Merge pull request #79 from UoA-CARES/77-create-controllers-package

src/controllers/controllers/controller.py

@@ -0,0 +1,96 @@
+import rclpy
+from geometry_msgs.msg import Twist
+from message_filters import Subscriber, ApproximateTimeSynchronizer
+from rclpy import Future
+from rclpy.node import Node
+from sensor_msgs.msg import LaserScan
+from nav_msgs.msg import Odometry
+
+from environments.utils import process_lidar, process_odom
+
+class Controller(Node):
+    def __init__(self, car_name, step_length):
+        #TODO: make node name dynamic
+        super().__init__('controller')
+
+        # Environment Details ----------------------------------------
+        self.NAME = car_name
+        self.STEP_LENGTH = step_length
+
+        # Pub/Sub ----------------------------------------------------
+        self.cmd_vel_pub = self.create_publisher(
+            Twist,
+            f'/{self.NAME}/cmd_vel',
+            10
+        )
+
+        self.odom_sub = Subscriber(
+            self,
+            Odometry,
+            f'/{self.NAME}/odometry',
+        )
+
+        self.lidar_sub = Subscriber(
+            self,
+            LaserScan,
+            f'/{self.NAME}/scan',
+        )
+
+        self.message_filter = ApproximateTimeSynchronizer(
+            [self.odom_sub, self.lidar_sub],
+            10,
+            0.1,
+        )
+
+        self.message_filter.registerCallback(self.message_filter_callback)
+
+        self.observation_future = Future()
+
+        self.timer = self.create_timer(step_length, self.timer_cb)
+        self.timer_future = Future()
+
+    def step(self, action):
+
+        lin_vel, ang_vel = action
+        self.set_velocity(lin_vel, ang_vel)
+
+        self.sleep()
+
+        self.timer_future = Future()
+
+        state = self.get_observation()
+
+        return state
+
+    def message_filter_callback(self, odom: Odometry, lidar: LaserScan):
+        self.observation_future.set_result({'odom': odom, 'lidar': lidar})
+
+    def get_observation(self):
+        odom, lidar = self.get_data()
+        odom = process_odom(odom)
+        lidar = process_lidar(lidar)
+
+
+    def get_data(self):
+        rclpy.spin_until_future_complete(self, self.observation_future)
+        future = self.observation_future
+        self.observation_future = Future()
+        data = future.result()
+        return data['odom'], data['lidar']
+
+    def set_velocity(self, linear, angular):
+        """
+        Publish Twist messages to f1tenth cmd_vel topic
+        """
+        velocity_msg = Twist()
+        velocity_msg.angular.z = float(angular)
+        velocity_msg.linear.x = float(linear)
+
+        self.cmd_vel_pub.publish(velocity_msg)
+
+    def sleep(self):
+        while not self.timer_future.done():
+            rclpy.spin_once(self)
+
+    def timer_cb(self):
+        self.timer_future.set_result(True)

src/controllers/package.xml

@@ -0,0 +1,20 @@
+<?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>controllers</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="thenickys123@gmail.com">anyone</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <depend>environments</depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/controllers/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/controllers
+[install]
+install_scripts=$base/lib/controllers

src/controllers/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'controllers'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='anyone',
+    maintainer_email='thenickys123@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'controller = controllers.controller:main'
+        ],
+    },
+)

src/controllers/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

src/controllers/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

src/controllers/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'