Revision a8480867
| ID | a84808670408804bf5ce08741a3b59130351928f |
Made a lot of changes to the general structure.
Applied object-orienting techniques to the code, cleaning it up considerably. Major design changes are as follows:
- All separate node code (ie motors) are meant to only interface with hardware - doing as little logic as possible.
- Instead, the logic is moved to a class (ie MotorControl) in libscout. PID and other tools should be located here. This significantly reduces dependencies.
- Files can be included cross-package by being placed in /include/packagename, but this should be avoided to reduce dependencies.
A few formatting changes:
- Comments should end with / always, not */
- Use @ instead of \
- No double newlines.
The motors node is revamped and pretty much correct at this point.
| scout/scoutsim/manifest.xml | ||
|---|---|---|
| 13 | 13 |
<depend package="roslib"/> |
| 14 | 14 |
<depend package="rosconsole"/> |
| 15 | 15 |
<depend package="std_srvs"/> |
| 16 |
<depend package="motors" /> |
|
| 16 | 17 |
|
| 17 | 18 |
<rosdep name="wxwidgets"/> |
| 18 | 19 |
|
| 19 |
<export> |
|
| 20 |
<!--<export>
|
|
| 20 | 21 |
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp"/>
|
| 22 |
</export>--> |
|
| 23 |
<export> |
|
| 24 |
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/srv/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lmotors"/>
|
|
| 21 | 25 |
</export> |
| 22 | 26 |
|
| 23 | 27 |
<platform os="ubuntu" version="9.04"/> |
| ... | ... | |
| 29 | 33 |
<depend package="roslib"/> |
| 30 | 34 |
<depend package="rosconsole"/> |
| 31 | 35 |
<depend package="std_srvs"/> |
| 36 |
<depend package="motors" /> |
|
| 32 | 37 |
|
| 33 | 38 |
<msgs> |
| 34 | 39 |
msg/Color.msg msg/Pose.msg msg/Velocity.msg |
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