Initial commit

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(model_car_control)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED)
+# ******************************************************************** 
+#                 Add catkin additional components here
+# ******************************************************************** 
+find_package(catkin REQUIRED COMPONENTS iri_base_algorithm ackermann_msgs geometry_msgs nav_msgs iri_ros_tools control_toolbox)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+# ******************************************************************** 
+#           Add system and labrobotica dependencies here
+# ******************************************************************** 
+# find_package(<dependency> REQUIRED)
+
+# ******************************************************************** 
+#           Add topic, service and action definition here
+# ******************************************************************** 
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+# ******************************************************************** 
+#                 Add the dynamic reconfigure file 
+# ******************************************************************** 
+generate_dynamic_reconfigure_options(cfg/ModelCarControl.cfg)
+
+# ******************************************************************** 
+#                 Add run time dependencies here
+# ******************************************************************** 
+catkin_package(
+#  INCLUDE_DIRS 
+#  LIBRARIES 
+# ******************************************************************** 
+#            Add ROS and IRI ROS run time dependencies
+# ******************************************************************** 
+ CATKIN_DEPENDS iri_base_algorithm ackermann_msgs geometry_msgs nav_msgs iri_ros_tools control_toolbox
+# ******************************************************************** 
+#      Add system and labrobotica run time dependencies here
+# ******************************************************************** 
+#  DEPENDS 
+)
+
+###########
+## Build ##
+###########
+
+# ******************************************************************** 
+#                   Add the include directories 
+# ******************************************************************** 
+include_directories(include)
+include_directories(${catkin_INCLUDE_DIRS})
+# include_directories(${<dependency>_INCLUDE_DIRS})
+
+## Declare a cpp library
+# add_library(${PROJECT_NAME} <list of source files>)
+
+## Declare a cpp executable
+add_executable(${PROJECT_NAME} src/model_car_control_alg.cpp src/model_car_control_alg_node.cpp)
+
+# ******************************************************************** 
+#                   Add the libraries
+# ******************************************************************** 
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+# target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARIES})
+
+# ******************************************************************** 
+#               Add message headers dependencies 
+# ******************************************************************** 
+# add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} ackermann_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} geometry_msgs_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} nav_msgs_generate_messages_cpp)
+# ******************************************************************** 
+#               Add dynamic reconfigure dependencies 
+# ******************************************************************** 
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})

LICENSE

+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
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+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
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+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
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+(ten or fewer lines in length), you do both of the following:
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+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
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+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
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+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
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+       License, and the Corresponding Application Code in a form
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+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
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+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
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+
+  5. Combined Libraries.
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+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
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+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
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+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

README.md

+## Description
+
+The model_car_control project description
+
+# ROS Interface
+### Topic publishers
+  - ~**control** (ackermann_msgs/AckermannDriveStamped.msg)
+### Topic subscribers
+  - ~**cmd_vel** (geometry_msgs/Twist.msg)
+  - ~**odom** (nav_msgs/Odometry.msg)
+
+### Parameters
+- ~**rate** (Double; default: 10.0; min: 0.1; max: 1000) The main node thread loop rate in Hz. 
+
+## Installation
+
+Move to the active workspace:
+```bash
+roscd && cd ../src
+```
+Clone the repository: 
+```bash
+git clone <url>
+```
+Install ROS dependencies:
+```
+roscd
+cd ..
+rosdep install -i -r --from-paths src
+```
+Compile the workspace:
+```
+catkin_make
+```
+
+## How to use it
+
+- Standalone test
+
+  `roslaunch model_car_control test.launch`
+
+## Disclaimer  
+
+Copyright (C) Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Mantainer IRI labrobotics (labrobotica@iri.upc.edu)
+
+This package is distributed in the hope that it will be useful, but without any warranty. It is provided "as is" without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the quality and performance of the program is with you. should the program prove defective, the GMR group does not assume the cost of any necessary servicing, repair  or correction.
+
+In no event unless required by applicable law the author will be liable to you for damages, including any general, special, incidental or consequential damages arising out of the use or inability to use the program (including but not limited to loss of data or data being rendered inaccurate or losses sustained by you or third parties or a failure of the program to operate with any other programs), even if the author has been advised of the possibility of such damages.
+
+You should have received a copy of the GNU Lesser General Public License along with this program. If not, see <http://www.gnu.org/licenses/>
\ No newline at end of file

