Asservissement en position fonctionnel.

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@@ -1,25 +1,42 @@
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   "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig-usage.dox" "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h"
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/DetectTargetsConfig.dox" "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h"
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+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig-usage.dox" "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h"
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig.dox" "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h"
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig.wikidoc" "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h"
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+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h: /opt/ros/melodic/share/dynamic_reconfigure/templates/ConfigType.py.template
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+	catkin_generated/env_cached.sh /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/setup_custom_pythonpath.sh /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/cfg/triangle_control.cfg /opt/ros/melodic/share/dynamic_reconfigure/cmake/.. /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets
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+	@$(CMAKE_COMMAND) -E touch_nocreate /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig.dox
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+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h"
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+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/triangle_controlConfig-usage.dox"
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/cfg/triangle_controlConfig.py"
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+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/control.h: /opt/ros/melodic/share/gencpp/msg.h.template
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+	cd /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets && /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets -e /opt/ros/melodic/share/gencpp/cmake/..
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+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_center.h: /opt/ros/melodic/share/gencpp/msg.h.template
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+	cd /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets && /home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/gencpp/cmake/../../../lib/gencpp/gen_cpp.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets -e /opt/ros/melodic/share/gencpp/cmake/..
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 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py: /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg
 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py: /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Generating Python from MSG detect_targets/component_centers"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/CMakeFiles --progress-num=$(CMAKE_PROGRESS_3) "Generating Python from MSG detect_targets/component_centers"
 	catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/genpy/cmake/../../../lib/genpy/genmsg_py.py /home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg -Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg -Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg -p detect_targets -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg
 
 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py: /opt/ros/melodic/lib/genpy/genmsg_py.py
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_control.py
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_center.py
 /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Generating Python msg __init__.py for detect_targets"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --blue --bold --progress-dir=/home/klafyvel/Documents/supelec/2A/projet/workspace/build/detect_targets/CMakeFiles --progress-num=$(CMAKE_PROGRESS_4) "Generating Python msg __init__.py for detect_targets"
 	catkin_generated/env_cached.sh /usr/bin/python2 /opt/ros/melodic/share/genpy/cmake/../../../lib/genpy/genmsg_py.py -o /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg --initpy
 
 detect_targets_generate_messages_py: CMakeFiles/detect_targets_generate_messages_py
+detect_targets_generate_messages_py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_control.py
+detect_targets_generate_messages_py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_center.py
 detect_targets_generate_messages_py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py
 detect_targets_generate_messages_py: /home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py
 detect_targets_generate_messages_py: CMakeFiles/detect_targets_generate_messages_py.dir/build.make

workspace/build/detect_targets/CMakeFiles/detect_targets_generate_messages_py.dir/cmake_clean.cmake

@@ -1,5 +1,7 @@
 file(REMOVE_RECURSE
   "CMakeFiles/detect_targets_generate_messages_py"
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_control.py"
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_center.py"
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/_component_centers.py"
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/msg/__init__.py"
 )

workspace/build/detect_targets/CMakeFiles/detect_targets_generate_messages_py.dir/progress.make

@@ -1,3 +1,5 @@
-CMAKE_PROGRESS_1 = 7
+CMAKE_PROGRESS_1 = 16
-CMAKE_PROGRESS_2 = 8
+CMAKE_PROGRESS_2 = 17
+CMAKE_PROGRESS_3 = 18
+CMAKE_PROGRESS_4 = 19
 

workspace/build/detect_targets/CMakeFiles/progress.marks

@@ -1 +1 @@
-8
+19

workspace/build/detect_targets/Makefile

@@ -233,17 +233,30 @@ detect_targets_genlisp/fast:
 .PHONY : detect_targets_genlisp/fast
 
 #=============================================================================
-# Target rules for targets named detect_targets_generate_messages_lisp
+# Target rules for targets named detect_targets_generate_messages_eus
 
 # Build rule for target.
-detect_targets_generate_messages_lisp: cmake_check_build_system
+detect_targets_generate_messages_eus: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_lisp
+	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_eus
-.PHONY : detect_targets_generate_messages_lisp
+.PHONY : detect_targets_generate_messages_eus
 
