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create module orchestrator files (#117)
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82 changes: 6 additions & 76 deletions
82
workspace/src/common/launch/art_control_launch/launch/art_control.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,89 +1,19 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
|
|
||
| # internal imports | ||
| from launch_utils import AddLaunchArgument, GetLaunchArgument | ||
| from launch_utils import IncludeLaunchDescriptionWithCondition | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "art_control/input/path", "/path_planning/path") | ||
| AddLaunchArgument(ld, "art_control/input/vehicle_state", "/vehicle/state") | ||
| AddLaunchArgument( | ||
| ld, "art_control/output/vehicle_inputs", "/control/vehicle_inputs" | ||
| ) | ||
|
|
||
| AddLaunchArgument(ld, "control_mode", "PID") | ||
| AddLaunchArgument(ld, "control_file", "data/smallest_radius_right.csv") | ||
| AddLaunchArgument(ld, "steering_gain", "1.6") | ||
| AddLaunchArgument(ld, "throttle_gain", "0.08") | ||
| AddLaunchArgument(ld, "use_sim_time", "False") | ||
|
|
||
| # ----- | ||
| # Nodes | ||
| # ----- | ||
| # --------------- | ||
| # Launch Includes | ||
| # --------------- | ||
|
|
||
| node = Node( | ||
| package="pid_lateral_controller", | ||
| executable="pid", | ||
| name="pid", | ||
| remappings=[ | ||
| ("~/input/path", GetLaunchArgument("art_control/input/path")), | ||
| ( | ||
| "~/input/vehicle_state", | ||
| GetLaunchArgument("art_control/input/vehicle_state"), | ||
| ), | ||
| ( | ||
| "~/output/vehicle_inputs", | ||
| GetLaunchArgument("art_control/output/vehicle_inputs"), | ||
| ), | ||
| ], | ||
| parameters=[ | ||
| {"input": GetLaunchArgument("art_control/input/path")}, | ||
| {"control_mode": GetLaunchArgument("control_mode")}, | ||
| {"control_file": GetLaunchArgument("control_file")}, | ||
| {"steering_gain": GetLaunchArgument("steering_gain")}, | ||
| {"throttle_gain": GetLaunchArgument("throttle_gain")}, | ||
| {"use_sim_time": GetLaunchArgument("use_sim_time")}, | ||
| ], | ||
| IncludeLaunchDescriptionWithCondition( | ||
| ld, "art_control_launch", "pid_lateral_controller" | ||
| ) | ||
| ld.add_action(node) | ||
|
|
||
| return ld |
89 changes: 89 additions & 0 deletions
89
workspace/src/common/launch/art_control_launch/launch/pid_lateral_controller.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
|
|
||
| # internal imports | ||
| from launch_utils import AddLaunchArgument, GetLaunchArgument | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "art_control/input/path", "/path_planning/path") | ||
| AddLaunchArgument(ld, "art_control/input/vehicle_state", "/vehicle/state") | ||
| AddLaunchArgument( | ||
| ld, "art_control/output/vehicle_inputs", "/control/vehicle_inputs" | ||
| ) | ||
|
|
||
| AddLaunchArgument(ld, "control_mode", "PID") | ||
| AddLaunchArgument(ld, "control_file", "data/smallest_radius_right.csv") | ||
| AddLaunchArgument(ld, "steering_gain", "1.6") | ||
| AddLaunchArgument(ld, "throttle_gain", "0.08") | ||
| AddLaunchArgument(ld, "use_sim_time", "False") | ||
|
|
||
| # ----- | ||
| # Nodes | ||
| # ----- | ||
|
|
||
| node = Node( | ||
| package="pid_lateral_controller", | ||
| executable="pid", | ||
| name="pid", | ||
| remappings=[ | ||
| ("~/input/path", GetLaunchArgument("art_control/input/path")), | ||
| ( | ||
| "~/input/vehicle_state", | ||
| GetLaunchArgument("art_control/input/vehicle_state"), | ||
| ), | ||
| ( | ||
| "~/output/vehicle_inputs", | ||
| GetLaunchArgument("art_control/output/vehicle_inputs"), | ||
| ), | ||
| ], | ||
| parameters=[ | ||
| {"input": GetLaunchArgument("art_control/input/path")}, | ||
| {"control_mode": GetLaunchArgument("control_mode")}, | ||
| {"control_file": GetLaunchArgument("control_file")}, | ||
| {"steering_gain": GetLaunchArgument("steering_gain")}, | ||
| {"throttle_gain": GetLaunchArgument("throttle_gain")}, | ||
| {"use_sim_time": GetLaunchArgument("use_sim_time")}, | ||
| ], | ||
| ) | ||
| ld.add_action(node) | ||
|
|
||
| return ld |
71 changes: 6 additions & 65 deletions
71
workspace/src/common/launch/art_planning_launch/launch/art_planning.launch.py
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,78 +1,19 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
|
|
||
| # internal imports | ||
| from launch_utils import AddLaunchArgument, GetLaunchArgument | ||