cfg/ModelCarControl.cfg

+#! /usr/bin/env python
+#*  All rights reserved.
+#*
+#*  Redistribution and use in source and binary forms, with or without
+#*  modification, are permitted provided that the following conditions
+#*  are met:
+#*
+#*   * Redistributions of source code must retain the above copyright
+#*     notice, this list of conditions and the following disclaimer.
+#*   * 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.
+#*   * Neither the name of the Willow Garage 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 OWNER 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.
+#***********************************************************
+
+# Author: 
+
+PACKAGE='model_car_control'
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+#       Name                Type       Reconf.level Description                                   Default Min   Max
+gen.add("rate",             double_t,  0,           "Main loop rate (Hz)",                        10.0,   0.1,  1000.0)
+gen.add("speed_Kp",         double_t,  0,           "Proportional constant of the speed PID",     1.0,    0.0, 1000.0)
+gen.add("speed_Ki",         double_t,  0,           "Integral constant of the speed PID",         0.0,    0.0, 1000.0)
+gen.add("speed_Kd",         double_t,  0,           "Differential constant of the speed PID",     0.0,    0.0, 1000.0)
+gen.add("speed_i_max",      double_t,  0,           "Maximum integral value pf the speed PID",    10.0,   0.0, 1000.0)
+gen.add("watchdog_time",    double_t,  0,           "Maximum time between two control comamnds",  0.5,    0.0, 1000.0)
+gen.add("axel_distance",    double_t,  0,           "Distance between the two axels in meters",   0.3662, 0.0, 10.0)
+gen.add("max_steer_angle",  double_t,  0,           "Maximum steering angle",                     0.4,    -1.0,1.0)
+gen.add("min_steer_angle",  double_t,  0,           "Minimum steering angle",                     -0.4,   -1.0,1.0)
+gen.add("max_speed_control",double_t,  0,           "Maximum output speed command value",         10.0,   -100.0,  100.0)
+gen.add("min_speed_control",double_t,  0,           "Minimum output speed command value",         -10.0,  -100.0,  100.0)
+gen.add("max_steer_control",double_t,  0,           "Maximum output steer command value",         10.0,   -100.0,  100.0)
+gen.add("min_steer_control",double_t,  0,           "Minimum output steer command value",         -10.0,  -100.0,  100.0)
+
+exit(gen.generate(PACKAGE, "ModelCarControlAlgorithm", "ModelCarControl"))

config/params.yaml

+rate: 40
+speed_Kp: 20.0
+speed_Ki: 10.0
+speed_Kd: 0.05
+speed_i_max: 20.0
+watchdog_time: 0.5
+axel_distance: 0.3662
+max_steer_angle: 0.4
+min_steer_angle: -0.4
+max_speed_control: 20.0
+min_speed_control: -20.0
+max_steer_control: 100.0
+min_steer_control: -100.0
+

include/model_car_control_alg.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _model_car_control_alg_h_
+#define _model_car_control_alg_h_
+
+#include <model_car_control/ModelCarControlConfig.h>
+
+//include model_car_control_alg main library
+
+/**
+ * \brief IRI ROS Specific Driver Class
+ *
+ *
+ */
+class ModelCarControlAlgorithm
+{
+  protected:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the ModelCarControlConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    pthread_mutex_t access_;    
+
+    // private attributes and methods
+
+  public:
+   /**
+    * \brief define config type
+    *
+    * Define a Config type with the ModelCarControlConfig. All driver implementations
+    * will then use the same variable type Config.
+    */
+    typedef model_car_control::ModelCarControlConfig Config;
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+
+   /**
+    * \brief constructor
+    *
+    * In this constructor parameters related to the specific driver can be
+    * initalized. Those parameters can be also set in the openDriver() function.
+    * Attributes from the main node driver class IriBaseDriver such as loop_rate,
+    * may be also overload here.
+    */
+    ModelCarControlAlgorithm(void);
+
+   /**
+    * \brief Lock Algorithm
+    *
+    * Locks access to the Algorithm class
+    */
+    void lock(void) { pthread_mutex_lock(&this->access_); };
+
+   /**
+    * \brief Unlock Algorithm
+    *
+    * Unlocks access to the Algorithm class
+    */
+    void unlock(void) { pthread_mutex_unlock(&this->access_); };
+
+   /**
+    * \brief Tries Access to Algorithm
+    *
+    * Tries access to Algorithm
+    * 
+    * \return true if the lock was adquired, false otherwise
+    */
+    bool try_enter(void) 
+    { 
+      if(pthread_mutex_trylock(&this->access_)==0)
+        return true;
+      else
+        return false;
+    };
+
+   /**
+    * \brief config update
+    *
+    * In this function the driver parameters must be updated with the input
+    * config variable. Then the new configuration state will be stored in the 
+    * Config attribute.
+    *
+    * \param new_cfg the new driver configuration state
+    *
+    * \param level level in which the update is taken place
+    */
+    void config_update(Config& config, uint32_t level=0);
+
+    // here define all model_car_control_alg interface methods to retrieve and set
+    // the driver parameters
+
+   /**
+    * \brief Destructor
+    *
+    * This destructor is called when the object is about to be destroyed.
+    *
+    */
+    ~ModelCarControlAlgorithm(void);
+};
+
+#endif

