94 crptg1 code quality increase

.gitmodules

@@ -22,9 +22,6 @@
 [submodule "crp_VIL/nissan_bringup"]
 	path = crp_VIL/nissan_bringup
 	url = https://github.com/szenergy/nissan_bringup
-[submodule "crp_VIL/pacmod_interface"]
-	path = crp_VIL/pacmod_interface
-	url = https://github.com/tier4/pacmod_interface
 [submodule "crp_VIL/kvaser_interface"]
 	path = crp_VIL/kvaser_interface
 	url = https://github.com/astuff/kvaser_interface.git

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/CMakeLists.txt

@@ -8,12 +8,8 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(autoware_control_msgs REQUIRED)
 find_package(autoware_planning_msgs REQUIRED)
-find_package(autoware_vehicle_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
 find_package(crp_msgs REQUIRED)
 
 
@@ -24,13 +20,15 @@ add_executable(ctrl_vehicle_control_lat_compensatory src/ctrl_vehicle_control_la
   src/compensatory_model/compensatory_model.cpp
   src/lib/polynomialCalculator.cpp )
 
-ament_target_dependencies(ctrl_vehicle_control_lat_compensatory  rclcpp geometry_msgs std_msgs autoware_control_msgs autoware_planning_msgs autoware_vehicle_msgs nav_msgs crp_msgs)
+ament_target_dependencies(ctrl_vehicle_control_lat_compensatory  rclcpp autoware_control_msgs autoware_planning_msgs crp_msgs)
 
 install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME})
+  DESTINATION share/${PROJECT_NAME}
+)
 
 install(TARGETS
-ctrl_vehicle_control_lat_compensatory
-  DESTINATION lib/${PROJECT_NAME})
+  ctrl_vehicle_control_lat_compensatory
+  DESTINATION lib/${PROJECT_NAME}
+)
 
 ament_package()

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/include/ctrl_vehicle_control/controller_inputs.hpp

@@ -15,7 +15,7 @@ namespace crp
             std::vector<double> path_x;
             std::vector<double> path_y;
             std::vector<double> path_theta;
-            double target_speed{0.0f};
+            double targetSpeed{0.0f};
             double egoPoseGlobal [3]{0.0f};
             double vxEgo{0.0f};
             double egoSteeringAngle{0.0f};

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/include/ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp

@@ -1,20 +1,12 @@
-#ifndef CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_HPP
-#define CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_HPP
-
-#include <chrono>
-#include <functional>
-#include <memory>
-#include <string>
-#include <math.h>
+#ifndef CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_CTRLVEHILECONTROLLATCOMPENSATORY_HPP
+#define CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_CTRLVEHILECONTROLLATCOMPENSATORY_HPP
+
+
 #include "rclcpp/rclcpp.hpp"
-#include "geometry_msgs/msg/pose.hpp"
-#include "std_msgs/msg/float32_multi_array.hpp"
-#include "std_msgs/msg/float32.hpp"
 #include "crp_msgs/msg/ego.hpp"
 
 #include "autoware_control_msgs/msg/control.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 
 #include "ctrl_vehicle_control/controller_inputs.hpp"
 #include "ctrl_vehicle_control/controller_outputs.hpp"
@@ -25,10 +17,10 @@ namespace crp
 {
     namespace apl
     {
-        class CtrlVehicleControlLat : public rclcpp::Node
+        class CtrlVehicleControlLatCompensatory : public rclcpp::Node
         {
             public:
-                CtrlVehicleControlLat();
+                CtrlVehicleControlLatCompensatory();
 
             private:
                 // VARIABLES
@@ -43,13 +35,13 @@ namespace crp
 
                 void loop();
 
-                rclcpp::TimerBase::SharedPtr timer_;
+                rclcpp::TimerBase::SharedPtr m_timer_;
                 rclcpp::Publisher<autoware_control_msgs::msg::Lateral>::SharedPtr m_pub_cmd;
 
-                rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr m_traj_sub_;
-                rclcpp::Subscription<crp_msgs::msg::Ego>::SharedPtr m_egoVehicle_sub_;
+                rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr m_sub_traj_;
+                rclcpp::Subscription<crp_msgs::msg::Ego>::SharedPtr m_sub_egoVehicle_;
                 autoware_control_msgs::msg::Lateral m_ctrlCmdMsg;
         }; 
     } // namespace apl
 }
-#endif // CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_HPP
+#endif // CRP_APL_CTRL_VEHICLE_LAT_COMPENSATORY_CTRLVEHILECONTROLLATCOMPENSATORY_HPP

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/launch/ctrl_vehicle_control_lat_compensatory.launch.py

