[hugmy] add template for hugmy navigation

robots/hugmy/CMakeLists.txt

@@ -16,3 +16,12 @@ include_directories(
   include
   ${catkin_INCLUDE_DIRS}
   )
+
+add_library(hugmy_navigation src/navigation/hugmy_navigation.cpp)
+target_link_libraries(hugmy_navigation ${catkin_LIBRARIES})
+
+install(DIRECTORY config launch plugins
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  USE_SOURCE_PERMISSIONS
+  )
+

robots/hugmy/include/hugmy/navigation/hugmy_navigation.h

@@ -0,0 +1,19 @@
+#pragma once
+
+#include <aerial_robot_control/flight_navigation.h>
+
+namespace aerial_robot_navigation
+{
+  class HugmyNavigator : public BaseNavigator
+  {
+  public:
+    HugmyNavigator();
+    virtual ~HugmyNavigator() = default;
+
+    void initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
+                    boost::shared_ptr<aerial_robot_model::RobotModel> robot_model,
+                    boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator,
+                    double loop_du) override;
+    void update() override;
+  };
+};

robots/hugmy/package.xml

@@ -20,4 +20,8 @@
   <run_depend>aerial_robot_simulation</run_depend>
   <run_depend>pluginlib</run_depend>
 
+  <export>
+    <aerial_robot_control plugin="${prefix}/plugins/navigation_plugin.xml" />
+  </export>
+
 </package>

robots/hugmy/plugins/navigation_plugin.xml

@@ -0,0 +1,5 @@
+<library path="lib/libhugmy_navigation">
+  <class name="aerial_robot_navigation/hugmy_navigation" type="aerial_robot_navigation::HugmyNavigator" base_class_type="aerial_robot_navigation::BaseNavigator">
+    <description> hugmy navigation plugin </description>
+  </class>
+</library>

robots/hugmy/src/navigation/hugmy_navigation.cpp

@@ -0,0 +1,27 @@
+#include <hugmy/navigation/hugmy_navigation.h>
+
+using namespace aerial_robot_navigation;
+
+HugmyNavigator::HugmyNavigator():
+  BaseNavigator()
+{
+}
+
+
+void HugmyNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
+                                boost::shared_ptr<aerial_robot_model::RobotModel> robot_model,
+                                boost::shared_ptr<aerial_robot_estimation::StateEstimator> estimator,
+                                double loop_du)
+{
+  /* initialize the flight control */
+  BaseNavigator::initialize(nh, nhp, robot_model, estimator, loop_du);
+}
+
+void HugmyNavigator::update()
+{
+  BaseNavigator::update();
+}
+
+/* plugin registration */
+#include <pluginlib/class_list_macros.h>
+PLUGINLIB_EXPORT_CLASS(aerial_robot_navigation::HugmyNavigator, aerial_robot_navigation::BaseNavigator);