Split out the ros2 control dependant plugins, fixing a bunch of names…

docs/included_plugins/drive_wheel.rst

@@ -5,11 +5,12 @@ DriveWheel applies a traction-limited force at a wheel center on a model body.
 Use one plugin per driven wheel; the wheel has no Box2D rotational body. Wheel
 position is integrated from measured forward speed, so slip or external motion
 is reflected in the reported state. A wheel also resists sideways motion.
+This plugin is provided by ``flatland_controls_plugins``.
 
 .. code-block:: yaml
 
   plugins:
-    - type: DriveWheel
+    - type: flatland_controls_plugins::DriveWheel
       name: left_drive
       body: base
       offset: [0.0, 0.3, 0.0]

docs/included_plugins/steering_motor.rst

@@ -3,11 +3,12 @@ SteeringMotor
 
 SteeringMotor actuates a model's revolute Box2D joint and publishes its angle,
 angular speed and applied torque as joint state.
+This plugin is provided by ``flatland_controls_plugins``.
 
 .. code-block:: yaml
 
   plugins:
-    - type: SteeringMotor
+    - type: flatland_controls_plugins::SteeringMotor
       name: front_steering
       joint: steering_joint
       mode: position

docs/overview.rst

@@ -12,8 +12,9 @@ Flatland Simulator is a light weight, performance centric 2D robot simulator. It
 is built to integrate directly with ROS and uses Box2D for physics simulation.
 The build fetches Box2D 3.1.1 (MIT license).
 
-This project is divided into four ROS packages: flatland_server, flatland_plugins,
-and flatland_viz, and flatland messages.
+Core simulator functionality is provided by ``flatland_server``,
+``flatland_plugins``, and ``flatland_controls_plugins``, with visualization in
+``flatland_viz`` and message definitions in ``flatland_msgs``.
 
 Flatland Server
 ---------------

flatland_controls_plugins/CMakeLists.txt

@@ -0,0 +1,71 @@
+cmake_minimum_required(VERSION 3.10)
+
+project(flatland_controls_plugins)
+
+if(POLICY CMP0167)
+  cmake_policy(SET CMP0167 NEW)
+endif()
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 23)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(control_msgs REQUIRED)
+find_package(flatland_server REQUIRED)
+find_package(interactive_markers REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(sensor_msgs REQUIRED)
+
+add_library(flatland_controls_plugins_lib SHARED
+  src/drive_wheel.cpp
+  src/steering_motor.cpp
+)
+
+target_include_directories(flatland_controls_plugins_lib PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(flatland_controls_plugins_lib PUBLIC
+  flatland_server::flatland_lib
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  ${control_msgs_TARGETS}
+  ${sensor_msgs_TARGETS}
+)
+
+ament_export_targets(export_flatland_controls_plugins_lib HAS_LIBRARY_TARGET)
+ament_export_dependencies(control_msgs flatland_server interactive_markers pluginlib rclcpp sensor_msgs)
+
+pluginlib_export_plugin_description_file(flatland_server plugin_description.xml)
+
+install(
+  TARGETS flatland_controls_plugins_lib
+  EXPORT export_flatland_controls_plugins_lib
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+  FILES_MATCHING PATTERN "*.h"
+)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  find_package(OpenCV REQUIRED)
+  ament_add_gtest(joint_actuator_test test/joint_actuator_test.cpp)
+  target_include_directories(joint_actuator_test PRIVATE ${OpenCV_INCLUDE_DIRS})
+  target_link_libraries(joint_actuator_test flatland_controls_plugins_lib)
+endif()
+
+ament_package()

flatland_plugins/include/flatland_plugins/drive_wheel.h → flatland_controls_plugins/include/flatland_controls_plugins/drive_wheel.h

@@ -1,11 +1,11 @@
-#ifndef FLATLAND_PLUGINS_DRIVE_WHEEL_H
-#define FLATLAND_PLUGINS_DRIVE_WHEEL_H
+#ifndef FLATLAND_CONTROLS_PLUGINS_DRIVE_WHEEL_H
+#define FLATLAND_CONTROLS_PLUGINS_DRIVE_WHEEL_H
 
 #include <flatland_server/model_plugin.h>
 #include <control_msgs/msg/joint_command.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 
-namespace flatland_plugins
+namespace flatland_controls_plugins
 {
 
 class DriveWheel : public flatland_server::ModelPlugin
@@ -35,6 +35,6 @@ class DriveWheel : public flatland_server::ModelPlugin
   rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr state_pub_;
 };
 
