/17337e5a2d0a0f3711c55e272e656eb59174d657/yocs_cmd_vel_mux

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Move some code around.
2184365 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename CmdVelSubs -> CmdVelSub.
8464e08 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove yocs_ from a lot of places.
d338e34 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename yocs_cmd_vel_mux to cmd_vel_mux.
5e0497d 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Update the package.xml to format 2.
d189524 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename cmd_vel_mux_nodelet to cmd_vel_mux.
745ac49 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove unused FileNotFoundException.
0caf40a 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Cleanup exception handling.
b60bfc8 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Move some code from the header to the source files.
01bd324 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Move implementation of functors to C++ file.
70668b5 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Style cleanups.
851204f 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename CmdVelMuxNodelet -> CmdVelMux.
426e9c5 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Add underscore to all variables in CmdVelSub class.
32b6c16 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Move more implementation into the C++ file.
b13c1e8 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Add underscores to more variables.
c62abee 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
More class variables with underscores.
7dc5eef 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Make priority and short_desc private class members.
a2fba80 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove unused active_ member variable.
3aee11d 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove the output_topic_name.
37fa668 
This can mostly be accomplished by using standard remapping.
Removing this loses the ability to remap it on the fly, but
that's a pretty esoteric feature and would have to be supported
on the downstream consumers as well.  So I don't think it is
a huge loss in functionality.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Enable additional compiler warnings.
ae82268 
And fix the small problems pointed out.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Rename subs -> sub everywhere.
49341b0 
It was really short for "subscriber", but it read like the
plural of "sub".  Resolve the ambiguity by just using "sub"

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove the unused idx member variable.
ccf6a5b 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Split common and individual timer callbacks.
62d59fc 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Move allowed into the main class.
e1df8c0 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Make list_ public.
e1fca70 
In preparation for merging with CmdVelMux.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove getPriority().
092d66d 
In prepartion for making this a struct.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove << operator for CmdVelSub.
6e41c52 
And go ahead and make it a struct.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Smush all classes together.
31d5d89 
It really makes more sense this way.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Get rid of YAML-CPP < 0.5 code.
e5ea960 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
clalancette and others added 7 commits April 10, 2020 19:55
@clalancette
Remove more yaml-cpp < 0.5 fallback code.
c85592c 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Add in necessary includes.
e252397 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Remove some unnecessary namespaces.
cdb1583 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette
Port to ROS 2.
ed556d6 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@Lobotuerk @clalancette
cmd_vel_mux Fix (kobuki-base#1)
72c5630 
* Fixed duration of callbacks for the timeouts
@clalancette @Lobotuerk
Parameters as a map (kobuki-base#4)
27e13b8 
Switch to using a map for parameters.

This makes the configuration file much nicer looking, though is a break for downstream consumers.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
Signed-off-by: lobotuerk <jtlorente@ekumenlabs.com>
Co-authored-by: Lobotuerk <jtlorente@ekumenlabs.com>
@hidmic @clalancette
Add launch tests and linter checks. (kobuki-base#8)
11cb6f4 
* Add launch tests and linter checks.

Signed-off-by: Michel Hidalgo <michel@ekumenlabs.com>
Co-authored-by: Chris Lalancette <clalancette@openrobotics.org>
@clalancette clalancette mentioned this pull request Apr 10, 2020
Closed
@clalancette
Small cleanups in the package.xml
faa520c 
Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
@Paul-Ajay
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Any plans to merge this soon? @clalancette @stonier

@clalancette
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@stonier While you are looking at Kobuki stuff, this is related. Thanks.

@stonier
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stonier commented Aug 31, 2020

Big PR, but at a glance it looks sane. Not sure I'm keen to parse it with a fine tooth comb, but since we have nothing that will break (can you break a README? :P) let's get it in. I'll start submitting PR's / asking questions as I road test it over the coming days.

@stonier
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stonier commented Aug 31, 2020

Started #3 to track follow-up jobs to this.

@stonier stonier merged commit 51e8981 into kobuki-base:devel Aug 31, 2020
@stonier
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stonier commented Aug 31, 2020

@clalancette Can you keep your branch around for a bit? Thanks.

@stonier stonier mentioned this pull request Aug 31, 2020
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@clalancette clalancette deleted the ros2 branch August 31, 2020 19:42
@clalancette clalancette restored the ros2 branch August 31, 2020 19:42
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5 participants
@clalancette @Paul-Ajay @stonier @Lobotuerk @hidmic