Move some of the task base classes out to separate directories.

src/control/CMakeLists.txt

@@ -0,0 +1,49 @@
+cmake_minimum_required(VERSION 3.5)
+project(control)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(task REQUIRED)
+
+include_directories(
+  include
+  ../task/include
+  ../robot/include
+  )
+
+link_directories(${CMAKE_BINARY_DIR}/../libs)
+
+add_executable(dwa_controller
+  src/ControlTask.cpp
+  src/DwaController.cpp
+  src/main.cpp
+  )
+
+target_link_libraries(dwa_controller
+  robot
+  task
+  )
+
+ament_target_dependencies(dwa_controller 
+  rclcpp 
+  std_msgs
+  task
+  robot
+  )
+
+install(TARGETS dwa_controller
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/task/include/task/ControlTask.hpp → src/control/include/control/ControlTask.hpp

@@ -1,19 +1,19 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright 2018 Intel Corporation. All Rights Reserved.
 
-#ifndef TASK__CONTROLTASK_HPP_
-#define TASK__CONTROLTASK_HPP_
+#ifndef CONTROL__CONTROLTASK_HPP_
+#define CONTROL__CONTROLTASK_HPP_
 
 #include "task/RobotTask.hpp"
 
 class ControlTask : public RobotTask
 {
 public:
-  explicit ControlTask(const std::string & name, Robot * robot);
+  ControlTask(const std::string & name, Robot * robot);
   ControlTask() = delete;
   ~ControlTask();
 
   virtual void executePlan() = 0;
 };
 
-#endif  // TASK__CONTROLTASK_HPP_
+#endif  // CONTROL__CONTROLTASK_HPP_

src/control/include/control/DwaController.hpp

@@ -0,0 +1,22 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#ifndef CONTROL__DWACONTROLLER_HPP_
+#define CONTROL__DWACONTROLLER_HPP_
+
+#include "control/ControlTask.hpp"
+
+class DwaController : public ControlTask
+{
+public:
+  DwaController(const std::string & name, Robot * robot);
+  DwaController() = delete;
+  ~DwaController();
+
+  void executePlan() override; 
+
+protected:
+  void workerThread() override; 
+};
+
+#endif  // CONTROL__DWACONTROLLER_HPP_

src/control/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>control</name>
+  <version>0.1.0</version>
+  <description>TODO</description>
+  <author email="oregon.robotics.team@intel.com">Oregon Robotics Team</author>
+  <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+  <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>task</build_depend>
+  <build_depend>robot</build_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

src/task/src/ControlTask.cpp → src/control/src/ControlTask.cpp

@@ -1,7 +1,7 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright 2018 Intel Corporation. All Rights Reserved.
 
-#include "task/ControlTask.hpp"
+#include "control/ControlTask.hpp"
 
 ControlTask::ControlTask(const std::string & name, Robot * robot)
 : RobotTask(name, robot)

src/control/src/DwaController.cpp

@@ -0,0 +1,27 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include "control/DwaController.hpp"
+
+DwaController::DwaController(const std::string & name, Robot * robot)
+: ControlTask(name, robot)
+{
+  RCLCPP_INFO(get_logger(), "DwaController::DwaController");
+}
+
+DwaController::~DwaController()
+{
+  RCLCPP_INFO(get_logger(), "DwaController::~DwaController");
+}
+
+void
+DwaController::executePlan()
+{
+  RCLCPP_INFO(get_logger(), "DwaController::executePlan");
+}
+
+void
+DwaController::workerThread()
+{
+  RCLCPP_INFO(get_logger(), "DwaController::workerThread");
+}

src/control/src/main.cpp

@@ -0,0 +1,20 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include <string>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "control/DwaController.hpp"
+#include "robot/RosRobot.hpp"
+
+int main(int argc, char ** argv)
+{
+  std::string urdf_filename;
+  RosRobot robot(urdf_filename);
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<DwaController>("DwaController", &robot));
+  rclcpp::shutdown();
+
+  return 0;
+}

src/mission_execution/CMakeLists.txt

@@ -31,10 +31,6 @@ ament_target_dependencies(mission_execution
   std_msgs
   )
 
