Merge branch 'hybridpath_to_CMakeLists'

guidance/hybridpath_guidance/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(hybridpath_guidance)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(vortex_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+  hybridpath_guidance/hybridpath_guidance_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(python_tests tests)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+endif()
+
+ament_package()

guidance/hybridpath_guidance/hybridpath_guidance/hybridpath_guidance_node.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 import numpy as np
 import rclpy
 from rclpy.node import Node

guidance/hybridpath_guidance/launch/hybridpath_guidance.launch.py

@@ -6,7 +6,7 @@
 def generate_launch_description():
     hybridpath_guidance_node = Node(
             package='hybridpath_guidance',
-            executable='hybridpath_guidance_node',
+            executable='hybridpath_guidance_node.py',
             name='hybridpath_guidance_node',
             parameters=[os.path.join(get_package_share_directory('hybridpath_guidance'),'config','hybridpath_guidance_config.yaml')],
             output='screen',

guidance/hybridpath_guidance/package.xml

@@ -3,8 +3,8 @@
 <package format="3">
   <name>hybridpath_guidance</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="[email protected]">vortex</maintainer>
+  <description>This package provides the implementation of hybrid path guidance for the Vortex ASV.</description>
+  <maintainer email="[email protected]">vortex</maintainer>
   <license>MIT</license>
 
   <depend>rclpy</depend>
@@ -13,12 +13,9 @@
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

motion/hybridpath_controller/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(hybridpath_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(vortex_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(PROGRAMS
+  hybridpath_controller/hybridpath_controller_node.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  find_package(ament_cmake_pytest REQUIRED)
+  ament_add_pytest_test(python_tests tests)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+endif()
+
+ament_package()

motion/hybridpath_controller/hybridpath_controller/hybridpath_controller_node.py

@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 import rclpy
 import numpy as np
 from rclpy.node import Node

motion/hybridpath_controller/launch/hybridpath_controller.launch.py

@@ -6,7 +6,7 @@
 def generate_launch_description():
     hybridpath_controller_node = Node(
             package='hybridpath_controller',
-            executable='hybridpath_controller_node',
+            executable='hybridpath_controller_node.py',
             name='hybridpath_controller_node',
             parameters=[os.path.join(get_package_share_directory('hybridpath_controller'),'config','hybridpath_controller_config.yaml')],
             output='screen',

motion/hybridpath_controller/package.xml

@@ -3,22 +3,21 @@
 <package format="3">
   <name>hybridpath_controller</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="[email protected]">vortex</maintainer>
+  <description>This package provides the implementation of hybrid path controller for the Vortex ASV.</description>
+  <maintainer email="[email protected]">vortex</maintainer>
   <license>MIT</license>
 
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
   <depend>rclpy</depend>
   <depend>python-transforms3d-pip</depend>
   <depend>geometry_msgs</depend>
   <depend>vortex_msgs</depend>
 
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>