| from launch_utils import IncludeLaunchDescriptionWithCondition | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "art_planning/input/vehicle_state", "/vehicle/state") | ||
| AddLaunchArgument(ld, "art_planning/input/objects", "/perception/objects") | ||
| AddLaunchArgument(ld, "art_planning/output/path", "/path_planning/path") | ||
|
|
||
| AddLaunchArgument(ld, "vis", "False") | ||
| AddLaunchArgument(ld, "lookahead", ".75") | ||
|
|
||
| # ----- | ||
| # Nodes | ||
| # ----- | ||
| # --------------- | ||
| # Launch Includes | ||
| # --------------- | ||
|
|
||
| node = Node( | ||
| package="centerline_objects_path_planner", | ||
| executable="centerline_objects_path_planner", | ||
| name="centerline_objects_path_planner", | ||
| remappings=[ | ||
| ("~/input/objects", GetLaunchArgument("art_planning/input/objects")), | ||
| ( | ||
| "~/input/vehicle_state", | ||
| GetLaunchArgument("art_planning/input/vehicle_state"), | ||
| ), | ||
| ("~/output/path", GetLaunchArgument("art_planning/output/path")), | ||
| ], | ||
| parameters=[ | ||
| {"vis": GetLaunchArgument("vis")}, | ||
| {"lookahead": GetLaunchArgument("lookahead")}, | ||
| {"use_sim_time": GetLaunchArgument("use_sim_time")}, | ||
| ], | ||
| IncludeLaunchDescriptionWithCondition( | ||
| ld, "art_planning_launch", "centerline_path_planner" | ||
| ) | ||
| ld.add_action(node) | ||
|
|
||
| return ld |
78 changes: 78 additions & 0 deletions
78
workspace/src/common/launch/art_planning_launch/launch/centerline_path_planner.launch.py
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Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,78 @@ | ||
| # | ||
| # BSD 3-Clause License | ||
| # | ||
| # Copyright (c) 2022 University of Wisconsin - Madison | ||
| # All rights reserved. | ||
| # | ||
| # Redistribution and use in source and binary forms, with or without | ||
| # modification, are permitted provided that the following conditions are met: | ||
| # | ||
| # * Redistributions of source code must retain the above copyright notice, this | ||
| # list of conditions and the following disclaimer. | ||
| # | ||
| # * Redistributions in binary form must reproduce the above copyright notice, | ||
| # this list of conditions and the following disclaimer in the documentation | ||
| # and/or other materials provided with the distribution. | ||
| # | ||
| # * Neither the name of the copyright holder nor the names of its | ||
| # contributors may be used to endorse or promote products derived from | ||
| # this software without specific prior written permission. | ||
| # | ||
| # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE | ||
| # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE | ||
| # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL | ||
| # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR | ||
| # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, | ||
| # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE | ||
| # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.# | ||
|
|
||
| # ros imports | ||
| from launch import LaunchDescription | ||
| from launch_ros.actions import Node | ||
|
|
||
| # internal imports | ||
| from launch_utils import AddLaunchArgument, GetLaunchArgument | ||
|
|
||
|
|
||
| def generate_launch_description(): | ||
| ld = LaunchDescription() | ||
|
|
||
| # ---------------- | ||
| # Launch Arguments | ||
| # ---------------- | ||
|
|
||
| AddLaunchArgument(ld, "art_planning/input/vehicle_state", "/vehicle/state") | ||
| AddLaunchArgument(ld, "art_planning/input/objects", "/perception/objects") | ||
| AddLaunchArgument(ld, "art_planning/output/path", "/path_planning/path") | ||
|
|
||
| AddLaunchArgument(ld, "vis", "False") | ||
| AddLaunchArgument(ld, "lookahead", ".75") | ||
|
|
||
| # ----- | ||
| # Nodes | ||
| # ----- | ||
|
|
||
| node = Node( | ||
| package="centerline_objects_path_planner", | ||
| executable="centerline_objects_path_planner", | ||
| name="centerline_objects_path_planner", | ||
| remappings=[ | ||
| ("~/input/objects", GetLaunchArgument("art_planning/input/objects")), | ||
| ( | ||
| "~/input/vehicle_state", | ||
| GetLaunchArgument("art_planning/input/vehicle_state"), | ||
| ), | ||
| ("~/output/path", GetLaunchArgument("art_planning/output/path")), | ||
| ], | ||
| parameters=[ | ||
| {"vis": GetLaunchArgument("vis")}, | ||
| {"lookahead": GetLaunchArgument("lookahead")}, | ||
| {"use_sim_time": GetLaunchArgument("use_sim_time")}, | ||
| ], | ||
| ) | ||
| ld.add_action(node) | ||
|
|
||
| return ld |