include/model_car_control_alg_node.h

+// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
+// Author 
+// All rights reserved.
+//
+// This file is part of iri-ros-pkg
+// iri-ros-pkg is free software: you can redistribute it and/or modify
+// it under the terms of the GNU Lesser General Public License as published by
+// the Free Software Foundation, either version 3 of the License, or
+// at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful,
+// but WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+// GNU Lesser General Public License for more details.
+//
+// You should have received a copy of the GNU Lesser General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+// 
+// IMPORTANT NOTE: This code has been generated through a script from the 
+// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
+// of the scripts. ROS topics can be easly add by using those scripts. Please
+// refer to the IRI wiki page for more information:
+// http://wikiri.upc.es/index.php/Robotics_Lab
+
+#ifndef _model_car_control_alg_node_h_
+#define _model_car_control_alg_node_h_
+
+#include <iri_base_algorithm/iri_base_algorithm.h>
+#include "model_car_control_alg.h"
+
+// [publisher subscriber headers]
+#include <ackermann_msgs/AckermannDriveStamped.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+
+#include <iri_ros_tools/watchdog.h>
+#include <control_toolbox/pid.h>
+
+// [service client headers]
+
+// [action server client headers]
+
+/**
+ * \brief IRI ROS Specific Algorithm Class
+ *
+ */
+class ModelCarControlAlgNode : public algorithm_base::IriBaseAlgorithm<ModelCarControlAlgorithm>
+{
+  private:
+    // [publisher attributes]
+    ros::Publisher control_publisher_;
+    ackermann_msgs::AckermannDriveStamped control_AckermannDriveStamped_msg_;
+
+    // [subscriber attributes]
+    ros::Subscriber cmd_vel_subscriber_;
+    void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg);
+    pthread_mutex_t cmd_vel_mutex_;
+    void cmd_vel_mutex_enter(void);
+    void cmd_vel_mutex_exit(void);
+    double linear_speed_control;
+    double steer_angle_control;
+    CROSWatchdog control_watchdog;
+
+    ros::Subscriber odom_subscriber_;
+    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
+    pthread_mutex_t odom_mutex_;
+    void odom_mutex_enter(void);
+    void odom_mutex_exit(void);
+    bool new_speed_feedback;
+    double linear_speed_feedback;
+    double steer_angle_feedback;
+    ros::Time feedback_time;
+
+    control_toolbox::Pid speed_pid;
+    control_toolbox::Pid steer_pid;
+    // [service attributes]
+
+    // [client attributes]
+
+    // [action server attributes]
+
+    // [action client attributes]
+
+   /**
+    * \brief config variable
+    *
+    * This variable has all the driver parameters defined in the cfg config file.
+    * Is updated everytime function config_update() is called.
+    */
+    Config config_;
+  public:
+   /**
+    * \brief Constructor
+    * 
+    * This constructor initializes specific class attributes and all ROS
+    * communications variables to enable message exchange.
+    */
+    ModelCarControlAlgNode(void);
+
+   /**
+    * \brief Destructor
+    * 
+    * This destructor frees all necessary dynamic memory allocated within this
+    * this class.
+    */
+    ~ModelCarControlAlgNode(void);
+
+  protected:
+   /**
+    * \brief main node thread
+    *
+    * This is the main thread node function. Code written here will be executed
+    * in every node loop while the algorithm is on running state. Loop frequency 
+    * can be tuned by modifying loop_rate attribute.
+    *
+    * Here data related to the process loop or to ROS topics (mainly data structs
+    * related to the MSG and SRV files) must be updated. ROS publisher objects 
+    * must publish their data in this process. ROS client servers may also
+    * request data to the corresponding server topics.
+    */
+    void mainNodeThread(void);
+
+   /**
+    * \brief dynamic reconfigure server callback
+    * 
+    * This method is called whenever a new configuration is received through
+    * the dynamic reconfigure. The derivated generic algorithm class must 
+    * implement it.
+    *
+    * \param config an object with new configuration from all algorithm 
+    *               parameters defined in the config file.
+    * \param level  integer referring the level in which the configuration
+    *               has been changed.
+    */
+    void node_config_update(Config &config, uint32_t level);
+
+   /**
+    * \brief node add diagnostics
+    *
+    * In this abstract function additional ROS diagnostics applied to the 
+    * specific algorithms may be added.
+    */
+    void addNodeDiagnostics(void);
+
+    // [diagnostic functions]
+    
+    // [test functions]
+};
+
+#endif

