mbari_wec_template_cpp

C++ template repo for external ROS2-enabled controller for MBARI's wave energy conversion buoy (sim or physical).

Please see mbari_wec and associated documentation. There is also a Python3 version of the template repository.

Please also see the linear_damper_example branch of this template repository or mbari_wec_utils/buoy_api_cpp for controller examples

Tutorial

There is a tutorial for a quick start using this template. You may also refer to GitHub's template documentation for general help with template repositories.

Modify template for your package

1. Click the green button with the text Use this template and select Create a new repository

2. Next, set up the repository like you would any new GitHub repository choosing the owner, repository name, public/private, etc.

3. Now that your new repository is set up, clone it to your ROS 2 workspace on your local machine, make a branch, etc.
   $ git clone https://github.com/<owner>/<repo_name>.git

You should now have a C++ ROS 2 package with the following structure in your workspace:

<repo_name>
    ├── CMakeLists.txt
    ├── config
    │   └── controller.yaml
    ├── include
    │   └── mbari_wec_template_cpp
    │       ├── controller.hpp
    │       └── control_policy.hpp
    ├── launch
    │   └── controller.launch.py
    ├── LICENSE
    ├── package.xml
    ├── README.md
    └── src
        └── controller.cpp

Replace mbari_wec_template_cpp with your package name and other fields as necessary in:

• package.xml
• CMakeLists.txt
• launch/controller.launch.py
• all #include paths for controller.hpp and control_policy.hpp

and rename the folder include/mbari_wec_template_cpp containing controller.hpp and control_policy.hpp

Modify CMakeLists.txt as desired and add any rosdep dependencies in package.xml.

Implement Controller

Assuming you have followed the above and renamed everything from mbari_wec_template_cpp to your package name, the following files are stubbed out to implement your custom external controller:

• include/<your_package_name>/controller.hpp
• include/<your_package_name>/control_policy.hpp
• src/controller.cpp

You may also use config/controller.yaml for any policy parameters. If you modify the controller node name, i.e. rclcpp::spin(std::make_shared<Controller>("controller")); and the name field of Node in the launch file, please be sure to update the first line of the config/controller.yaml file and to use the same node name.

Also, if you choose a more specific name for your controller, consider renaming:

• launch/controller.launch.py
• config/controller.yaml
• include/<your_package_name>/controller.hpp
• include/<your_package_name>/control_policy.hpp
• src/controller.cpp

and update:

• CMakeLists.txt
• executable field of Node in launch/controller.launch.py

accordingly.

Example

An example using this interface can be found in the tutorial: Linear Damper Example (C++)