Add RollerNode to auto_driver_interface

auto_driver_interface/CMakeLists.txt

@@ -5,15 +5,35 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 
-# yaw_node --------------------------------------------------
+# pid_node --------------------------------------------------
 set(TARGET pid_node)
-ament_auto_add_library(${PROJECT_NAME} SHARED
+ament_auto_add_library(${TARGET} SHARED
   src/${TARGET}.cpp)
 
 rclcpp_components_register_node(
-  ${PROJECT_NAME}
+  ${TARGET}
   PLUGIN "${PROJECT_NAME}::PidNode"
-  EXECUTABLE ${PROJECT_NAME}_exec)
+  EXECUTABLE ${TARGET}_exec)
+
+# auto_driver_interface::RollerNode
+set(TARGET roller_node)
+ament_auto_add_library(${TARGET} SHARED
+  src/${TARGET}.cpp)
+
+rclcpp_components_register_node(
+  ${TARGET}
+  PLUGIN "${PROJECT_NAME}::RollerNode"
+  EXECUTABLE ${TARGET}_exec)
+
+# auto_driver_interface::HammerNode
+set(TARGET hammer_node)
+ament_auto_add_library(${TARGET} SHARED
+  src/${TARGET}.cpp)
+
+rclcpp_components_register_node(
+  ${TARGET}
+  PLUGIN "${PROJECT_NAME}::HammerNode"
+  EXECUTABLE ${TARGET}_exec)
 
 ament_auto_package(
   INSTALL_TO_SHARE

auto_driver_interface/launch/examle.launch.py

@@ -42,7 +42,25 @@ def generate_launch_description():
                         {'min_limit': 25},
                         {'max_limit': 315}
                     ]
-                )
+                ),
+                ComposableNode(
+                    package='auto_driver_interface',
+                    plugin='auto_driver_interface::RollerNode',
+                    name='roller0',
+                    namespace='can_node/c620_0',
+                    parameters=[
+                        {'invert': False}
+                    ]
+                ),
+                ComposableNode(
+                    package='auto_driver_interface',
+                    plugin='auto_driver_interface::RollerNode',
+                    name='roller1',
+                    namespace='can_node/c620_1',
+                    parameters=[
+                        {'invert': True}
+                    ]
+                ),
             ],
         )
     ])

auto_driver_interface/src/roller_node.cpp

@@ -0,0 +1,65 @@
+// Copyright 2024 StrayedCats.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/float64.hpp>
+
+namespace auto_driver_interface
+{
+
+class RollerNode : public rclcpp::Node
+{
+
+public:
+  RollerNode(rclcpp::NodeOptions options)
+  : Node("node", options)
+  {
+    this->declare_parameter<bool>("invert", false);
+    invert = this->get_parameter("invert").as_bool();
+
+    publisher_ = this->create_publisher<std_msgs::msg::Float64>("target_current", 1);
+    target_current_sub = this->create_subscription<std_msgs::msg::Float64>(
+      "/target_current", 1, std::bind(&RollerNode::target_current_callback, this, std::placeholders::_1));
+
+    timer_ =
+      this->create_wall_timer(
+      std::chrono::milliseconds(10),
+      std::bind(&RollerNode::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = std_msgs::msg::Float64();
+    message.data = target_current * (invert ? -1 : 1);
+    publisher_->publish(message);
+  }
+
+  void target_current_callback(const std_msgs::msg::Float64::SharedPtr msg)
+  {
+    target_current = msg->data;
+  }
+
+  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr publisher_;
+  rclcpp::Subscription<std_msgs::msg::Float64>::SharedPtr target_current_sub;
+  rclcpp::TimerBase::SharedPtr timer_;
+
+  float target_current = 0.0;
+  bool invert = false;
+};
+
+}  // namespace auto_driver_interface
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(auto_driver_interface::RollerNode)