launch/node.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="node_name"      default="model_car_control"/>
+  <arg name="output"         default="screen"/>
+  <arg name="launch_prefix"  default=""/>
+  <arg name="config_file"    default="$(find model_car_control)/config/params.yaml"/>
+  <arg name="cmd_vel_topic"  default="/cmd_vel"/>
+  <arg name="odom_topic"     default="/odom"/>
+  <arg name="control_topic"  default="/control"/>
+
+  <node name="$(arg node_name)"
+        pkg ="model_car_control"
+        type="model_car_control"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)">
+    <rosparam file="$(arg config_file)" command="load"/>
+    <remap from="~/cmd_vel" to="$(arg cmd_vel_topic)"/>
+    <remap from="~/odom" to="$(arg odom_topic)"/>
+    <remap from="~/control" to="$(arg control_topic)"/>
+  </node>
+
+</launch>

launch/test.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+  <arg name="output"         default="screen"/>
+  <arg name="launch_prefix"  default=""/>
+  <arg name="dr"             default="true"/>
+  <arg name="config_file"    default="$(find model_car_control)/config/params.yaml"/>
+  <arg name="cmd_vel_topic"  default="/cmd_vel"/>
+  <arg name="odom_topic"     default="/odom"/>
+  <arg name="control_topic"  default="/control"/>
+
+
+  <include file="$(find model_car_control)/launch/node.launch">
+    <arg name="node_name"      value="model_car_control"/>
+    <arg name="output"         value="$(arg output)"/>
+    <arg name="launch_prefix"  value="$(arg launch_prefix)"/>
+    <arg name="config_file"    value="$(arg config_file)"/>
+    <arg name="cmd_vel_topic"  value="$(arg cmd_vel_topic)"/>
+    <arg name="odom_topic"     value="$(arg odom_topic)"/>
+    <arg name="control_topic"  value="$(arg control_topic)"/>
+  </include>
+
+  <node name="rqt_reconfigure_model_car_control"
+        pkg ="rqt_reconfigure"
+        type="rqt_reconfigure"
+        if  ="$(arg dr)"
+        args="model_car_control">
+  </node>
+
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>model_car_control</name>
+  <version>0.0.0</version>
+  <description>The model_car_control package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="shernand@iri.upc.edu">shernand</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>LGPL</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/model_car_control</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>iri_base_algorithm</build_depend>
+  <build_export_depend>iri_base_algorithm</build_export_depend>
+  <exec_depend>iri_base_algorithm</exec_depend>
+  <depend>ackermann_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>iri_ros_tools</depend>
+  <depend>control_toolbox</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/model_car_control_alg.cpp