 # fast build rule for target.
-detect_targets_generate_messages_lisp/fast:
+detect_targets_generate_messages_eus/fast:
-	$(MAKE) -f CMakeFiles/detect_targets_generate_messages_lisp.dir/build.make CMakeFiles/detect_targets_generate_messages_lisp.dir/build
+	$(MAKE) -f CMakeFiles/detect_targets_generate_messages_eus.dir/build.make CMakeFiles/detect_targets_generate_messages_eus.dir/build
-.PHONY : detect_targets_generate_messages_lisp/fast
+.PHONY : detect_targets_generate_messages_eus/fast
+
+#=============================================================================
+# Target rules for targets named detect_targets_gencpp
+
+# Build rule for target.
+detect_targets_gencpp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_gencpp
+.PHONY : detect_targets_gencpp
+
+# fast build rule for target.
+detect_targets_gencpp/fast:
+	$(MAKE) -f CMakeFiles/detect_targets_gencpp.dir/build.make CMakeFiles/detect_targets_gencpp.dir/build
+.PHONY : detect_targets_gencpp/fast
 
 #=============================================================================
 # Target rules for targets named detect_targets_generate_messages_nodejs
@@ -583,19 +596,6 @@ dynamic_reconfigure_generate_messages_eus/fast:
 	$(MAKE) -f CMakeFiles/dynamic_reconfigure_generate_messages_eus.dir/build.make CMakeFiles/dynamic_reconfigure_generate_messages_eus.dir/build
 .PHONY : dynamic_reconfigure_generate_messages_eus/fast
 
-#=============================================================================
-# Target rules for targets named detect_targets_generate_messages_eus
-
-# Build rule for target.
-detect_targets_generate_messages_eus: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_eus
-.PHONY : detect_targets_generate_messages_eus
-
-# fast build rule for target.
-detect_targets_generate_messages_eus/fast:
-	$(MAKE) -f CMakeFiles/detect_targets_generate_messages_eus.dir/build.make CMakeFiles/detect_targets_generate_messages_eus.dir/build
-.PHONY : detect_targets_generate_messages_eus/fast
-
 #=============================================================================
 # Target rules for targets named geometry_msgs_generate_messages_cpp
 
@@ -700,6 +700,45 @@ dynamic_reconfigure_gencfg/fast:
 	$(MAKE) -f CMakeFiles/dynamic_reconfigure_gencfg.dir/build.make CMakeFiles/dynamic_reconfigure_gencfg.dir/build
 .PHONY : dynamic_reconfigure_gencfg/fast
 
+#=============================================================================
+# Target rules for targets named _detect_targets_generate_messages_check_deps_control
+
+# Build rule for target.
+_detect_targets_generate_messages_check_deps_control: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _detect_targets_generate_messages_check_deps_control
+.PHONY : _detect_targets_generate_messages_check_deps_control
+
+# fast build rule for target.
+_detect_targets_generate_messages_check_deps_control/fast:
+	$(MAKE) -f CMakeFiles/_detect_targets_generate_messages_check_deps_control.dir/build.make CMakeFiles/_detect_targets_generate_messages_check_deps_control.dir/build
+.PHONY : _detect_targets_generate_messages_check_deps_control/fast
+
+#=============================================================================
+# Target rules for targets named detect_targets_generate_messages_lisp
+
+# Build rule for target.
+detect_targets_generate_messages_lisp: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_generate_messages_lisp
+.PHONY : detect_targets_generate_messages_lisp
+
+# fast build rule for target.
+detect_targets_generate_messages_lisp/fast:
+	$(MAKE) -f CMakeFiles/detect_targets_generate_messages_lisp.dir/build.make CMakeFiles/detect_targets_generate_messages_lisp.dir/build
+.PHONY : detect_targets_generate_messages_lisp/fast
+
+#=============================================================================
+# Target rules for targets named _detect_targets_generate_messages_check_deps_component_center
+
+# Build rule for target.
+_detect_targets_generate_messages_check_deps_component_center: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 _detect_targets_generate_messages_check_deps_component_center
+.PHONY : _detect_targets_generate_messages_check_deps_component_center
+
+# fast build rule for target.
+_detect_targets_generate_messages_check_deps_component_center/fast:
+	$(MAKE) -f CMakeFiles/_detect_targets_generate_messages_check_deps_component_center.dir/build.make CMakeFiles/_detect_targets_generate_messages_check_deps_component_center.dir/build
+.PHONY : _detect_targets_generate_messages_check_deps_component_center/fast
+
 #=============================================================================
 # Target rules for targets named rosgraph_msgs_generate_messages_eus
 
