From a2b3a11e9767d809bcf8bda5e8b49f96aa33ab83 Mon Sep 17 00:00:00 2001
From: Steven Macenski <stevenmacenski@gmail.com>
Date: Thu, 1 Nov 2018 12:11:44 -0700
Subject: [PATCH] removing nav2_controllers package readded (#277)
---
.../dwa_controller.hpp | 45 ---------
.../src/dwa_controller.cpp | 97 -------------------
2 files changed, 142 deletions(-)
delete mode 100644 nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
delete mode 100644 nav2_controller/nav2_controller_example/src/dwa_controller.cpp
diff --git a/nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp b/nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
deleted file mode 100644
index 33a52030..00000000
--- a/nav2_controller/nav2_controller_example/include/nav2_controller_example/dwa_controller.hpp
+++ /dev/null
@@ -1,45 +0,0 @@
-// 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_
diff --git a/nav2_controller/nav2_controller_example/src/dwa_controller.cpp b/nav2_controller/nav2_controller_example/src/dwa_controller.cpp
deleted file mode 100644
index 812ce5c3..00000000
--- a/nav2_controller/nav2_controller_example/src/dwa_controller.cpp
+++ /dev/null
@@ -1,97 +0,0 @@
-// 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
--
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