@@ -2,8 +2,6 @@
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    ld = LaunchDescription()
-
     ctrl_vehicle_control_lat_compensatory = Node(
         package="ctrl_vehicle_control_lat_compensatory",
         executable="ctrl_vehicle_control_lat_compensatory",
@@ -21,6 +19,6 @@ def generate_launch_description():
         ]
     )
 
-    ld.add_action(ctrl_vehicle_control_lat_compensatory)
-
-    return ld
+    return LaunchDescription([
+        ctrl_vehicle_control_lat_compensatory
+    ])

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/package.xml

@@ -14,12 +14,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <depend>rclcpp</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_vehicle_msgs</depend>
-  <depend>nav_msgs</depend>
   <depend>crp_msgs</depend>
 
   <export>

crp_APL/controllers/ctrl_vehicle_control_lat_compensatory/src/ctrl_vehicle_control_lat_compensatory.cpp

@@ -1,43 +1,39 @@
 #include <ctrl_vehicle_control_lat_compensatory/ctrl_vehicle_control_lat_compensatory.hpp>
 
-using namespace std::chrono_literals;
-using std::placeholders::_1;
 
-
-crp::apl::CtrlVehicleControlLat::CtrlVehicleControlLat() : Node("CtrlVehicleControlLat")
+crp::apl::CtrlVehicleControlLatCompensatory::CtrlVehicleControlLatCompensatory() : Node("CtrlVehicleControlLatCompensatory")
 {
-    timer_ = this->create_wall_timer(std::chrono::milliseconds(33), std::bind(&CtrlVehicleControlLat::loop, this));  
+    m_timer_ = this->create_wall_timer(std::chrono::milliseconds(33), std::bind(&CtrlVehicleControlLatCompensatory::loop, this));  
     m_pub_cmd = this->create_publisher<autoware_control_msgs::msg::Lateral>("/control/command/control_cmdLat", 30);
 
-    m_traj_sub_ = this->create_subscription<autoware_planning_msgs::msg::Trajectory>("/plan/trajectory", 10, std::bind(&CtrlVehicleControlLat::trajCallback, this, std::placeholders::_1));
-    m_egoVehicle_sub_ = this->create_subscription<crp_msgs::msg::Ego>("/ego", 10, std::bind(&CtrlVehicleControlLat::egoVehicleCallback, this, std::placeholders::_1));
-
-        this->declare_parameter("/ctrl/ffGainOffsetGround", 0.0f);
-        this->declare_parameter("/ctrl/ffGainSlope", 0.0f);
-        this->declare_parameter("/ctrl/ffLookAheadTime", 0.1f);
-        this->declare_parameter("/ctrl/ffMinLookAheadDistance", 0.0f);
-        this->declare_parameter("/ctrl/steeringAngleLPFilter", 0.5f);
-        this->declare_parameter("/ctrl/fbLookAheadTime", 0.1f);
-        this->declare_parameter("/ctrl/fbPGain", 0.1f);
-        this->declare_parameter("/ctrl/fbDGain", 0.0f);
-        this->declare_parameter("/ctrl/fbIGain", 0.0f);
-        this->declare_parameter("/ctrl/fbThetaGain", 0.0f);
-        this->declare_parameter("/ctrl/fbMinLookAheadDistance", 0.5f);
-        this->declare_parameter("/ctrl/fbIntegralLimit", 3.0f);
-        this->declare_parameter("/ctrl/trajectory_distance", 50.0f);
-        this->declare_parameter("/ctrl/debugKPIs", true);
-
-    RCLCPP_INFO(this->get_logger(), "ctrl_vehicle_control has been started");
+    m_sub_traj_ = this->create_subscription<autoware_planning_msgs::msg::Trajectory>("/plan/trajectory", 10, std::bind(&CtrlVehicleControlLatCompensatory::trajCallback, this, std::placeholders::_1));
+    m_sub_egoVehicle_ = this->create_subscription<crp_msgs::msg::Ego>("/ego", 10, std::bind(&CtrlVehicleControlLatCompensatory::egoVehicleCallback, this, std::placeholders::_1));
+
+    this->declare_parameter("/ctrl/ffGainOffsetGround", 0.0f);
+    this->declare_parameter("/ctrl/ffGainSlope", 0.0f);
+    this->declare_parameter("/ctrl/ffLookAheadTime", 0.1f);
+    this->declare_parameter("/ctrl/ffMinLookAheadDistance", 0.0f);
+    this->declare_parameter("/ctrl/steeringAngleLPFilter", 0.5f);
+    this->declare_parameter("/ctrl/fbLookAheadTime", 0.1f);
+    this->declare_parameter("/ctrl/fbPGain", 0.1f);
+    this->declare_parameter("/ctrl/fbDGain", 0.0f);
+    this->declare_parameter("/ctrl/fbIGain", 0.0f);
+    this->declare_parameter("/ctrl/fbThetaGain", 0.0f);
+    this->declare_parameter("/ctrl/fbMinLookAheadDistance", 0.5f);
+    this->declare_parameter("/ctrl/fbIntegralLimit", 3.0f);
+    this->declare_parameter("/ctrl/trajectory_distance", 50.0f);
+    this->declare_parameter("/ctrl/debugKPIs", true);
+
+    RCLCPP_INFO(this->get_logger(), "CtrlVehicleControlLatCompensatory has been started");
 }
 
