removing nav2_controllers package readded (#277)

nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp

-// Copyright (c) 2018 Intel Corporation
-//
-// 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.
-
-#ifndef NAV2_CONTROLLER_EXAMPLE__DWA_CONTROLLER_HPP_
-#define NAV2_CONTROLLER_EXAMPLE__DWA_CONTROLLER_HPP_
-
-#include <memory>
-#include <string>
-#include <memory>
-
-#include "nav2_tasks/follow_path_task.hpp"
-#include "geometry_msgs/msg/twist.hpp"
-
-namespace nav2_controller_example
-{
-
-class DwaController : public nav2_tasks::FollowPathTaskServer
-{
-public:
-  DwaController();
-  ~DwaController();
-
-  nav2_tasks::TaskStatus execute(const nav2_tasks::FollowPathCommand::SharedPtr path) override;
-
-protected:
-  void sendVelocity(double speed);
-
-  using CmdVel = geometry_msgs::msg::Twist;
-  std::shared_ptr<rclcpp::Publisher<CmdVel>> vel_pub_;
-};
-
-}  // namespace nav2_controller_example
-
-#endif  // NAV2_CONTROLLER_EXAMPLE__DWA_CONTROLLER_HPP_

nav2_controller/nav2_controller_example/src/dwa_controller.cpp

-// Copyright (c) 2018 Intel Corporation
-//
-// 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 <string>
-#include <chrono>
-#include <ctime>
-#include <cstdlib>
-#include "nav2_controller_example/dwa_controller.hpp"
-
-using namespace std::chrono_literals;
-using nav2_tasks::TaskStatus;
-
-namespace nav2_controller_example
-{
-
-DwaController::DwaController()
-: nav2_tasks::FollowPathTaskServer("FollowPathNode")
-{
-  RCLCPP_INFO(get_logger(), "Initializing DwaController");
-  vel_pub_ = this->create_publisher<CmdVel>("/mobile_base/commands/velocity", 1);
-}
-
-DwaController::~DwaController()
-{
-  RCLCPP_INFO(get_logger(), "Shutting down DwaController");
-}
-
-TaskStatus
-DwaController::execute(const nav2_tasks::FollowPathCommand::SharedPtr command)
-{
-  if (command->poses.size() == 0) {
-    RCLCPP_WARN(get_logger(), "Received an empty path");
-  } else {
-    RCLCPP_INFO(get_logger(), "Received a new path to follow of"
-      " size %i ending at (%.2f, %.2f)", (int)command->poses.size(),
-      command->poses.back().position.x,
-      command->poses.back().position.y);
-  }
-
-  unsigned int seed = std::time(nullptr);
-
-  // Let's use a random number of iterations (from 10 to 30)
-  int iterations = (rand_r(&seed) % 20) + 10;
-
-  // Spin here for a bit to fake out some processing time
-  for (int i = 0; i < iterations; i++) {
-    // Do a bit of the task
-    const double cmd_vel = 0.1;
-    sendVelocity(cmd_vel);
-    std::this_thread::sleep_for(250ms);
-
-    // Before we loop again to do more work, check if we've been canceled
-    if (cancelRequested()) {
-      RCLCPP_INFO(get_logger(), "Follow task has been canceled");
-      setCanceled();
-      return TaskStatus::CANCELED;
-    }
-  }
-
-  // Stop the robot after having it move forward for a bit
-  sendVelocity(0);
-
-  // We've successfully completed the task, so return the result
-  RCLCPP_INFO(get_logger(), "Follow task has been completed");
-
-  nav2_tasks::FollowPathResult result;
-  setResult(result);
-
-  return TaskStatus::SUCCEEDED;
-}
-
-void DwaController::sendVelocity(double speed)
-{
-  RCLCPP_INFO(get_logger(), "Send velocity: %f", speed);
-
-  CmdVel v;
-  v.linear.x = speed;
-  v.linear.y = 0;
-  v.linear.z = 0;
-  v.angular.x = 0;
-  v.angular.y = 0;
-  v.angular.z = 0;
-  vel_pub_->publish(v);
-}
-
-}  // namespace nav2_controller_example