Add pure pursuit node

packages/pure_pursuit/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(pure_pursuit)
+
+add_compile_options(-Wall -Wextra -Wpedantic)
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(wbb_msgs REQUIRED)
+find_package(visualization_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(pursuit src/main.cpp src/pursuit.cpp)
+
+target_include_directories(pursuit PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+
+target_compile_features(pursuit PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+ament_target_dependencies(
+    pursuit
+    rclcpp
+    visualization_msgs
+    wbb_msgs )
+
+
+install(TARGETS pursuit
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

packages/pure_pursuit/include/pure_pursuit/pursuit.h

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+#pragma once
+
+#include <chrono>
+#include <cmath>
+#include <functional>
+
+#include <wbb_msgs/msg/image_path.hpp>
+#include <wbb_msgs/msg/image_pose.hpp>
+#include <wbb_msgs/msg/control.hpp>
+#include <wbb_msgs/msg/image_pixel_scale.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <visualization_msgs/msg/image_marker.hpp>
+
+namespace wbb
+{
+
+using namespace std::placeholders;
+
+class PurePursuit : public rclcpp::Node
+{
+  public:
+    PurePursuit();
+  private:
+    void handleTrajectory(wbb_msgs::msg::ImagePath::SharedPtr trajectory);
+
+    void handleBotPose(wbb_msgs::msg::ImagePose::SharedPtr bot_pose);
+
+    void handlePixelScale(wbb_msgs::msg::ImagePixelScale::SharedPtr scale);
+
+    double calculateDistance(wbb_msgs::msg::ImagePoint::SharedPtr first,
+                             wbb_msgs::msg::ImagePose::SharedPtr second);
+
+    std::pair<double, double> calculateCurvature(wbb_msgs::msg::ImagePoint::SharedPtr lookahead,
+                              wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+//    wbb_msgs::msg::ImagePoint findClosest(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+//                                                     wbb_msgs::msg::ImagePose::SharedPtr bot_pose);
+
+    wbb_msgs::msg::ImagePoint::SharedPtr checkSegment(wbb_msgs::msg::ImagePoint start,
+                                                      wbb_msgs::msg::ImagePoint end,
+                                                      wbb_msgs::msg::ImagePose::SharedPtr bot_pose,
+                                                      double scale);
+
+    wbb_msgs::msg::ImagePoint::SharedPtr findLookahead(wbb_msgs::msg::ImagePath::SharedPtr trajectory,
+                                                       wbb_msgs::msg::ImagePose::SharedPtr bot_pose,
+                                                       double scale);
+
+    void visualizeLookahead(wbb_msgs::msg::ImagePoint::SharedPtr lookahead, double scale);
+
+    void visualizeRadius(double curvature, wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+    void visualizeLARadius(wbb_msgs::msg::ImagePose::SharedPtr bot_pose, double scale);
+
+    void sendControlCommand();
+
+    struct Slols
+    {
+        rclcpp::Subscription<wbb_msgs::msg::ImagePath>::SharedPtr trajectory = nullptr;
+        rclcpp::Subscription<wbb_msgs::msg::ImagePose>::SharedPtr bot_pose = nullptr;
+        rclcpp::Subscription<wbb_msgs::msg::ImagePixelScale>::SharedPtr scale = nullptr;
+    } slot_;
+    struct Signals
+    {
+        rclcpp::Publisher<wbb_msgs::msg::Control>::SharedPtr control = nullptr;
+        rclcpp::Publisher<visualization_msgs::msg::ImageMarker>::SharedPtr visual = nullptr;
+    } signal_;
+
+    struct State
+    {
+        wbb_msgs::msg::ImagePath::SharedPtr trajectory = nullptr;
+        wbb_msgs::msg::ImagePose::SharedPtr bot_pose = nullptr;
+        wbb_msgs::msg::ImagePixelScale::SharedPtr scale = nullptr;
+        wbb_msgs::msg::ImagePoint::SharedPtr last_point = nullptr;
+    } state_;
+
+    std::chrono::duration<double> timeout_{0.20};
+    double lookahead_distance;
+    size_t trajectory_pos;
+    rclcpp::TimerBase::SharedPtr timer_ = nullptr;
+};
+
+} // namespace wbb
+
+
+
+

packages/pure_pursuit/package.xml

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+<?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>pure_pursuit</name>
+  <version>0.0.0</version>
+  <description>Simple whiteboard bot trajectory pursuit</description>
+  <maintainer email="[email protected]">enaix</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  <depend>rclcpp</depend>
+  <depend>wbb_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

packages/pure_pursuit/src/main.cpp

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+#include <rclcpp/rclcpp.hpp>
+
+#include "pure_pursuit/pursuit.h"
+
+int main(int argc, char ** argv)
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<wbb::PurePursuit>());
+    rclcpp::shutdown();
+    return 0;
+}