-}  // namespace flatland_plugins
+}  // namespace flatland_controls_plugins
 
-#endif  // FLATLAND_PLUGINS_DRIVE_WHEEL_H
+#endif  // FLATLAND_CONTROLS_PLUGINS_DRIVE_WHEEL_H

flatland_plugins/include/flatland_plugins/steering_motor.h → flatland_controls_plugins/include/flatland_controls_plugins/steering_motor.h

@@ -1,11 +1,11 @@
-#ifndef FLATLAND_PLUGINS_STEERING_MOTOR_H
-#define FLATLAND_PLUGINS_STEERING_MOTOR_H
+#ifndef FLATLAND_CONTROLS_PLUGINS_STEERING_MOTOR_H
+#define FLATLAND_CONTROLS_PLUGINS_STEERING_MOTOR_H
 
 #include <flatland_server/model_plugin.h>
 #include <control_msgs/msg/joint_command.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 
-namespace flatland_plugins
+namespace flatland_controls_plugins
 {
 
 class SteeringMotor : public flatland_server::ModelPlugin
@@ -26,6 +26,6 @@ class SteeringMotor : public flatland_server::ModelPlugin
   rclcpp::Publisher<sensor_msgs::msg::JointState>::SharedPtr state_pub_;
 };
 
-}  // namespace flatland_plugins
+}  // namespace flatland_controls_plugins
 
-#endif  // FLATLAND_PLUGINS_STEERING_MOTOR_H
+#endif  // FLATLAND_CONTROLS_PLUGINS_STEERING_MOTOR_H

flatland_controls_plugins/package.xml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>flatland_controls_plugins</name>
+  <version>2.0.0</version>
+  <description>Control command plugins for Flatland</description>
+  <license>BSD</license>
+
+  <maintainer email="joseph@avidbots.com">Joseph Duchesne</maintainer>
+  <author email="joseph@avidbots.com">Joseph Duchesne</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>control_msgs</depend>
+  <depend>flatland_server</depend>
+    <depend>interactive_markers</depend>
+  <depend>pluginlib</depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>libopencv-dev</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

flatland_controls_plugins/plugin_description.xml

@@ -0,0 +1,8 @@
+<library path="flatland_controls_plugins_lib">
+  <class type="flatland_controls_plugins::DriveWheel" base_class_type="flatland_server::ModelPlugin">
+    <description>Traction-limited wheel controlled by joint commands</description>
+  </class>
+  <class type="flatland_controls_plugins::SteeringMotor" base_class_type="flatland_server::ModelPlugin">
+    <description>Revolute steering joint controlled by joint commands</description>
+  </class>
+</library>

flatland_plugins/src/drive_wheel.cpp → flatland_controls_plugins/src/drive_wheel.cpp

@@ -1,11 +1,11 @@
-#include <flatland_plugins/drive_wheel.h>
+#include <flatland_controls_plugins/drive_wheel.h>
 #include <flatland_server/yaml_reader.h>
 #include <pluginlib/class_list_macros.hpp>
 
 #include <algorithm>
 #include <cmath>
 
-namespace flatland_plugins
+namespace flatland_controls_plugins
 {
 
 void DriveWheel::OnInitialize(const YAML::Node & config)
@@ -109,6 +109,6 @@ void DriveWheel::AfterPhysicsStep(const flatland_server::Timekeeper & timekeeper
   state_pub_->publish(state);
 }
 
-}  // namespace flatland_plugins
+}  // namespace flatland_controls_plugins
 
-PLUGINLIB_EXPORT_CLASS(flatland_plugins::DriveWheel, flatland_server::ModelPlugin)
+PLUGINLIB_EXPORT_CLASS(flatland_controls_plugins::DriveWheel, flatland_server::ModelPlugin)

flatland_plugins/src/steering_motor.cpp → flatland_controls_plugins/src/steering_motor.cpp

@@ -1,4 +1,4 @@
-#include <flatland_plugins/steering_motor.h>
+#include <flatland_controls_plugins/steering_motor.h>
 #include <flatland_server/yaml_reader.h>
 #include <pluginlib/class_list_macros.hpp>
 
@@ -7,7 +7,7 @@
 #include <limits>
 #include <numbers>
 
-namespace flatland_plugins
+namespace flatland_controls_plugins
 {
 
 void SteeringMotor::OnInitialize(const YAML::Node & config)
@@ -101,6 +101,6 @@ void SteeringMotor::AfterPhysicsStep(const flatland_server::Timekeeper & timekee
   state_pub_->publish(state);
 }
 
-}  // namespace flatland_plugins
+}  // namespace flatland_controls_plugins
 
-PLUGINLIB_EXPORT_CLASS(flatland_plugins::SteeringMotor, flatland_server::ModelPlugin)
+PLUGINLIB_EXPORT_CLASS(flatland_controls_plugins::SteeringMotor, flatland_server::ModelPlugin)