-void crp::apl::CtrlVehicleControlLat::trajCallback(const autoware_planning_msgs::msg::Trajectory input_msg)
+void crp::apl::CtrlVehicleControlLatCompensatory::trajCallback(const autoware_planning_msgs::msg::Trajectory input_msg)
 {
     m_input.path_x.clear();
     m_input.path_y.clear();
     m_input.path_theta.clear();
     double quaternion[4];
 
-
     // this callback maps the input trajectory to the internal interface
     for (long unsigned int i=0; i<input_msg.points.size(); i++)
     {      
@@ -51,12 +47,12 @@ void crp::apl::CtrlVehicleControlLat::trajCallback(const autoware_planning_msgs:
     }
 
     if (input_msg.points.size() > 0)
-        m_input.target_speed = input_msg.points.at(0).longitudinal_velocity_mps;
+        m_input.targetSpeed = input_msg.points.at(0).longitudinal_velocity_mps;
     else
-        m_input.target_speed = 0.0f;
+        m_input.targetSpeed = 0.0f;
 }
 
-void crp::apl::CtrlVehicleControlLat::egoVehicleCallback(const crp_msgs::msg::Ego input_msg)
+void crp::apl::CtrlVehicleControlLatCompensatory::egoVehicleCallback(const crp_msgs::msg::Ego input_msg)
 {
     m_input.vxEgo = input_msg.twist.twist.linear.x;
     m_input.egoSteeringAngle = input_msg.tire_angle_front;
@@ -72,7 +68,7 @@ void crp::apl::CtrlVehicleControlLat::egoVehicleCallback(const crp_msgs::msg::Eg
     m_input.egoPoseGlobal[2] = theta;
 }
 
-void crp::apl::CtrlVehicleControlLat::loop()
+void crp::apl::CtrlVehicleControlLatCompensatory::loop()
 {
     // parameter assignments
     m_params.ffGainOffsetGround = this->get_parameter("/ctrl/ffGainOffsetGround").as_double();
@@ -103,7 +99,7 @@ void crp::apl::CtrlVehicleControlLat::loop()
 int main(int argc, char *argv[])
 {
     rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<crp::apl::CtrlVehicleControlLat>());
+    rclcpp::spin(std::make_shared<crp::apl::CtrlVehicleControlLatCompensatory>());
     rclcpp::shutdown();
     return 0;
 }

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/CMakeLists.txt

@@ -8,12 +8,8 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(autoware_control_msgs REQUIRED)
 find_package(autoware_planning_msgs REQUIRED)
-find_package(autoware_vehicle_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
 find_package(crp_msgs REQUIRED)
 
 
@@ -22,7 +18,7 @@ include_directories(include)
 
 add_executable(ctrl_vehicle_control_lat_pure_p src/ctrl_vehicle_control_lat_pure_p.cpp)
 
-ament_target_dependencies(ctrl_vehicle_control_lat_pure_p  rclcpp geometry_msgs std_msgs autoware_control_msgs autoware_planning_msgs autoware_vehicle_msgs nav_msgs crp_msgs)
+ament_target_dependencies(ctrl_vehicle_control_lat_pure_p  rclcpp autoware_control_msgs autoware_planning_msgs crp_msgs)
 
 install(DIRECTORY launch
   DESTINATION share/${PROJECT_NAME})

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/include/ctrl_vehicle_control_lat_pure_p/controller_inputs.hpp

@@ -15,14 +15,14 @@ namespace crp
             std::vector<double> m_path_x;
             std::vector<double> m_path_y;
             std::vector<double> m_path_theta;
-            double target_speed{0.0f};
+            double targetSpeed{0.0f};
             double egoPoseGlobal [3]{0.0f};
             double vxEgo{0.0f};
             double egoSteeringAngle{0.0f};
         };
 
         struct ControlParams{
-            double lookahead_time{1.0f};
+            double lookaheadTime{1.0f};
             double wheelbase{2.9f};
         };
     }

