Merge pull request #44 from iASL-Gifu/feat/param_controller

feat: param controller

aichallenge/workspace/src/aichallenge_submit/param_controller/CMakeLists.txt

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.8)
+project(param_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_auto REQUIRED)
+
+ament_auto_find_build_dependencies()
+
+ament_auto_add_executable(param_controller_node
+  src/param_controller.cpp
+)
+
+ament_auto_package(INSTALL_TO_SHARE
+)

aichallenge/workspace/src/aichallenge_submit/param_controller/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>param_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yu.asabe@tier4.jp">Yu Asabe</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>tier4_vehicle_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

aichallenge/workspace/src/aichallenge_submit/param_controller/src/param_controller.cpp

@@ -0,0 +1,69 @@
+#include <rclcpp/rclcpp.hpp>
+#include <tier4_vehicle_msgs/msg/actuation_command_stamped.hpp>
+
+namespace param_controller
+{
+
+class ParamController : public rclcpp::Node
+{
+public:
+  ParamController()
+  : Node("param_controller"), steering_value_(0.0)
+  {
+    publisher_ = this->create_publisher<tier4_vehicle_msgs::msg::ActuationCommandStamped>(
+      "/control/command/actuation_cmd", 10);
+
+    timer_ = this->create_wall_timer(
+      std::chrono::milliseconds(50),
+      std::bind(&ParamController::timer_callback, this));
+
+    // Parameter declaration
+    this->declare_parameter("steering_angle", 0.0);
+
+    // Parameter callback
+    param_callback_handle_ = this->add_on_set_parameters_callback(
+      std::bind(&ParamController::param_callback, this, std::placeholders::_1));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = tier4_vehicle_msgs::msg::ActuationCommandStamped();
+    message.header.stamp = this->now();
+    message.actuation.steer_cmd = steering_value_;
+    publisher_->publish(message);
+    RCLCPP_INFO(this->get_logger(), "Publishing: steering_angle = %.2f", steering_value_);
+  }
+
+  rcl_interfaces::msg::SetParametersResult param_callback(
+    const std::vector<rclcpp::Parameter> & parameters)
+  {
+    rcl_interfaces::msg::SetParametersResult result;
+    result.successful = true;
+
+    for (const auto & param : parameters) {
+      if (param.get_name() == "steering_angle") {
+        steering_value_ = param.as_double();
+        RCLCPP_INFO(this->get_logger(), "Parameter updated: steering_angle = %.2f", steering_value_);
+      }
+    }
+
+    return result;
+  }
+
+  rclcpp::Publisher<tier4_vehicle_msgs::msg::ActuationCommandStamped>::SharedPtr publisher_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_callback_handle_;
+  double steering_value_;
+};
+
+} // namespace param_controller
+
+int main(int argc, char **argv)
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<param_controller::ParamController>();
+  rclcpp::spin(node);
+  rclcpp::shutdown();
+  return 0;
+}