reference trajectory

.gitignore

@@ -1,6 +1,3 @@
-# Prerequisites
-*.d
-
 # Compiled Object files
 *.slo
 *.lo
@@ -31,8 +28,29 @@
 *.out
 *.app
 
-# Python
-*.pyc
+# Colcon output
+build
+log
+install
+
+# Visual Studio Code files
+.vscode
+
+# Eclipse project files
+.cproject
+.project
+.pydevproject
+
+# Python artifacts
+__pycache__/
+*.py[cod]
+.ipynb_checkpoints
+
+sphinx_doc/_build
+
+# CLion artifacts
+.idea
+cmake-build-debug/
 
-# VS Code
-*.vscode
+# doxygen docs
+doc/html/

CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.5)
+project(trajectory_tracking_control)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(Eigen3 REQUIRED)
+
+include_directories(
+  include
+  ${Eigen3_INCLUDE_DIRS}
+)
+
+add_library(
+  trajectory_controller_lib
+  src/controller_node.cpp
+  src/trajectory_generator.cpp
+)
+
+target_compile_definitions(trajectory_controller_lib
+  PRIVATE "MINIMAL_COMPOSITION_DLL")
+ament_target_dependencies(trajectory_controller_lib rclcpp std_msgs)
+
+add_executable(control_node src/controller_node.cpp)
+
+target_link_libraries(
+  control_node
+  trajectory_controller_lib
+)
+
+ament_target_dependencies(control_node rclcpp)
+
+install(TARGETS
+  control_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY
+  launch
+  maps
+  rviz
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

LICENSE

@@ -0,0 +1 @@
+This repository is available under Apache-2.0 license.

include/trajectory_tracking_control/trajectory_generator.hpp

@@ -0,0 +1,24 @@
+/*
+
+*/
+
+#ifndef TRAJECTORY_TRACKING_CONTROL_TRAJECTORY_GENERATOR_HPP_
+#define TRAJECTORY_TRACKING_CONTROL_TRAJECTORY_GENERATOR_HPP_
+
+#include <eigen3/Eigen/Core>   // MatrixXd
+
+namespace trajectory_tracking_control {
+
+using Eigen::MatrixXd;
+
+class TrajectoryGenerator {
+ public:
+  void makeConstantTrajectory(double t_sampling, MatrixXd &ref_states_matrix);
+
+ private:
+//   void displayConstantTrajectoryInfo(double x_offset, double y_offset, double x_amp, double y_amp, double freq);
+};
+
+}  // namespace trajectory_tracking_control
+
+#endif  // TRAJECTORY_TRACKING_CONTROL_TRAJECTORY_GENERATOR_HPP_

launch/map.launch.py

@@ -0,0 +1,34 @@
+import launch
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    # Parameters
+    lifecycle_nodes = ['map_server']
+    use_sim_time = True
+    autostart = True
+
+    map_file = os.path.join(get_package_share_directory(
+        "trajectory_tracking_control"), "maps", "map.yaml")
+
+    return launch.LaunchDescription([
+        Node(package="nav2_map_server",
+             executable="map_server",
+             name="map_server",
+             output="screen",
+             parameters=[{"use_sim_time": use_sim_time},
+                         {"yaml_filename": map_file}],
+             emulate_tty=True),
+        Node(
+            package='nav2_lifecycle_manager',
+            executable='lifecycle_manager',
+            name='lifecycle_manager',
+            output='screen',
+            emulate_tty=True,
+            parameters=[{'use_sim_time': True},
+                        {'autostart': autostart},
+                        {'node_names': lifecycle_nodes}])
+    ])

launch/rviz.launch.py

@@ -0,0 +1,18 @@
+import launch
+import os
+
+from ament_index_python.packages import get_package_share_directory
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    rviz_file = os.path.join(get_package_share_directory(
+        "trajectory_tracking_control"), "rviz", "my.rviz")
+
+    return launch.LaunchDescription([
+        Node(package="rviz2",
+             executable="rviz2",
+             name="rviz2",
+             arguments=['-d', rviz_file],
+             output="screen")
+    ])

maps/map.yaml

@@ -0,0 +1,7 @@
+image: map.pgm
+resolution: 0.050000
+origin: [-10.000000, -10.000000, 0.000000]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.196
+

package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model
+   href="http://download.ros.org/schema/package_format3.xsd"
+   schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>trajectory_tracking_control</name>
+ <version>0.0.0</version>
+ <description>Package description</description>
+ <maintainer email="[email protected]">user</maintainer>
+ <license>License declaration</license>
+
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>std_msgs</depend>
+
+ <exec_depend>ros2launch</exec_depend>
+
+ <test_depend>ament_lint_auto</test_depend>
+ <test_depend>ament_lint_common</test_depend>
+
+ <export>
+   <build_type>ament_cmake</build_type>
+ </export>
+</package>

rviz/my.rviz

@@ -0,0 +1,156 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Map1/Update Topic1
+      Splitter Ratio: 0.5
+    Tree Height: 719
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 10
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009ba0000003efc0100000002fb0000000800540069006d00650100000000000009ba000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000007490000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 2490
+  X: 70
+  Y: 473