From 881346b284b28d5e7a409f9eba060d653d9f82b7 Mon Sep 17 00:00:00 2001 From: Vincent Winter Date: Fri, 28 Nov 2025 09:28:09 +0100 Subject: [PATCH] fix(naming): Change all to UpperCamelCase --- doc/tests/Simulator.md | 2 +- src/g2_2025_odometry_pkg/CMakeLists.txt | 14 ++++----- src/g2_2025_odometry_pkg/config/opt.yaml | 31 ++++++++++++++++--- .../g2_2025_imu_data_simulator_node/main.cpp | 2 +- ...ata_simulator.cpp => ImuDataSimulator.cpp} | 4 +-- ...ata_simulator.hpp => ImuDataSimulator.hpp} | 0 .../main.cpp | 2 +- ...a_simulator.cpp => WheelDataSimulator.cpp} | 6 ++-- ...a_simulator.hpp => WheelDataSimulator.hpp} | 0 ...imu_simulator.cpp => TestImuSimulator.cpp} | 2 +- .../{test_simulator.cpp => TestSimulator.cpp} | 0 ...l_simulator.cpp => TestWheelSimulator.cpp} | 2 +- 12 files changed, 43 insertions(+), 22 deletions(-) rename src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/{imu_data_simulator.cpp => ImuDataSimulator.cpp} (95%) rename src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/{imu_data_simulator.hpp => ImuDataSimulator.hpp} (100%) rename src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/{wheel_data_simulator.cpp => WheelDataSimulator.cpp} (91%) rename src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/{wheel_data_simulator.hpp => WheelDataSimulator.hpp} (100%) rename src/g2_2025_odometry_pkg/test/{test_imu_simulator.cpp => TestImuSimulator.cpp} (98%) rename src/g2_2025_odometry_pkg/test/{test_simulator.cpp => TestSimulator.cpp} (100%) rename src/g2_2025_odometry_pkg/test/{test_wheel_simulator.cpp => TestWheelSimulator.cpp} (98%) diff --git a/doc/tests/Simulator.md b/doc/tests/Simulator.md index dbffc43..a75e680 100644 --- a/doc/tests/Simulator.md +++ b/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 diff --git a/src/g2_2025_odometry_pkg/CMakeLists.txt b/src/g2_2025_odometry_pkg/CMakeLists.txt index 274b8f1..e98170a 100644 --- a/src/g2_2025_odometry_pkg/CMakeLists.txt +++ b/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 diff --git a/src/g2_2025_odometry_pkg/config/opt.yaml b/src/g2_2025_odometry_pkg/config/opt.yaml index e414018..4b4dcee 100644 --- a/src/g2_2025_odometry_pkg/config/opt.yaml +++ b/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: diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/main.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/main.cpp index 27f8111..fa566cb 100644 --- a/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/main.cpp +++ b/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); diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp similarity index 95% rename from src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp rename to src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp index 87b5739..1765ea3 100644 --- a/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.cpp +++ b/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(); diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.hpp b/src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.hpp similarity index 100% rename from src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.hpp rename to src/g2_2025_odometry_pkg/src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.hpp diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/main.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/main.cpp index 19a744e..325c831 100644 --- a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/main.cpp +++ b/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); diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp b/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp similarity index 91% rename from src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp rename to src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp index 1176a0d..1dfe73d 100644 --- a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp +++ b/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() { diff --git a/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp b/src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.hpp similarity index 100% rename from src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp rename to src/g2_2025_odometry_pkg/src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.hpp diff --git a/src/g2_2025_odometry_pkg/test/test_imu_simulator.cpp b/src/g2_2025_odometry_pkg/test/TestImuSimulator.cpp similarity index 98% rename from src/g2_2025_odometry_pkg/test/test_imu_simulator.cpp rename to src/g2_2025_odometry_pkg/test/TestImuSimulator.cpp index 894549b..5125f48 100644 --- a/src/g2_2025_odometry_pkg/test/test_imu_simulator.cpp +++ b/src/g2_2025_odometry_pkg/test/TestImuSimulator.cpp @@ -1,7 +1,7 @@ #include #include #include -#include "g2_2025_imu_data_simulator_node/nodes/imu_data_simulator.hpp" +#include "g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.hpp" #include using namespace assignments::three::data_simulator_node; diff --git a/src/g2_2025_odometry_pkg/test/test_simulator.cpp b/src/g2_2025_odometry_pkg/test/TestSimulator.cpp similarity index 100% rename from src/g2_2025_odometry_pkg/test/test_simulator.cpp rename to src/g2_2025_odometry_pkg/test/TestSimulator.cpp diff --git a/src/g2_2025_odometry_pkg/test/test_wheel_simulator.cpp b/src/g2_2025_odometry_pkg/test/TestWheelSimulator.cpp similarity index 98% rename from src/g2_2025_odometry_pkg/test/test_wheel_simulator.cpp rename to src/g2_2025_odometry_pkg/test/TestWheelSimulator.cpp index e7a2674..b511fc5 100644 --- a/src/g2_2025_odometry_pkg/test/test_wheel_simulator.cpp +++ b/src/g2_2025_odometry_pkg/test/TestWheelSimulator.cpp @@ -1,7 +1,7 @@ #include #include #include -#include "g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.hpp" +#include "g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.hpp" #include using namespace assignments::three::wheel_data_simulator_node;