From cfe149ab63a3504f82f21373e7858837a130ec32 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?R=C3=A9mi?= Date: Sun, 12 Nov 2023 23:37:05 +0100 Subject: [PATCH] add files --- CMakeLists.txt | 205 ++++++++++++++++++++++++++++++++++++++++++++++ package.xml | 65 +++++++++++++++ src/movealone.cpp | 79 ++++++++++++++++++ 3 files changed, 349 insertions(+) create mode 100644 CMakeLists.txt create mode 100644 package.xml create mode 100644 src/movealone.cpp diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..7740e03 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,205 @@ +cmake_minimum_required(VERSION 3.0.2) +project(movealone) + +## 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 COMPONENTS + roscpp + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES movealone +# CATKIN_DEPENDS ros.cpp std.msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/movealone.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(movealone_node src/movealone.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(movealone_node + ${catkin_LIBRARIES} +) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_movealone.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..e257275 --- /dev/null +++ b/package.xml @@ -0,0 +1,65 @@ + + + movealone + 0.0.0 + The movealone package + + + + + ros + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + std_msgs + roscpp + std_msgs + roscpp + std_msgs + + + + + + + + diff --git a/src/movealone.cpp b/src/movealone.cpp new file mode 100644 index 0000000..4c01724 --- /dev/null +++ b/src/movealone.cpp @@ -0,0 +1,79 @@ +#include +#include +#include + +bool no_obstacles_detected = true; +int direction = 1; + +void lidarCallback(const sensor_msgs::LaserScan::ConstPtr& scan) +{ + + // Set a threshold distance for considering obstacles (adjust as needed) + double obstacle_threshold = 0.3; // in meters + + // Check if there are no obstacles in front of the robot + no_obstacles_detected = true; + + for (size_t i = 0; i < scan->ranges.size(); ++i) + { + // Check only the frontal area, you may need to adjust indices based on your lidar configuration + if (i <= scan->ranges.size() / 8 || i >= 7 * scan->ranges.size() / 8) + { + ROS_INFO("Lidar[%zu]: %f meters", i, scan->ranges[i]); + if (0 < scan->ranges[i] && scan->ranges[i] < obstacle_threshold) + { + no_obstacles_detected = false; + direction = 1; + if (i < 50) + { + direction = -1; + } + } + } + } +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "movealone"); + ros::NodeHandle nh; + + // Publisher for velocity commands + ros::Publisher cmdPub = nh.advertise("/cmd_vel", 1); + + // Subscriber for lidar data + ros::Subscriber lidarSub = nh.subscribe("/scan", 1, lidarCallback); + + // Set the loop rate (10Hz) + ros::Rate loopRate(10); + + while (ros::ok()) + { + // Create a twist message + geometry_msgs::Twist cmdVel; + + // Add your logic based on lidar data + // For example, move forward if no obstacles are detected + if (no_obstacles_detected) + { + cmdVel.linear.x = 0.1; // Move forward at 0.1 m/s + cmdVel.angular.z = 0.0; + } + else + { + cmdVel.linear.x = 0.0; // Stop if obstacles are detected + cmdVel.angular.z = 0.5 * direction; + } + + // Publish the velocity command + cmdPub.publish(cmdVel); + + // Spin once to process callbacks + ros::spinOnce(); + + // Sleep to maintain the loop rate + loopRate.sleep(); + } + + return 0; +}