freyja_examples: Ported temporal_provider example#14
freyja_examples: Ported temporal_provider example#14Peter010103 wants to merge 2 commits intounl-nimbus-lab:ros2-develfrom
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Peter010103
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Jan 11, 2022
Peter010103
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- Refactored temporal_provider example into ROS2
- Added Lemiscate trajectory example
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refactor: ROS2 temporal provider examples include files
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| time_reset_sub_ = create_subscription<std_msgs::msg::UInt8>( | ||
| "/reset_trajectory_time", 1, std::bind(&Temporal_Traj::timer_reset_cb, this, _1)); | ||
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| traj_pub_ = create_publisher<TrajRef>("/reference_state", 1); |
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Just use "reference_state" without the /. This helps with namespaces.
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| void timeResetCallback( const std_msgs::UInt8::ConstPtr &msg ) | ||
| void Temporal_Traj::timer_reset_cb( std_msgs::msg::UInt8::SharedPtr msg ) |
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Use ConstSharedPtr for consistency ..
| std::string traj_type; | ||
| int agg_level; | ||
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| class Temporal_Traj : public rclcpp::Node |
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I think it might be better to remove the _ in the class name. It is redundant with this case-style, and also will maintain consistency.
| TrajRef getHoverReference( const ros::Duration &cur_time ) | ||
| void Temporal_Traj::traj_update_cb() | ||
| { | ||
| get_parameter("traj_type", traj_type); |
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I'm not sure that this is essential (esp. for the purposes of an example). Resetting this parameter on the fly will lead to discontinuous and somewhat unexpected trajectories mid-flight.
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| rclcpp::Time init_time; | ||
| std::string traj_type; | ||
| int agg_level; |
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These three are unused, I think?
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| class Temporal_Traj : public rclcpp::Node | ||
| { | ||
| TrajRef ref_state; |
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Consider naming class member variables with an _ postfix: ref_state_
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