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components: add NodeWithMode class #30

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Feb 27, 2024
Merged

components: add NodeWithMode class #30

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f5eedf6
components: add NodeWithMode/Executor classes
GuillaumeLaine Feb 26, 2024
681a5d2
examples: use NodeWithMode/Executor classes
GuillaumeLaine Feb 26, 2024
f73312b
doxygen: update docs and create groups for utils folder
GuillaumeLaine Feb 26, 2024
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2 changes: 1 addition & 1 deletion Doxyfile
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Expand Up @@ -523,7 +523,7 @@ EXTRACT_PACKAGE = NO
# included in the documentation.
# The default value is: NO.

EXTRACT_STATIC = NO
EXTRACT_STATIC = YES

# If the EXTRACT_LOCAL_CLASSES tag is set to YES, classes (and structs) defined
# locally in source files will be included in the documentation. If set to NO,
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27 changes: 0 additions & 27 deletions examples/cpp/modes/fw_attitude/include/mode.hpp
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Expand Up @@ -12,7 +12,6 @@
#include <rclcpp/rclcpp.hpp>

static const std::string kName = "FW Attitude Example";
static const std::string kNodeName = "example_mode_fw_attitude";

class FwAttModeTest : public px4_ros2::ModeBase
{
Expand All @@ -39,29 +38,3 @@ class FwAttModeTest : public px4_ros2::ModeBase
std::shared_ptr<px4_ros2::AttitudeSetpointType> _att_setpoint;

};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

_mode = std::make_unique<FwAttModeTest>(*this);

if (!_mode->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FwAttModeTest> _mode;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/fw_attitude/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithMode = px4_ros2::NodeWithMode<FwAttModeTest>;

static const std::string kNodeName = "example_mode_fw_attitude";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithMode>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
27 changes: 0 additions & 27 deletions examples/cpp/modes/goto/include/mode.hpp
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Expand Up @@ -15,7 +15,6 @@
#include <algorithm>

static const std::string kName = "Go-to Example";
static const std::string kNodeName = "example_mode_goto";

using namespace px4_ros2::literals; // NOLINT

Expand Down Expand Up @@ -195,29 +194,3 @@ class FlightModeTest : public px4_ros2::ModeBase
return fabsf(heading_error_wrapped) < kHeadingErrorThreshold;
}
};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

_mode = std::make_unique<FlightModeTest>(*this);

if (!_mode->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FlightModeTest> _mode;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/goto/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithMode = px4_ros2::NodeWithMode<FlightModeTest>;

static const std::string kNodeName = "example_mode_goto";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithMode>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
27 changes: 0 additions & 27 deletions examples/cpp/modes/goto_global/include/mode.hpp
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Expand Up @@ -16,7 +16,6 @@
#include <algorithm>

static const std::string kName = "Go-to Global Example";
static const std::string kNodeName = "example_mode_goto_global";

using namespace px4_ros2::literals; // NOLINT

Expand Down Expand Up @@ -196,29 +195,3 @@ class FlightModeTest : public px4_ros2::ModeBase
return fabsf(heading_error_wrapped) < kHeadingErrorThreshold;
}
};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

_mode = std::make_unique<FlightModeTest>(*this);

if (!_mode->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FlightModeTest> _mode;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/goto_global/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithMode = px4_ros2::NodeWithMode<FlightModeTest>;

static const std::string kNodeName = "example_mode_goto_global";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithMode>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
27 changes: 0 additions & 27 deletions examples/cpp/modes/manual/include/mode.hpp
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Expand Up @@ -17,7 +17,6 @@
using namespace std::chrono_literals; // NOLINT

static const std::string kName = "My Manual Mode";
static const std::string kNodeName = "example_mode_manual";

class FlightModeTest : public px4_ros2::ModeBase
{
Expand Down Expand Up @@ -74,29 +73,3 @@ class FlightModeTest : public px4_ros2::ModeBase
std::shared_ptr<px4_ros2::PeripheralActuatorControls> _peripheral_actuator_controls;
float _yaw{0.f};
};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

