fix(naming): Change all to UpperCamelCase

doc/tests/Simulator.md

@@ -1,6 +1,6 @@
 # Simulator Unit Tests
 
-Unit tests for `Simulator` are implemented in `src/g2_2025_odometry_pkg/test/test_simulator.cpp` using Google Test and ROS2 test utilities. The tests validate interval-based value generation with different interpolation types.
+Unit tests for the `Simulator` class are implemented in `src/g2_2025_odometry_pkg/test/test_simulator.cpp` using Google Test and ROS2 test utilities. The tests validate interval-based value generation with different interpolation types.
 
 ## Test Cases
 

src/g2_2025_odometry_pkg/CMakeLists.txt

@@ -16,7 +16,7 @@ find_package(geometry_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 add_executable(imu_data_simulator_node
-    src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp
+    src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
     src/g2_2025_imu_data_simulator_node/main.cpp
     src/simulator/Simulator.cpp)
 
@@ -28,7 +28,7 @@ target_include_directories(imu_data_simulator_node PRIVATE
 ament_target_dependencies(imu_data_simulator_node rclcpp sensor_msgs geometry_msgs)
 
 add_executable(wheel_data_simulator_node
-    src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
+    src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
     src/g2_2025_wheel_data_simulator_node/main.cpp
     src/simulator/Simulator.cpp)
 
@@ -53,13 +53,13 @@ if(BUILD_TESTING)
   find_package(ament_cmake_gtest REQUIRED)
 
   # Simulator unit tests
-  ament_add_gtest(test_simulator test/test_simulator.cpp src/simulator/Simulator.cpp)
+  ament_add_gtest(test_simulator test/TestSimulator.cpp src/simulator/Simulator.cpp)
   target_include_directories(test_simulator PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
   ament_target_dependencies(test_simulator rclcpp)
 
   # IMU simulator integration tests
-  ament_add_gtest(test_imu_simulator test/test_imu_simulator.cpp
-    src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp
+  ament_add_gtest(test_imu_simulator test/TestImuSimulator.cpp
+    src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
     src/simulator/Simulator.cpp)
   target_include_directories(test_imu_simulator PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/src
@@ -67,8 +67,8 @@ if(BUILD_TESTING)
   ament_target_dependencies(test_imu_simulator rclcpp sensor_msgs geometry_msgs)
 
   # Wheel simulator integration tests
-  ament_add_gtest(test_wheel_simulator test/test_wheel_simulator.cpp
-    src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
+  ament_add_gtest(test_wheel_simulator test/TestWheelSimulator.cpp
+    src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
     src/simulator/Simulator.cpp)
   target_include_directories(test_wheel_simulator PRIVATE
     ${CMAKE_CURRENT_SOURCE_DIR}/src

src/g2_2025_odometry_pkg/config/opt.yaml

@@ -1,8 +1,9 @@
 imu_data_simulator:
   ros__parameters:
+    max_intervals: 4
     publish_rate: 10.0
     linear_x:
-      num_intervals: 2
+      num_intervals: 4
       interval_0:
         type: "linear"
         t_start: 0.0
@@ -11,10 +12,22 @@ imu_data_simulator:
         y_end: 9.81
       interval_1:
         type: "linear"
-        t_start: 10.0
-        t_end: 15.0
+        t_start: 7.5
+        t_end: 12.5
         y_start: 9.81
         y_end: 0.0
+      interval_2:
+        type: "linear"
+        t_start: 15.0
+        t_end: 20.0
+        y_start: 0.0
+        y_end: -9.81
+      interval_3:
+        type: "linear"
+        t_start: 22.5
+        t_end: 25.0
+        y_start: -9.81
+        y_end: 0.0
     angular_z:
       num_intervals: 1
       interval_0:
@@ -22,15 +35,23 @@ imu_data_simulator:
         t_start: 2.0
         y_start: 1.57
     angular_x:
-      num_intervals: 1
+      num_intervals: 2
       interval_0:
         type: "quadratic"
         t_start: 3.0
-        y_start: 0.785
+        y_start: 0.0
         t_mid: 4.5
         y_mid: 1.57
         t_end: 6.0
         y_end: 0.0
+      interval_1:
+        type: "quadratic"
+        t_start: 7.0
+        y_start: 0.0
+        t_mid: 8.5
+        y_mid: -1.57
+        t_end: 10.0
+        y_end: 0.0
 
 wheel_data_simulator:
   ros__parameters:

src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/main.cpp

@@ -1,5 +1,5 @@
 #include "rclcpp/rclcpp.hpp"
-#include "nodes/imu_data_simulator.hpp"
+#include "nodes/ImuDataSimulator.hpp"
 
 int main(int argc, char *argv[]) {
     rclcpp::init(argc, argv);

src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp

@@ -1,9 +1,9 @@
-#include "imu_data_simulator.hpp"
+#include "ImuDataSimulator.hpp"
 
 namespace assignments::three::data_simulator_node {
 
 DataSimulator::DataSimulator() : Node("imu_data_simulator") {
-    RCLCPP_INFO(this->get_logger(), "DataSimulator node created");
+    RCLCPP_INFO(this->get_logger(), "ImuDataSimulator node created");
 
     start_time_ = this->now();
 

src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/main.cpp

@@ -1,5 +1,5 @@
 #include "rclcpp/rclcpp.hpp"
-#include "nodes/wheel_data_simulator.hpp"
+#include "nodes/WheelDataSimulator.hpp"
 
 int main(int argc, char *argv[]) {
     rclcpp::init(argc, argv);

src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp

@@ -1,9 +1,9 @@
-#include "wheel_data_simulator.hpp"
+#include "WheelDataSimulator.hpp"
 
 namespace assignments::three::wheel_data_simulator_node {
 
 DataSimulator::DataSimulator() : Node("wheel_data_simulator") {
-    RCLCPP_INFO(this->get_logger(), "DataSimulator node created");
+    RCLCPP_INFO(this->get_logger(), "WheelDataSimulator node created");
 
     start_time_ = this->now();
 
@@ -29,7 +29,7 @@ DataSimulator::DataSimulator() : Node("wheel_data_simulator") {
 }
 
 DataSimulator::~DataSimulator() {
-    RCLCPP_INFO(this->get_logger(), "DataSimulator node destroyed");
+    RCLCPP_INFO(this->get_logger(), "WheelDataSimulator node destroyed");
 }
 
 void DataSimulator::publish_wheel_data() {

src/g2_2025_odometry_pkg/test/TestImuSimulator.cpp

@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <rclcpp/rclcpp.hpp>
 #include <sensor_msgs/msg/imu.hpp>
-#include "g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.hpp"
+#include "g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.hpp"
 #include <memory>
 
 using namespace assignments::three::data_simulator_node;

src/g2_2025_odometry_pkg/test/TestWheelSimulator.cpp

@@ -1,7 +1,7 @@
 #include <gtest/gtest.h>
 #include <rclcpp/rclcpp.hpp>
 #include <std_msgs/msg/float64_multi_array.hpp>
-#include "g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp"
+#include "g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.hpp"
 #include <memory>
 
 using namespace assignments::three::wheel_data_simulator_node;