git commit -m "first commit for v2"

Devices/Cores/models/.gitignore

@@ -0,0 +1,14 @@
+# ---> VisualStudioCode
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+

Devices/Cores/models/CMakeLists.txt

@@ -0,0 +1,198 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(models)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++17)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## 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
+#   geometry_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within th
+# )s
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+ INCLUDE_DIRS include
+#  LIBRARIES models
+ CATKIN_DEPENDS geometry_msgs roscpp
+ DEPENDS Boost
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/models.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across p
+# )
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+  PATTERN ".svn" EXCLUDE
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_models.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

Devices/Cores/models/README.md

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+# models
+
+Chứa các base interface  để tải vào các objects

Devices/Cores/models/include/models/BaseAbsoluteEncoder.h

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+#ifndef __ABSOLUTE_ENCODER_H_INCLUDED
+#define __ABSOLUTE_ENCODER_H_INCLUDED
+
+#include <ros/ros.h>
+
+namespace models
+{ 
+class BaseAbsoluteEncoder
+{
+public:
+
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief Get the angle of rotation of an axis() rad
+  */
+  virtual double Position() = 0;
+
+  /**
+   * @brief Get the velocity rotation of an axis() rad
+   */
+  virtual double Velocity() = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseAbsoluteEncoder() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseAbsoluteEncoder() {}
+
+}; // BaseAbsoluteEncoder
+
+} // namespace models
+
+#endif //__ABSOLUTE_ENCODER_H_INCLUDED

Devices/Cores/models/include/models/BaseSensorGroups.h

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+#ifndef __BASE_SENSOR_GROUPS_H_INCLUDED_
+#define __BASE_SENSOR_GROUPS_H_INCLUDED_
+
+namespace models
+{
+  enum SensorState
+  {
+    Normal,
+    Warn,
+    Error,
+    NotActive,
+  };
+
+class BaseSensorGroups 
+{
+public:
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief Get state from sensors
+  */
+  virtual models::SensorState State() = 0;
+
+  /**
+   * @brief Get bit logic get from sensor
+  */
+  virtual bool Get() = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseSensorGroups() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseSensorGroups() {}
+
+}; // class BaseSensorGroups 
+
+} // namespace models
+
+#endif