+#include "model_car_control_alg.h"
+
+ModelCarControlAlgorithm::ModelCarControlAlgorithm(void)
+{
+  pthread_mutex_init(&this->access_,NULL);
+}
+
+ModelCarControlAlgorithm::~ModelCarControlAlgorithm(void)
+{
+  pthread_mutex_destroy(&this->access_);
+}
+
+void ModelCarControlAlgorithm::config_update(Config& config, uint32_t level)
+{
+  this->lock();
+
+  // save the current configuration
+  this->config_=config;
+  
+  this->unlock();
+}
+
+// ModelCarControlAlgorithm Public API

src/model_car_control_alg_node.cpp

+#include "model_car_control_alg_node.h"
+
+ModelCarControlAlgNode::ModelCarControlAlgNode(void) :
+  algorithm_base::IriBaseAlgorithm<ModelCarControlAlgorithm>()
+{
+  //init class attributes if necessary
+  if(!this->private_node_handle_.getParam("rate", this->config_.rate))
+  {
+    ROS_WARN("ModelCarControlAlgNode::ModelCarControlAlgNode: param 'rate' not found");
+  }
+  else
+    this->setRate(this->config_.rate);
+
+  // [init publishers]
+  this->control_publisher_ = this->private_node_handle_.advertise<ackermann_msgs::AckermannDriveStamped>("control", 1);
+  
+  // [init subscribers]
+  this->cmd_vel_subscriber_ = this->private_node_handle_.subscribe("cmd_vel", 1, &ModelCarControlAlgNode::cmd_vel_callback, this);
+  pthread_mutex_init(&this->cmd_vel_mutex_,NULL);
+
+  this->odom_subscriber_ = this->private_node_handle_.subscribe("odom", 1, &ModelCarControlAlgNode::odom_callback, this);
+  pthread_mutex_init(&this->odom_mutex_,NULL);
+
+  // [init services]
+  
+  // [init clients]
+  
+  // [init action servers]
+  
+  // [init action clients]
+  
+  this->new_speed_feedback=false;
+  this->speed_pid.initPid(this->config_.speed_Kp,this->config_.speed_Ki,this->config_.speed_Kd,this->config_.speed_i_max,-this->config_.speed_i_max,true);
+}
+
+ModelCarControlAlgNode::~ModelCarControlAlgNode(void)
+{
+  // [free dynamic memory]
+  pthread_mutex_destroy(&this->cmd_vel_mutex_);
+  pthread_mutex_destroy(&this->odom_mutex_);
+}
+
+void ModelCarControlAlgNode::mainNodeThread(void)
+{
+  static bool first=true;
+  static ros::Time last_time;
+  ros::Duration dt;
+  double error;
+
+  //lock access to algorithm if necessary
+  this->alg_.lock();
+  ROS_DEBUG("ModelCarControlAlgNode::mainNodeThread");
+  // [fill msg structures]
+
+  this->control_AckermannDriveStamped_msg_.header.stamp=ros::Time::now();
+  if(this->control_watchdog.is_active())
+  {
+    this->control_AckermannDriveStamped_msg_.drive.steering_angle=0.0;
+    this->control_AckermannDriveStamped_msg_.drive.steering_angle_velocity=0.0;
+    this->control_AckermannDriveStamped_msg_.drive.speed=0.0;
+    this->control_AckermannDriveStamped_msg_.drive.acceleration=0.0;
+    this->control_AckermannDriveStamped_msg_.drive.jerk=0.0;
+    this->control_watchdog.reset(ros::Duration(this->config_.watchdog_time));
+    this->linear_speed_control=0.0;
+    first=true;
+  }
+  else
+  {
+    if(this->new_speed_feedback)
+    {
+      this->new_speed_feedback=false;
+      if(first)
+      {
+        first=false;
+        last_time=this->feedback_time;
+      }
+      else
+      {
+        if(this->linear_speed_control==0.0)
+        {
+          this->control_AckermannDriveStamped_msg_.drive.speed=0.0;
+          this->speed_pid.reset();
+        }
+        else
+        {
+          dt=this->feedback_time-last_time;
+          //linear speed
+          error=this->linear_speed_control-this->linear_speed_feedback;
+          this->control_AckermannDriveStamped_msg_.drive.speed=this->speed_pid.computeCommand(error,dt);
+          if(this->control_AckermannDriveStamped_msg_.drive.speed>this->config_.max_speed_control)
+            this->control_AckermannDriveStamped_msg_.drive.speed=this->config_.max_speed_control;
