Register a new component

Once you have created a raw c++ component inside the crs directory, you will need to register it as a ros component inside the ros directory. While in theory, all code could directly go into the ros section, we still advise to create two different packages detaching ROS functionality from raw algorithmic implementations.

Registering a new Simulator

If you would like to register a new simulator, you will first need to create a new class that inherits from the abstract Simulator class defined in ros/ros_simulator/include/ros_simulator/common/ros_simulator.h. Have a look at ros/ros_simulator/src/ros_pacejka_simulator.cppto see an example implementation.

Once the ros component is created, edit the file ros/ros_simulator/src/component_registry.cpp to enable your component to be loaded.

if (state_type == "your_state_type" && input_type == "your_input_type") 
{
    auto* your_simulator = new your_simulator ()
    for (auto sensor_name : sensors_to_load) 
    {
       // Register sensor in simulator
    }
    return your_simulator;
  }

Registering a new Estimator

If you would like to register a new estimator, you will first need to create a new class that inherits from the abstract RosStateEstimator class defined in ros/ros_estimators/include/ros_estimators/state_estimator_ros.h. Have a look at src/ros/ros_estimators/src/lowpass_estimator/pacejka_lowpass.cppto see an example implementation using a lowpass filter.

Once the ros component is created, edit the file ros/ros_estimators/src/component_registry.cpp to enable your component to be loaded.

  if (estimator_type == "your_estimator_type")
  {
    return new your_ros_estimator(nh, nh_private);
  }

Registering a new Controller

If you would like to register a new controller, that implements from the class BaseController you will only need to register it in the ros/ros_controllers/src/component_registry.cpp file.

inline RosController<...>* getYourController(ros::NodeHandle& nh, ros::NodeHandle& nh_private, void*& dynamic_callback_allocator) 
{
  // Create controller
  auto ptr = std::make_shared<YOUR_CONTROLLER>(...);
  // Downcast to BaseController type
  auto derived_ptr = std::dynamic_pointer_cast<crs_controls::BaseController<your_state, your_input>>(ptr);
  // Create Visualizer 
  auto visualizer_ptr = loadControllerVisualizer<void, pacejka_state, pacejka_input>(
      ros::NodeHandle(nh_private, "visualizer"), derived_ptr);
  // Optional, if Dynamic Reconfigure is implemented
  dynamic_callback_allocator = (void*) new YourDynamicReconfigureServer(ptr);
  return new pacejka_ros_controller(nh, nh_private, std::move(visualizer_ptr), derived_ptr);
}

template <>
pacejka_ros_controller* resolveController<ros_car_state, ros_car_input, your_state, your_type>( ... )
{
  if (controller_type == "your_controller_type")
  {
    return getYourController(nh, nh_private, dynamic_callback_allocator);
  }
}