From 898eebee7524da6513ab2e7555571c0ebbedf47e Mon Sep 17 00:00:00 2001
From: eber03 <eber03@zedat.fu-berlin.de>
Date: Tue, 10 Jun 2025 16:25:49 +0200
Subject: [PATCH] Add obstacle avoidance
---
.../obstacle_avoidance/__init__.py | 0
.../obstacle_avoidance/obstacle_avoidance.py | 54 +++++++++++++++++++
src/obstacle_avoidance/package.xml | 18 +++++++
.../resource/obstacle_avoidance | 0
src/obstacle_avoidance/setup.cfg | 4 ++
src/obstacle_avoidance/setup.py | 26 +++++++++
src/obstacle_avoidance/test/test_copyright.py | 25 +++++++++
src/obstacle_avoidance/test/test_flake8.py | 25 +++++++++
src/obstacle_avoidance/test/test_pep257.py | 23 ++++++++
9 files changed, 175 insertions(+)
create mode 100644 src/obstacle_avoidance/obstacle_avoidance/__init__.py
create mode 100644 src/obstacle_avoidance/obstacle_avoidance/obstacle_avoidance.py
create mode 100644 src/obstacle_avoidance/package.xml
create mode 100644 src/obstacle_avoidance/resource/obstacle_avoidance
create mode 100644 src/obstacle_avoidance/setup.cfg
create mode 100644 src/obstacle_avoidance/setup.py
create mode 100644 src/obstacle_avoidance/test/test_copyright.py
create mode 100644 src/obstacle_avoidance/test/test_flake8.py
create mode 100644 src/obstacle_avoidance/test/test_pep257.py
diff --git a/src/obstacle_avoidance/obstacle_avoidance/__init__.py b/src/obstacle_avoidance/obstacle_avoidance/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/obstacle_avoidance/obstacle_avoidance/obstacle_avoidance.py b/src/obstacle_avoidance/obstacle_avoidance/obstacle_avoidance.py
new file mode 100644
index 0000000..41f9c24
--- /dev/null
+++ b/src/obstacle_avoidance/obstacle_avoidance/obstacle_avoidance.py
@@ -0,0 +1,54 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from math import isinf
+from sensor_msgs.msg import LaserScan
+from autominy_msgs.msg import SpeedCommand, NormalizedSteeringCommand
+
+class obstacleAvoidance(Node):
+ def __init__(self):
+ super().__init__("obstacle_avoidance")
+ self.lidar_sub = self.create_subscription(LaserScan, "/sensors/rplidar/scan", self.lidar_callback, 10)
+ self.speed_pub = self.create_publisher(SpeedCommand, "actuators/speed", 10)
+ self.steering_pub = self.create_publisher(NormalizedSteeringCommand, "actuators/steering_normalized", 10)
+
+ def lidar_callback(self, msg):
+ distances = msg.ranges
+ front_distance_min = min(distances[:15] + distances[-15:])
+ front_left_distance_mean = sum(distances[:30]) / 30
+ front_right_distance_mean = sum(distances[-30:]) / 30
+
+ if front_distance_min < 1 and front_right_distance_mean <= front_left_distance_mean:
+ steering_angle = 0.8
+ elif front_distance_min < 1 and front_left_distance_mean < front_right_distance_mean:
+ steering_angle = -0.8
+ else:
+ steering_angle = 0.0
+ steering_cmd = NormalizedSteeringCommand()
+ steering_cmd.value = steering_angle
+ steering_cmd.header.stamp = self.get_clock().now().to_msg()
+ self.steering_pub.publish(steering_cmd)
+ self.get_logger().info(f'Publish steering: {steering_angle}')
+
+ min_distance = min(distances)
+ if min_distance <= 0 or isinf(min_distance):
+ speed = 0.0
+ else:
+ speed = 0.3
+ speed_cmd = SpeedCommand()
+ speed_cmd.value = speed
+ speed_cmd.header.stamp = self.get_clock().now().to_msg()
+ self.speed_pub.publish(speed_cmd)
+
+
+def main(args = None):
+ rclpy.init(args=args)
+ node = obstacleAvoidance()
+ rclpy.spin(node)
+ node.destroy_node()
+ rclpy.shutdown()
+
+
+if __name__ == '__main__':
+ main()
diff --git a/src/obstacle_avoidance/package.xml b/src/obstacle_avoidance/package.xml
new file mode 100644
index 0000000..9242f4f
--- /dev/null
+++ b/src/obstacle_avoidance/package.xml
@@ -0,0 +1,18 @@
+<?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>obstacle_avoidance</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="eber03@zedat.fu-berlin.de">rebecca</maintainer>
+ <license>TODO: License declaration</license>
+
+ <test_depend>ament_copyright</test_depend>
+ <test_depend>ament_flake8</test_depend>
+ <test_depend>ament_pep257</test_depend>
+ <test_depend>python3-pytest</test_depend>
+
+ <export>
+ <build_type>ament_python</build_type>
+ </export>
+</package>
diff --git a/src/obstacle_avoidance/resource/obstacle_avoidance b/src/obstacle_avoidance/resource/obstacle_avoidance
new file mode 100644
index 0000000..e69de29
diff --git a/src/obstacle_avoidance/setup.cfg b/src/obstacle_avoidance/setup.cfg
new file mode 100644
index 0000000..bedf777
--- /dev/null
+++ b/src/obstacle_avoidance/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/obstacle_avoidance
+[install]
+install_scripts=$base/lib/obstacle_avoidance
diff --git a/src/obstacle_avoidance/setup.py b/src/obstacle_avoidance/setup.py
new file mode 100644
index 0000000..2970631
--- /dev/null
+++ b/src/obstacle_avoidance/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'obstacle_avoidance'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='rebecca',
+ maintainer_email='eber03@zedat.fu-berlin.de',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'obstacle_avoidance = obstacle_avoidance.obstacle_avoidance:main'
+ ],
+ },
+)
diff --git a/src/obstacle_avoidance/test/test_copyright.py b/src/obstacle_avoidance/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/src/obstacle_avoidance/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'
diff --git a/src/obstacle_avoidance/test/test_flake8.py b/src/obstacle_avoidance/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/src/obstacle_avoidance/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+ rc, errors = main_with_errors(argv=[])
+ assert rc == 0, \
+ 'Found %d code style errors / warnings:\n' % len(errors) + \
+ '\n'.join(errors)
diff --git a/src/obstacle_avoidance/test/test_pep257.py b/src/obstacle_avoidance/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/src/obstacle_avoidance/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found code style errors / warnings'
--
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