_mode = std::make_unique<FlightModeTest>(*this);

if (!_mode->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FlightModeTest> _mode;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/manual/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithMode = px4_ros2::NodeWithMode<FlightModeTest>;

static const std::string kNodeName = "example_mode_manual";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithMode>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
33 changes: 0 additions & 33 deletions examples/cpp/modes/mode_with_executor/include/mode.hpp
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Expand Up @@ -16,7 +16,6 @@
using namespace std::chrono_literals; // NOLINT

static const std::string kName = "Autonomous Executor";
static const std::string kNodeName = "example_mode_with_executor";

class FlightModeTest : public px4_ros2::ModeBase
{
Expand Down Expand Up @@ -124,35 +123,3 @@ class ModeExecutorTest : public px4_ros2::ModeExecutorBase
private:
rclcpp::Node & _node;
};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

if (!px4_ros2::waitForFMU(*this)) {
throw std::runtime_error("No message from FMU");
}

_mode = std::make_unique<FlightModeTest>(*this);
_mode_executor = std::make_unique<ModeExecutorTest>(*this, *_mode);

if (!_mode_executor->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FlightModeTest> _mode;
std::unique_ptr<ModeExecutorTest> _mode_executor;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/mode_with_executor/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithModeExecutor = px4_ros2::NodeWithModeExecutor<ModeExecutorTest, FlightModeTest>;

static const std::string kNodeName = "example_mode_with_executor";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithModeExecutor>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
27 changes: 0 additions & 27 deletions examples/cpp/modes/rtl_replacement/include/mode.hpp
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Expand Up @@ -17,7 +17,6 @@
using namespace std::chrono_literals; // NOLINT

static const std::string kName = "Custom RTL";
static const std::string kNodeName = "example_mode_rtl";

class FlightModeTest : public px4_ros2::ModeBase
{
Expand Down Expand Up @@ -59,29 +58,3 @@ class FlightModeTest : public px4_ros2::ModeBase
rclcpp::Subscription<px4_msgs::msg::VehicleLandDetected>::SharedPtr _vehicle_land_detected_sub;
std::shared_ptr<px4_ros2::TrajectorySetpointType> _trajectory_setpoint;
};

class TestNode : public rclcpp::Node
{
public:
TestNode()
: Node(kNodeName)
{
// Enable debug output
auto ret =
rcutils_logging_set_logger_level(get_logger().get_name(), RCUTILS_LOG_SEVERITY_DEBUG);

if (ret != RCUTILS_RET_OK) {
RCLCPP_ERROR(get_logger(), "Error setting severity: %s", rcutils_get_error_string().str);
rcutils_reset_error();
}

_mode = std::make_unique<FlightModeTest>(*this);

if (!_mode->doRegister()) {
throw std::runtime_error("Registration failed");
}
}

private:
std::unique_ptr<FlightModeTest> _mode;
};
7 changes: 6 additions & 1 deletion examples/cpp/modes/rtl_replacement/src/main.cpp
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Expand Up @@ -6,12 +6,17 @@
#include "rclcpp/rclcpp.hpp"

#include <mode.hpp>
#include <px4_ros2/components/node_with_mode.hpp>

using MyNodeWithMode = px4_ros2::NodeWithMode<FlightModeTest>;

static const std::string kNodeName = "example_mode_rtl";
static const bool kEnableDebugOutput = true;

int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<TestNode>());
rclcpp::spin(std::make_shared<MyNodeWithMode>(kNodeName, kEnableDebugOutput));
rclcpp::shutdown();
return 0;
}
1 change: 1 addition & 0 deletions px4_ros2_cpp/CMakeLists.txt
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Expand Up @@ -30,6 +30,7 @@ set(HEADER_FILES
include/px4_ros2/components/message_compatibility_check.hpp
include/px4_ros2/components/mode.hpp
include/px4_ros2/components/mode_executor.hpp
include/px4_ros2/components/node_with_mode.hpp
include/px4_ros2/components/overrides.hpp
include/px4_ros2/components/wait_for_fmu.hpp
include/px4_ros2/control/peripheral_actuators.hpp
Expand Down
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