Release 1.2.0

aslan_docker/Dockerfile

@@ -81,6 +81,8 @@ RUN useradd -m $USERNAME && \
 RUN echo "source /opt/ros/kinetic/setup.bash" >> /home/$USERNAME/.bashrc && \
         #Fix for qt and X server errors
         echo "export QT_X11_NO_MITSHM=1" >> /home/$USERNAME/.bashrc && \
+        #Set ROS hostname to localhost
+        echo "export ROS_HOSTNAME=localhost" >> /home/$USERNAME/.bashrc && \
         # cd to home on login
         echo "cd" >> /home/$USERNAME/.bashrc
 

src/msgs/aslan_msgs/msg/SDControl.msg

@@ -1,6 +1,6 @@
 Header header
 
-# Range -100 to 100, -100 is max brake, +100 is max throttle
+# Range -100 to 100, -100 is max brake, +100 is max torque
 float64 torque
 
 # Range -100 to +100, +100 is maximum left turn

src/supervisor/check_message_alive/CMakeLists.txt

@@ -35,10 +35,10 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_executable(check_message_alive src/check_message_alive.cpp)
+add_executable(check_message_alive src/check_message_alive_main.cpp src/check_message_alive.cpp)
 target_link_libraries(check_message_alive ${catkin_LIBRARIES})
 add_dependencies(check_message_alive ${catkin_EXPORTED_TARGETS})
 
-add_executable(error_listener src/error_listener.cpp)
+add_executable(error_listener src/error_listener_main.cpp src/error_listener.cpp)
 target_link_libraries(error_listener ${catkin_LIBRARIES})
-add_dependencies(error_listener ${catkin_EXPORTED_TARGETS})
+add_dependencies(error_listener ${catkin_EXPORTED_TARGETS})

src/supervisor/check_message_alive/include/check_message_alive.h

@@ -33,6 +33,18 @@
 #include <string.h>
 #include <time.h>
 
+#include <ros/ros.h>
+#include <std_msgs/Bool.h>
+#include <std_msgs/Int32.h>
+#include <sensor_msgs/PointCloud2.h>
+#include <geometry_msgs/TwistStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <aslan_msgs/Lane.h>
+#include <aslan_msgs/LaneArray.h>
+#include <pcl_conversions/pcl_conversions.h>
+#include <tf2_msgs/TFMessage.h>
+#include <chrono>
+
 class topic_data
 {
 	public:
@@ -45,30 +57,34 @@ class topic_data
 		topic_data(std::string name, bool check_message);
 };
 
+class check_message_alive
+{
+public:
+	void pmap_stat_alive_callback(const std_msgs::Bool::ConstPtr& msg);
+	void filtered_points_alive_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
+	void ndt_pose_alive_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
+	void lane_array_alive_callback(const aslan_msgs::LaneArray::ConstPtr& msg);
+	void twist_cmd_alive_callback(const geometry_msgs::TwistStamped::ConstPtr& msg);
+	void twist_raw_alive_callback(const geometry_msgs::TwistStamped::ConstPtr& msg);
+	void points_raw_alive_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
+	void traffic_array_alive_callback(const aslan_msgs::LaneArray::ConstPtr& msg);
+	void closest_alive_callback(const std_msgs::Int32ConstPtr& msg, VelocitySetPath vs_path);
+	void final_waypoints_callback(const aslan_msgs::LaneConstPtr& msg);
+	void current_pose_callback(const geometry_msgs::PoseStampedConstPtr &msg);
+	void safety_waypoints_callback(const aslan_msgs::LaneConstPtr& msg);
+	void tf_callback(const tf2_msgs::TFMessageConstPtr &msg);
+	void radar_emergency_callback(const std_msgs::Int32::ConstPtr& msg);
+	diagnostic_msgs::DiagnosticStatus get_topic_diagnostics(topic_data topic);
+	diagnostic_msgs::DiagnosticArray generate_diagnostics();
+	int RUN(int argc, char **argv);
 
-diagnostic_msgs::DiagnosticArray aslan_diagnostics_array;
-diagnostic_msgs::DiagnosticStatus aslan_diagnostics_status;
-int seq = 0;
-bool tf_msg1 = true, tf_msg2 = true, tf_msg3 = true;
-bool emergency_flag = false;
-bool end_of_waypoints = false;
-void waypointsCallback(const aslan_msgs::LaneConstPtr& msg);
-
-
-topic_data pmap_stat ("pmap_stat", false);
-topic_data filtered_points ("filtered_points", false);
-topic_data ndt_pose ("ndt_pose", false);
-topic_data lane_waypoints_array ("lane_waypoints_array", false);
-topic_data twist_cmd ("twist_cmd", true);
-topic_data twist_raw ("twist_raw", false);
-topic_data points_raw ("points_raw", true);
-topic_data traffic_waypoints_array ("traffic_waypoints_array", false);
-topic_data closest_waypoint ("closest_waypoint", false);
-topic_data final_waypoints ("final_waypoints", false);
-topic_data current_pose ("current_pose", false);
-topic_data safety_waypoints ("safety_waypoints", false);
-topic_data transf ("tf", true);
-
-
+	diagnostic_msgs::DiagnosticArray aslan_diagnostics_array;
+	diagnostic_msgs::DiagnosticStatus aslan_diagnostics_status;
+	int seq = 0;
+	bool tf_msg1 = true, tf_msg2 = true, tf_msg3 = true;
+	bool emergency_flag = false;
+	bool end_of_waypoints = false;
+	// void waypointsCallback(const aslan_msgs::LaneConstPtr& msg);
 
-int FIXED_ERROR_THRESH = 200; // 200 ms
+	int FIXED_ERROR_THRESH = 200; // 200 ms
+};

src/supervisor/check_message_alive/include/error_listener.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (C) 2020 Project ASLAN - All rights reserved
+ *
+ * Author: Abdelrahman Barghouth
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *   * Redistributions of source code must retain the above copyright notice,
+ *     this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above copyright
+ *     notice, this list of conditions and the following disclaimer in the
+ *     documentation and/or other materials provided with the distribution.
+ *   * Neither the name of the copyright holder nor the names of its
+ *     contributors may be used to endorse or promote products derived from
+ *     this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
+
+
+#include <ros/ros.h>
+#include <diagnostic_msgs/DiagnosticArray.h>
+#include <diagnostic_msgs/DiagnosticStatus.h>
+
+class error_listener
+{
+public:
+    void diagnostics_callback(const diagnostic_msgs::DiagnosticArray::ConstPtr& msg);
+    int RUN(int argc, char **argv);    
+};