From 3885adda8922555f4f00a068bf75428facdb3894 Mon Sep 17 00:00:00 2001 From: SPDonaghy <118148642+SPDonaghy@users.noreply.github.com> Date: Wed, 29 Nov 2023 18:03:10 -0800 Subject: [PATCH] Global Path Service (#30) * Created a Global Path Service message * minor refactoring * updates to readme * Update markdownlint configuration * Update other table --------- Co-authored-by: Patrick Creighton --- .markdownlint.json | 5 ++++- CMakeLists.txt | 2 ++ README.md | 38 +++++++++++++++++++------------------- srv/GlobalPath.srv | 3 +++ 4 files changed, 28 insertions(+), 20 deletions(-) create mode 100644 srv/GlobalPath.srv diff --git a/.markdownlint.json b/.markdownlint.json index 5ac068f..16a0377 100644 --- a/.markdownlint.json +++ b/.markdownlint.json @@ -1,7 +1,9 @@ { "default": true, "MD013": { - "line_length": 120 + "line_length": 120, + "code_blocks": false, + "tables": false }, "MD004": { "style": "dash" @@ -12,6 +14,7 @@ "MD035": { "style": "---" }, + "MD033": false, "MD040": false, "MD041": false, "MD046": false diff --git a/CMakeLists.txt b/CMakeLists.txt index 2223c0a..360a924 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -57,6 +57,8 @@ rosidl_generate_interfaces(${PROJECT_NAME} ${simulator_msg} ${simulator_action} + "srv/GlobalPath.srv" + # Add packages that above messages depend on below if needed DEPENDENCIES std_msgs geometry_msgs ) diff --git a/README.md b/README.md index 5faadef..dc11db7 100644 --- a/README.md +++ b/README.md @@ -19,22 +19,22 @@ Formatting reminder: 1. Keep 'Type' column organized alphabetically 2. 'mock' version of topic should be after its common counterpart ---> -| Topic | Type | Publisher | Subscriber(s) | -| ---------------------- | -------------- | ------------------ | -------------------------------------------------- | -| `ais_ships` | AISShips | CanTrxRosIntf | Local Pathfinding, Local Transceiver | -| `mock_ais_ships` | AISShips | Mock AIS | CanSimIntf | -| `batteries` | Batteries | CanTrxRosIntf | Local Transceiver | -| `boat_sim_input` | CanSimToBoatSim | CanSimIntf | Boat Simulator | -| `desired_heading` | DesiredHeading | Local Pathfinding | CanTrxRosIntf | -| `data_sensors` | GenericSensors | CanTrxRosIntf | Local Transceiver | -| `gps` | GPS | CanTrxRosIntf | Controller, Local Transceiver, Local Pathfinding | -| `mock_gps` | GPS | Boat Simulator | CanSimIntf | -| `local_path_data` | LPathData | Local Pathfinding | Local Transceiver | -| `global_path` | Path | Local Transceiver | Local Pathfinding | -| `sail_cmd` | SailCmd | Controller | CanTrxRosIntf | -| `filtered_wind_sensor` | WindSensor | CanTrxRosIntf | Controller, Local Transceiver, Local Pathfinding | -| `wind_sensors` | WindSensors | CanTrxRosIntf | Local Transceiver | -| `mock_wind_sensors` | WindSensors | Boat Simulator | CanSimIntf | +| Topic | File Name | Publisher | Subscriber(s) | +| ---------------------- | ------------------- | ------------------------------------ | ---------------------------------------------------| +| `ais_ships` | AISShips.msg | CanTrxRosIntf | Local Pathfinding, Local Transceiver | +| `mock_ais_ships` | AISShips.msg | Mock AIS | CanSimIntf | +| `batteries` | Batteries.msg | CanTrxRosIntf | Local Transceiver | +| `boat_sim_input` | CanSimToBoatSim.msg | CanSimIntf | Boat Simulator | +| `desired_heading` | DesiredHeading.msg | Local Pathfinding | CanTrxRosIntf | +| `data_sensors` | GenericSensors.msg | CanTrxRosIntf | Local Transceiver | +| `gps` | GPS.msg | CanTrxRosIntf | Controller, Local Transceiver, Local Pathfinding | +| `mock_gps` | GPS.msg | Boat Simulator | CanSimIntf | +| `local_path_data` | LPathData.msg | Local Pathfinding | Local Transceiver | +| `global_path` | GlobalPath.srv | Local Transceiver, Mock Global Path | Local Pathfinding | +| `sail_cmd` | SailCmd.msg | Controller | CanTrxRosIntf | +| `filtered_wind_sensor` | WindSensor.msg | CanTrxRosIntf | Controller, Local Transceiver, Local Pathfinding | +| `wind_sensors` | WindSensors.msg | CanTrxRosIntf | Local Transceiver | +| `mock_wind_sensors` | WindSensors.msg | Boat Simulator | CanSimIntf | ### Project-wide Internal Interfaces @@ -55,9 +55,9 @@ ROS messages and services used in our [boat simulator](https://github.com/UBCSai ### Boat Simulator External Interfaces -| Topic | Type | Publisher | Subscriber(s) | -| ---------------------- | -------------- | ------------------------ | ------------------------------------------- | -| `mock_kinematics` | SimWorldState | Simulator Physics Engine | Simulator Visualizer | +| Topic | File Name | Publisher | Subscriber(s) | +| ---------------------- | ------------------ | ------------------------ | ------------------------------------------- | +| `mock_kinematics` | SimWorldState.msg | Simulator Physics Engine | Simulator Visualizer | ### Boat Simulator Actions diff --git a/srv/GlobalPath.srv b/srv/GlobalPath.srv new file mode 100644 index 0000000..6f249af --- /dev/null +++ b/srv/GlobalPath.srv @@ -0,0 +1,3 @@ +Path global_path +--- +bool response