-target_link_libraries(mission_execution
-  yasmine
-  )
-
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib

src/navigation/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(navigation)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(task REQUIRED)
+
+include_directories(
+  include
+  ../task/include
+  ../robot/include
+  ../planning/include
+  ../control/include
+  )
+
+link_directories(${CMAKE_BINARY_DIR}/../libs)
+
+add_executable(simple_navigator
+  src/NavigateToPoseTask.cpp
+  src/SimpleNavigator.cpp
+  src/main.cpp
+  )
+
+target_link_libraries(simple_navigator
+  robot
+  task
+  )
+
+ament_target_dependencies(simple_navigator 
+  rclcpp 
+  std_msgs
+  planning
+  control
+  task
+  robot
+  )
+
+install(TARGETS simple_navigator
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/navigation/include/navigation/NavigateToPoseTask.hpp

@@ -0,0 +1,19 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#ifndef NAVIGATION__NAVIGATETOPOSETASK_HPP_
+#define NAVIGATION__NAVIGATETOPOSETASK_HPP_
+
+#include "task/RobotTask.hpp"
+
+class NavigateToPoseTask : public RobotTask
+{
+public:
+  NavigateToPoseTask(const std::string & name, Robot * robot);
+  NavigateToPoseTask() = delete;
+  ~NavigateToPoseTask();
+
+  virtual void navigateTo(/*pose*/) = 0;
+};
+
+#endif  // NAVIGATION__NAVIGATETOPOSETASK_HPP_

src/navigation/include/navigation/SimpleNavigator.hpp

@@ -0,0 +1,28 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#ifndef NAVIGATION__SIMPLENAVIGATOR_HPP_
+#define NAVIGATION__SIMPLENAVIGATOR_HPP_
+
+#include "navigation/NavigateToPoseTask.hpp"
+#include "planning/AStarPlanner.hpp"
+#include "control/DwaController.hpp"
+
+class SimpleNavigator : public NavigateToPoseTask
+{
+public:
+  SimpleNavigator(const std::string & name, Robot * robot);
+  SimpleNavigator() = delete;
+  ~SimpleNavigator();
+
+  void navigateTo(/*pose*/) override;
+
+protected:
+  void workerThread();
+
+  // TODO: These will be the client-side proxies (like SimpleActionClient):
+  AStarPlanner * planner_;
+  DwaController * controller_;
+};
+
+#endif  // NAVIGATION__SIMPLENAVIGATOR_HPP_

src/navigation/package.xml

@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+  <name>navigation</name>
+  <version>0.1.0</version>
+  <description>TODO</description>
+  <author email="oregon.robotics.team@intel.com">Oregon Robotics Team</author>
+  <maintainer email="oregon.robotics.team@intel.com">Oregon Robotics Team</maintainer>
+  <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclcpp</build_depend>
+  <build_depend>task</build_depend>
+  <build_depend>robot</build_depend>
+  <exec_depend>rclcpp</exec_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

src/navigation/src/NavigateToPoseTask.cpp

@@ -0,0 +1,15 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include "navigation/NavigateToPoseTask.hpp"
+
+NavigateToPoseTask::NavigateToPoseTask(const std::string & name, Robot * robot)
+: RobotTask(name, robot)
+{
+  RCLCPP_INFO(get_logger(), "NavigateToPoseTask::NavigateToPoseTask");
+}
+
+NavigateToPoseTask::~NavigateToPoseTask()
+{
+  RCLCPP_INFO(get_logger(), "NavigateToPoseTask::~NavigateToPoseTask");
+}

src/navigation/src/SimpleNavigator.cpp

@@ -0,0 +1,27 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include "navigation/SimpleNavigator.hpp"
+
+SimpleNavigator::SimpleNavigator(const std::string & name, Robot * robot)
+: NavigateToPoseTask(name, robot), planner_(nullptr), controller_(nullptr)
+{
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::SimpleNavigator");
+}
+
+SimpleNavigator::~SimpleNavigator()
+{
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::~SimpleNavigator");
+}
+
+void
+SimpleNavigator::navigateTo()
+{
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::executePlan");
+}
+
+void
+SimpleNavigator::workerThread()
+{
+  RCLCPP_INFO(get_logger(), "SimpleNavigator::workerThread");
+}

src/navigation/src/main.cpp

@@ -0,0 +1,20 @@
+// License: Apache 2.0. See LICENSE file in root directory.
+// Copyright 2018 Intel Corporation. All Rights Reserved.
+
+#include <string>
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "navigation/SimpleNavigator.hpp"
+#include "robot/RosRobot.hpp"
+
+int main(int argc, char ** argv)
+{
+  std::string urdf_filename;
+  RosRobot robot(urdf_filename);
+
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SimpleNavigator>("SimpleNavigator", &robot));
+  rclcpp::shutdown();
+
+  return 0;
+}