Merge pull request #154 from una-auxme/153-feature-restructure-planni…

…ng-package 153 feature restructure planning package
una-auxme · Jan 11, 2024 · e318820 · e318820
2 parents c0aa944 + 8397119
commit e318820
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Showing 41 changed files with 76 additions and 847 deletions.
diff --git a/code/agent/launch/agent.launch b/code/agent/launch/agent.launch
@@ -7,7 +7,7 @@
     </include>
 
     <!-- planning -->
-    <include file="$(find planning_runner)/launch/planning_runner.launch">
+    <include file="$(find planning)/launch/planning.launch">
     </include>
 
     <include file="$(find mock)/launch/mock.launch">

diff --git a/code/planning/local_planner/CMakeLists.txt → code/planning/CMakeLists.txt b/code/planning/local_planner/CMakeLists.txt → code/planning/CMakeLists.txt
@@ -1,24 +1,27 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(local_planner)
+project(planning)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
 find_package(catkin REQUIRED COMPONENTS
   perception
+  rospy
+  roslaunch
+  std_msgs
 )
 
+roslaunch_add_file_check(launch)
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -102,7 +105,7 @@ catkin_package(
 #  LIBRARIES planning
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
-  CATKIN_DEPENDS perception
+  CATKIN_DEPENDS perception rospy
 )
 
 ###########
@@ -113,7 +116,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
-# ${catkin_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -200,3 +203,12 @@ include_directories(
 
 ## Add folders to be run by python nosetests
 # catkin_add_nosetests(test)
+
+# catkin_install_python(
+#         PROGRAMS 
+#                 src/behavior_agent/behavior_tree.py
+#                 src/behavior_agent/__init__.py
+#         DESTINATION 
+#                 ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
diff --git a/...vior_agent/src/behavior_agent/__init__.py → code/planning/__init__.py b/...vior_agent/src/behavior_agent/__init__.py → code/planning/__init__.py
diff --git a/code/planning/behavior_agent/CMakeLists.txt b/code/planning/behavior_agent/CMakeLists.txt
diff --git a/code/planning/behavior_agent/launch/behavior_agent.launch b/code/planning/behavior_agent/launch/behavior_agent.launch
diff --git a/code/planning/behavior_agent/package.xml b/code/planning/behavior_agent/package.xml
diff --git a/code/planning/behavior_agent/readme.md b/code/planning/behavior_agent/readme.md
diff --git a/code/planning/behavior_agent/setup.py b/code/planning/behavior_agent/setup.py