v0.1.0

CMakeLists.txt

@@ -1,20 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
-project(takeoff_plugins)
+set(PROJECT_NAME takeoff_plugins)
+project(${PROJECT_NAME} VERSION 0.1.0)
 
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
-  set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
-# if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-#   add_compile_options(-Wall -Wextra -Wpedantic)
-# endif()
-
 # find dependencies
 set(PROJECT_DEPENDENCIES
   ament_cmake
@@ -34,27 +25,27 @@ foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
   find_package(${DEPENDENCY} REQUIRED)
 endforeach()
 
-add_library(takeoff_plugins src/takeoff_plugin_speed.cpp)
-target_include_directories(takeoff_plugins PUBLIC
+add_library(${PROJECT_NAME} src/takeoff_plugin_speed.cpp)
+target_include_directories(${PROJECT_NAME} PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 ament_target_dependencies(
-  takeoff_plugins
+  ${PROJECT_NAME}
   ${PROJECT_DEPENDENCIES}
 )
 
 pluginlib_export_plugin_description_file(takeoff_plugin_base plugins.xml)
 
 install(
-  TARGETS takeoff_plugins
+  TARGETS ${PROJECT_NAME}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION bin
 )
 
 ament_export_libraries(
-  takeoff_plugins
+  ${PROJECT_NAME}
 )
 ament_export_targets(
   export_${PROJECT_NAME}

package.xml

@@ -2,12 +2,12 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>takeoff_plugins</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="pedroariasperez96@gmail.com">parias</maintainer>
-  <license>TODO: License declaration</license>
+  <version>0.1.0</version>
+  <description> Package with multiple basic takeoff_plugins </description>
+  <maintainer email="cvar.upm3@gmail.com">Computer Vision And Aerial Robotics Group (UPM)</maintainer>
+  <license>BSD-3-Clause</license>
 
-  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <depend>takeoff_plugin_base</depend>
   <depend>pluginlib</depend>

plugins.xml

@@ -2,4 +2,4 @@
   <class type="takeoff_plugins::TakeOffSpeed" base_class_type="takeoff_base::TakeOffBase">
     <description>Takeoff done with speed commands.</description>
   </class>
-</library>
+</library>

src/takeoff_plugin_speed.cpp

@@ -1,3 +1,39 @@
+/*!*******************************************************************************************
+ *  \file       takeoff_plugin_speed.cpp
+ *  \brief      Plugin for takeoff with speed control
+ *  \authors    Miguel Fernández Cortizas
+ *              Pedro Arias Pérez
+ *              David Pérez Saura
+ *              Rafael Pérez Seguí
+ *
+ *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
+ *              All Rights Reserved
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ * 
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ * 
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+ * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+ * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+ * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ ********************************************************************************/
+
 #include "motion_reference_handlers/speed_motion.hpp"
 #include "takeoff_base.hpp"
 
@@ -34,7 +70,7 @@ namespace takeoff_plugins
                 {
                     result->takeoff_success = false;
                     goal_handle->canceled(result);
-                    RCLCPP_INFO(node_ptr_->get_logger(), "Goal canceled");
+                    RCLCPP_WARN(node_ptr_->get_logger(), "Goal canceled");
                     // TODO: change this to hover
                     motion_handler.sendSpeedCommandWithYawSpeed(0.0, 0.0, 0.0, 0.0);
                     return false;
@@ -61,4 +97,4 @@ namespace takeoff_plugins
 
 #include <pluginlib/class_list_macros.hpp>
 
-PLUGINLIB_EXPORT_CLASS(takeoff_plugins::TakeOffSpeed, takeoff_base::TakeOffBase)
+PLUGINLIB_EXPORT_CLASS(takeoff_plugins::TakeOffSpeed, takeoff_base::TakeOffBase)