@@ -726,19 +765,6 @@ detect_targets_generate_messages_cpp/fast:
 	$(MAKE) -f CMakeFiles/detect_targets_generate_messages_cpp.dir/build.make CMakeFiles/detect_targets_generate_messages_cpp.dir/build
 .PHONY : detect_targets_generate_messages_cpp/fast
 
-#=============================================================================
-# Target rules for targets named detect_targets_gencpp
-
-# Build rule for target.
-detect_targets_gencpp: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 detect_targets_gencpp
-.PHONY : detect_targets_gencpp
-
-# fast build rule for target.
-detect_targets_gencpp/fast:
-	$(MAKE) -f CMakeFiles/detect_targets_gencpp.dir/build.make CMakeFiles/detect_targets_gencpp.dir/build
-.PHONY : detect_targets_gencpp/fast
-
 #=============================================================================
 # Target rules for targets named gmock_main
 
@@ -807,7 +833,8 @@ help:
 	@echo "... detect_targets_generate_messages_py"
 	@echo "... detect_targets_gennodejs"
 	@echo "... detect_targets_genlisp"
-	@echo "... detect_targets_generate_messages_lisp"
+	@echo "... detect_targets_generate_messages_eus"
+	@echo "... detect_targets_gencpp"
 	@echo "... detect_targets_generate_messages_nodejs"
 	@echo "... rosgraph_msgs_generate_messages_nodejs"
 	@echo "... rosgraph_msgs_generate_messages_py"
@@ -836,7 +863,6 @@ help:
 	@echo "... std_msgs_generate_messages_lisp"
 	@echo "... std_msgs_generate_messages_nodejs"
 	@echo "... dynamic_reconfigure_generate_messages_eus"
-	@echo "... detect_targets_generate_messages_eus"
 	@echo "... geometry_msgs_generate_messages_cpp"
 	@echo "... geometry_msgs_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_py"
@@ -845,9 +871,11 @@ help:
 	@echo "... dynamic_reconfigure_generate_messages_cpp"
 	@echo "... dynamic_reconfigure_generate_messages_lisp"
 	@echo "... dynamic_reconfigure_gencfg"
+	@echo "... _detect_targets_generate_messages_check_deps_control"
+	@echo "... detect_targets_generate_messages_lisp"
+	@echo "... _detect_targets_generate_messages_check_deps_component_center"
 	@echo "... rosgraph_msgs_generate_messages_eus"
 	@echo "... detect_targets_generate_messages_cpp"
-	@echo "... detect_targets_gencpp"
 	@echo "... gmock_main"
 	@echo "... gmock"
 	@echo "... gtest_main"

workspace/build/detect_targets/catkin_generated/detect_targets-msg-extras.cmake.develspace.in

@@ -1,2 +1,2 @@
-set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
+set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg")
 set(detect_targets_SERVICE_FILES "")

workspace/build/detect_targets/catkin_generated/detect_targets-msg-extras.cmake.installspace.in

@@ -1,2 +1,2 @@
-set(detect_targets_MESSAGE_FILES "msg/component_centers.msg")
+set(detect_targets_MESSAGE_FILES "msg/component_centers.msg;msg/component_center.msg;msg/control.msg")
 set(detect_targets_SERVICE_FILES "")

workspace/build/detect_targets/catkin_generated/installspace/detect_targets-msg-extras.cmake