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/include/ctrl_vehicle_control_lat_pure_p/controller_outputs.hpp

@@ -11,8 +11,8 @@ namespace crp
     namespace apl
     {
         struct ControlOutput{
-            double m_accelerationTarget{0.0f};
-            double m_steeringAngleTarget{0.0f};
+            double accelerationTarget{0.0f};
+            double steeringAngleTarget{0.0f};
         };
     }
 }

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/include/ctrl_vehicle_control_lat_pure_p/ctrl_vehicle_control_lat_pure_p.hpp

@@ -1,20 +1,12 @@
-#ifndef CRP_APL_CTRL_VEHICLE_LAT_PURE_P_HPP
-#define CRP_APL_CTRL_VEHICLE_LAT_PURE_P_HPP
-
-#include <chrono>
-#include <functional>
-#include <memory>
-#include <string>
-#include <math.h>
+#ifndef CRP_APL_CTRL_VEHICLE_CONTROL_LAT_PURE_P_CTRLVEHICLECONTROLLATPUREP_HPP
+#define CRP_APL_CTRL_VEHICLE_CONTROL_LAT_PURE_P_CTRLVEHICLECONTROLLATPUREP_HPP
+
+
 #include "rclcpp/rclcpp.hpp"
-#include "geometry_msgs/msg/pose.hpp"
-#include "std_msgs/msg/float32_multi_array.hpp"
-#include "std_msgs/msg/float32.hpp"
-#include "crp_msgs/msg/ego.hpp"
 
+#include "crp_msgs/msg/ego.hpp"
 #include "autoware_control_msgs/msg/control.hpp"
 #include "autoware_planning_msgs/msg/trajectory.hpp"
-#include "autoware_vehicle_msgs/msg/steering_report.hpp"
 
 #include "ctrl_vehicle_control_lat_pure_p/controller_inputs.hpp"
 #include "ctrl_vehicle_control_lat_pure_p/controller_outputs.hpp"
@@ -23,10 +15,10 @@ namespace crp
 {
     namespace apl
     {
-        class CtrlVehicleControlLat : public rclcpp::Node
+        class CtrlVehicleControlLatPureP : public rclcpp::Node
         {
             public:
-                CtrlVehicleControlLat();
+                CtrlVehicleControlLatPureP();
 
             private:
                 // VARIABLES
@@ -40,13 +32,13 @@ namespace crp
                 void pure_p_control();
                 void loop();
 
-                rclcpp::TimerBase::SharedPtr timer_;
+                rclcpp::TimerBase::SharedPtr m_timer_;
                 rclcpp::Publisher<autoware_control_msgs::msg::Lateral>::SharedPtr m_pub_cmd;
 
-                rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr m_traj_sub_;
-                rclcpp::Subscription<crp_msgs::msg::Ego>::SharedPtr m_egoVehicle_sub_;
+                rclcpp::Subscription<autoware_planning_msgs::msg::Trajectory>::SharedPtr m_sub_traj_;
+                rclcpp::Subscription<crp_msgs::msg::Ego>::SharedPtr m_sub_egoVehicle_;
                 autoware_control_msgs::msg::Lateral m_ctrlCmdMsg;
         }; 
     } // namespace apl
 }
-#endif // CRP_APL_CTRL_VEHICLE_LAT_PURE_P_HPP
+#endif // CRP_APL_CTRL_VEHICLE_CONTROL_LAT_PURE_P_CTRLVEHICLECONTROLLATPUREP_HPP

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/launch/ctrl_vehicle_control_lat_pure_p.launch.py

@@ -2,8 +2,6 @@
 from launch_ros.actions import Node
 
 def generate_launch_description():
-    ld = LaunchDescription()
-
     ctrl_vehicle_control_lat_pure_p = Node(
         package="ctrl_vehicle_control_lat_pure_p",
         executable="ctrl_vehicle_control_lat_pure_p",
@@ -13,6 +11,6 @@ def generate_launch_description():
         ]
     )
 
-    ld.add_action(ctrl_vehicle_control_lat_pure_p)
-
-    return ld
+    return LaunchDescription([
+        ctrl_vehicle_control_lat_pure_p
+    ])

crp_APL/controllers/ctrl_vehicle_control_lat_pure_p/package.xml

@@ -14,12 +14,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <depend>rclcpp</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_msgs</depend>
   <depend>autoware_control_msgs</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>autoware_vehicle_msgs</depend>
-  <depend>nav_msgs</depend>
   <depend>crp_msgs</depend>
 
   <export>