Common Lib

Package Information

Description

This package serves as a library for definition of functions and structures that can be used by multiple nodes of the system.

Folder Structure

Package is called common_lib and has no executable.

It is composed of multiple namespaces:

• communication: implementations related to ROS messages
• competition_logic: functionality related to competition details, like mission logic or colours
• maths: mathematical formulas and structures
• sensor_data: structures and functions to represent and process data from sensors
• structures: generic structures from internal logic, like Position, Pose, Cone, PathPoint…
• vehicle_dynamics: formulas related to the bicycle model and other vehicle related logic

Important Dependencies

• Eigen3

How to Run

Install Dependencies

  ./dependencies_install.sh

Compiling

colcon build --packages-up-to common_lib

Testing

colcon test --packages-select common_lib # use event-handler=console_direct+ for imediate output

To check test results:

colcon test-result --all --verbose