+          else if(this->control_AckermannDriveStamped_msg_.drive.speed<this->config_.min_speed_control)
+            this->control_AckermannDriveStamped_msg_.drive.speed=this->config_.min_speed_control;
+          //angular speed
+          this->control_AckermannDriveStamped_msg_.drive.steering_angle=this->steer_angle_control*(this->config_.max_steer_control-this->config_.min_steer_control)/(this->config_.max_steer_angle-this->config_.min_steer_angle);
+        }
+        last_time=this->feedback_time;
+      }
+    }  
+  }
+  this->control_publisher_.publish(this->control_AckermannDriveStamped_msg_);
+  // [fill srv structure and make request to the server]
+  
+  // [fill action structure and make request to the action server]
+
+  // [publish messages]
+  // Uncomment the following line to publish the topic message
+
+  
+  this->alg_.unlock();
+}
+
+/*  [subscriber callbacks] */
+void ModelCarControlAlgNode::cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg)
+{
+  double radius;
+
+  ROS_DEBUG("ModelCarControlAlgNode::cmd_vel_callback: New Message Received");
+
+  //use appropiate mutex to shared variables if necessary
+  this->alg_.lock();
+  //this->cmd_vel_mutex_enter();
+
+  this->linear_speed_control=msg->linear.x;
+  if(msg->angular.z==0.0)
+    radius=std::numeric_limits<double>::max();
+  else
+    radius=msg->linear.x/msg->angular.z;
+  this->steer_angle_control=atan2(this->config_.axel_distance,radius);
+  if(this->steer_angle_control>1.5707)
+    this->steer_angle_control-=3.14159;
+  if(this->steer_angle_control>this->config_.max_steer_angle)
+    this->steer_angle_control=this->config_.max_steer_angle;
+  else if(this->steer_angle_control<this->config_.min_steer_angle)
+    this->steer_angle_control=this->config_.min_steer_angle;
+  this->control_watchdog.reset(ros::Duration(this->config_.watchdog_time));
+  //std::cout << msg->data << std::endl;
+  //unlock previously blocked shared variables
+  this->alg_.unlock();
+  //this->cmd_vel_mutex_exit();
+}
+
+void ModelCarControlAlgNode::cmd_vel_mutex_enter(void)
+{
+  pthread_mutex_lock(&this->cmd_vel_mutex_);
+}
+
+void ModelCarControlAlgNode::cmd_vel_mutex_exit(void)
+{
+  pthread_mutex_unlock(&this->cmd_vel_mutex_);
+}
+
+void ModelCarControlAlgNode::odom_callback(const nav_msgs::Odometry::ConstPtr& msg)
+{
+  double radius;
+
+  ROS_DEBUG("ModelCarControlAlgNode::odom_callback: New Message Received");
+
+  //use appropiate mutex to shared variables if necessary
+  this->alg_.lock();
+  //this->odom_mutex_enter();
+
+  this->new_speed_feedback=true;
+  this->linear_speed_feedback=msg->twist.twist.linear.x;
+  this->feedback_time=msg->header.stamp;
+  //std::cout << msg->data << std::endl;
+  //unlock previously blocked shared variables
+  this->alg_.unlock();
+  //this->odom_mutex_exit();
+}
+
+void ModelCarControlAlgNode::odom_mutex_enter(void)
+{
+  pthread_mutex_lock(&this->odom_mutex_);
+}
+
+void ModelCarControlAlgNode::odom_mutex_exit(void)
+{
+  pthread_mutex_unlock(&this->odom_mutex_);
+}
+
+
+/*  [service callbacks] */
+
+/*  [action callbacks] */
+
+/*  [action requests] */
+
+void ModelCarControlAlgNode::node_config_update(Config &config, uint32_t level)
+{
+  this->alg_.lock();
+  if(config.rate!=this->getRate())
+    this->setRate(config.rate);
+  this->config_=config;
+  this->speed_pid.setGains(this->config_.speed_Kp,this->config_.speed_Ki,this->config_.speed_Kd,this->config_.speed_i_max,-this->config_.speed_i_max,true);
+  this->alg_.unlock();
+}
+
+void ModelCarControlAlgNode::addNodeDiagnostics(void)
+{
+}
+
+/* main function */
+int main(int argc,char *argv[])
+{
+  return algorithm_base::main<ModelCarControlAlgNode>(argc, argv, "model_car_control_alg_node");
+}