Devices/Cores/models/include/models/BaseSteerDrive.h

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+#ifndef __STEER_DRIVE_H_INCLUDED
+#define __STEER_DRIVE_H_INCLUDED
+
+#include <ros/ros.h>
+
+namespace models
+{ 
+class BaseSteerDrive
+{
+public:
+
+  /**
+   * @brief  Constructs 
+   * @param name The name to give this instance of the model base
+  */
+  virtual void initialize(ros::NodeHandle & nh, const std::string &name) = 0;
+
+  /**
+   * @brief  Constructs 
+   * @param name Check model is deady
+   * @return true, if model is ready, false otherwise
+  */
+  virtual bool Ready() {return true;}
+
+  
+  /**
+   * @brief Get the velocity limit on axis(index).
+   * @return Velocity limit specified in SDF
+   */ 
+  virtual double GetVelocityLimit(unsigned int _index) = 0;
+
+  /**
+   * @brief Set the velocity limit on a joint axis.
+   * @param[in] _velocity Velocity limit for the axis.
+   */ 
+  virtual void SetVelocityLimit(double _velocity) = 0;
+
+  /**
+   * @brief Get the rotation rate of an axis(index)
+   * @return The rotaional velocity of the joint axis.
+   */ 
+  virtual double GetVelocity() = 0;
+
+  /**
+   * @brief Set the velocity of an axis(index).
+   * In ODE and Bullet, the SetVelocityMaximal function is used to
+   * set the velocity of the child link relative to the parent.
+   * In Simbody and DART, this function updates the velocity state,
+   * which has a recursive effect on the rest of the chain.
+   * @param[in] _vel Velocity.
+  */
+  virtual void SetVelocity(double _vel) = 0;
+
+  /**
+   * @brief Get the position of an axis according to its index.
+   *
+   * For rotational axes, the value is in radians. For prismatic axes,
+   * it is in meters.
+   *
+   * For static models, it returns the static joint position.
+   *
+   * It returns ignition::math::NAN_D in case the position can't be
+   * obtained. For instance, if the index is invalid, if the joint is
+   * fixed, etc.
+   *
+   * Subclasses can't override this method. See PositionImpl instead.
+   *
+   * @return Current position of the axis.
+   * @sa PositionImpl
+   */ 
+  virtual double Position() = 0;
+
+  /**
+   * @brief The child links of this joint are updated based on desired
+   * position.  And all the links connected to the child link of this joint
+   * except through the parent link of this joint moves with the child
+   * link.
+   * @param[in] _position Position to set the joint to.
+   * unspecified, pure kinematic teleportation.
+   * link with respect to the world frame will remain the same after
+   * setting the position. By default this is false, which means there are
+   * no guarantees about what the child link's world velocity will be after
+   * the position is changed (the behavior is determined by the underlying
+   * physics engine).
+   *
+   * @note{Only ODE and Bullet support _preserveWorldVelocity being true.}
+   */ 
+  virtual void SetPosition(const double _position) = 0;
+
+  /**
+   * @brief Decontructor
+  */
+  virtual ~BaseSteerDrive() {}
+  
+protected:
+  /**
+   * @brief Contructor
+  */
+  BaseSteerDrive() {}
+
+}; // class BaseSteerDrive
+
+} // namespace models
+
+#endif // __STEER_DRIVE_H_INCLUDED

Devices/Cores/models/include/models/ModelsTypes.h

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+#ifndef __MODELS_TYPES_H_INCLUDED
+#define __MODELS_TYPES_H_INCLUDED
+
+#include <vector>
+#include <boost/shared_ptr.hpp>
+/**
+ * @brief models forward declarations and type defines
+*/
+namespace models
+{
+  class BaseSteerDrive;
+  class BaseAbsoluteEncoder;
+  class BaseSensorGroups;
+
+  /**
+   * @def BaseSteerDrivePtr
+   * @brief Boost shared pointer to a BaseSteerDrive object
+  */
+  typedef boost::shared_ptr<BaseSteerDrive> BaseSteerDrivePtr;
+
+  /**
+   * @def BaseAbsoluteEncoderPtr
+   * @brief Boost shared pointer to a BaseAbsoluteEncoder object
+  */
+  typedef boost::shared_ptr<BaseAbsoluteEncoder> BaseAbsoluteEncoderPtr;
+
+  /**
+   * @def BaseSensorGroupsPtr
+   * @brief Boost shared pointer to a BaseSensorGroups object
+  */
+  typedef boost::shared_ptr<BaseSensorGroups> BaseSensorGroupsPtr;
+
+  /**
+   * @def BaseSteerDrive_V
+   * @brief Vector of BaseSteerDrivePtr
+  */
+  typedef std::vector<BaseSteerDrivePtr> BaseSteerDrive_V;
+
+  /**
+   * @def BaseAbsoluteEncoder_V
+   * @brief Vector of BaseAbsoluteEncoderPtr
+  */
+  typedef std::vector<BaseAbsoluteEncoderPtr> BaseAbsoluteEncoder_V;
+
+  /**
+   * @def BaseSensorGroups_V
+   * @brief Vector of BaseSensorGroupsPtr
+  */
+  typedef std::vector<BaseSensorGroupsPtr> BaseSensorGroups_V;
+
+} // namespace models
+
+#endif // MODELS_TYPES_H_INCLUDED

Devices/Cores/models/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>models</name>
+  <version>0.0.0</version>
+  <description>The models package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="robotics@todo.todo">robotics</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>TODO</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/models</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>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>