Add config files, dummy main

diff --git a/.editorconfig b/.editorconfig
new file mode 100644 (file)
index 0000000..16160ca
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,28 @@
+root = true
+
+[*.{cc,hh}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = tab
+indent_size = 8
+max_line_length = 79
+
+[*.{py,md}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = space
+indent_size = 4
+max_line_length = 79
+
+[*.{xml,txt}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = space
+indent_size = 2
+max_line_length = 79

diff --git a/.gitignore b/.gitignore
new file mode 100644 (file)
index 0000000..1377554
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+*.swp

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644 (file)
index 0000000..14c7de4
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 3.8)
+project(wrrr)
+
+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(rclcpp REQUIRED)
+find_package(nav_msgs REQUIRED)
+
+include_directories(include)
+
+add_executable(rrts src/rrts_wr.cc)
+ament_target_dependencies(rrts rclcpp nav_msgs)
+install(TARGETS rrts DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

diff --git a/package.xml b/package.xml
new file mode 100644 (file)
index 0000000..422da53
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,19 @@
+<?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>wrrr</name>
+  <version>0.1.0</version>
+  <description>Wrap rrts (RRT planning alg.) to ROS 2.</description>
+  <maintainer email="jiri.vlasak.2@cvut.cz">Jiri Vlasak</maintainer>
+  <license>GPL-3.0-only</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rclcpp</buildtool_depend>
+  <buildtool_depend>nav_msgs</buildtool_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

diff --git a/src/rrts_wr.cc b/src/rrts_wr.cc
new file mode 100644 (file)
index 0000000..b13fb9d
--- /dev/null
+++ b/src/rrts_wr.cc
@@ -0,0 +1,23 @@
+#include "rclcpp/rclcpp.hpp"
+#include "nav_msgs/srv/get_plan.hpp"
+
+void
+plan_path(const std::shared_ptr<nav_msgs::srv::GetPlan::Request> req,
+               std::shared_ptr<nav_msgs::srv::GetPlan::Response> res)
+{
+       RCLCPP_INFO(rclcpp::get_logger("rclcpp"),
+                       "received req, needs to process it.");
+}
+
+int
+main(int argc, char **argv)
+{
+       rclcpp::init(argc, argv);
+       auto node = rclcpp::Node::make_shared("rrts");
+       auto srv = node->create_service<nav_msgs::srv::GetPlan>("rrts/planner",
+                       &plan_path);
+       RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to plan paths.");
+       rclcpp::spin(node);
+       rclcpp::shutdown();
+       return 0;
+}