@@ -1,2 +1,2 @@
-set(detect_targets_MESSAGE_FILES "msg/component_centers.msg")
+set(detect_targets_MESSAGE_FILES "msg/component_centers.msg;msg/component_center.msg;msg/control.msg")
 set(detect_targets_SERVICE_FILES "")

workspace/build/detect_targets/cmake/detect_targets-genmsg-context.py

@@ -1,6 +1,6 @@
 # generated from genmsg/cmake/pkg-genmsg.context.in
 
-messages_str = "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
+messages_str = "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
 services_str = ""
 pkg_name = "detect_targets"
 dependencies_str = "std_msgs"

workspace/build/detect_targets/cmake/detect_targets-genmsg.cmake

@@ -1,6 +1,6 @@
 # generated from genmsg/cmake/pkg-genmsg.cmake.em
 
-message(STATUS "detect_targets: 1 messages, 0 services")
+message(STATUS "detect_targets: 3 messages, 0 services")
 
 set(MSG_I_FLAGS "-Idetect_targets:/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg;-Istd_msgs:/opt/ros/melodic/share/std_msgs/cmake/../msg")
 
@@ -17,6 +17,16 @@ add_custom_target(detect_targets_generate_messages ALL)
 
 
 
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" ""
+)
+
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
+  COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" ""
+)
+
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
   COMMAND ${CATKIN_ENV} ${PYTHON_EXECUTABLE} ${GENMSG_CHECK_DEPS_SCRIPT} "detect_targets" "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" "detect_targets/component_center"
@@ -28,6 +38,18 @@ add_custom_target(_detect_targets_generate_messages_check_deps_${_filename}
 
 ### Section generating for lang: gencpp
 ### Generating Messages
+_generate_msg_cpp(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/detect_targets
+)
+_generate_msg_cpp(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gencpp_INSTALL_DIR}/detect_targets
+)
 _generate_msg_cpp(detect_targets
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
   "${MSG_I_FLAGS}"
@@ -49,6 +71,10 @@ add_custom_target(detect_targets_generate_messages_cpp
 add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_cpp)
 
 # add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_dependencies(detect_targets_generate_messages_cpp _detect_targets_generate_messages_check_deps_${_filename})
 
@@ -61,6 +87,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_cp
 
 ### Section generating for lang: geneus
 ### Generating Messages
+_generate_msg_eus(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/detect_targets
+)
+_generate_msg_eus(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${geneus_INSTALL_DIR}/detect_targets
+)
 _generate_msg_eus(detect_targets
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
   "${MSG_I_FLAGS}"
@@ -82,6 +120,10 @@ add_custom_target(detect_targets_generate_messages_eus
 add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_eus)
 
 # add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_dependencies(detect_targets_generate_messages_eus _detect_targets_generate_messages_check_deps_${_filename})
 
@@ -94,6 +136,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_eu
 
 ### Section generating for lang: genlisp
 ### Generating Messages
+_generate_msg_lisp(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/detect_targets
+)
+_generate_msg_lisp(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genlisp_INSTALL_DIR}/detect_targets
+)
 _generate_msg_lisp(detect_targets
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
   "${MSG_I_FLAGS}"
@@ -115,6 +169,10 @@ add_custom_target(detect_targets_generate_messages_lisp
 add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_lisp)
 
 # add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_dependencies(detect_targets_generate_messages_lisp _detect_targets_generate_messages_check_deps_${_filename})
 
@@ -127,6 +185,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_li
 
 ### Section generating for lang: gennodejs
 ### Generating Messages
+_generate_msg_nodejs(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/detect_targets
+)
+_generate_msg_nodejs(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${gennodejs_INSTALL_DIR}/detect_targets
+)
 _generate_msg_nodejs(detect_targets
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
   "${MSG_I_FLAGS}"
@@ -148,6 +218,10 @@ add_custom_target(detect_targets_generate_messages_nodejs
 add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_nodejs)
 
 # add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_dependencies(detect_targets_generate_messages_nodejs _detect_targets_generate_messages_check_deps_${_filename})
 
@@ -160,6 +234,18 @@ list(APPEND ${PROJECT_NAME}_EXPORTED_TARGETS detect_targets_generate_messages_no
 
 ### Section generating for lang: genpy
 ### Generating Messages
+_generate_msg_py(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/detect_targets
+)
+_generate_msg_py(detect_targets
+  "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+  "${MSG_I_FLAGS}"
+  ""
+  ${CATKIN_DEVEL_PREFIX}/${genpy_INSTALL_DIR}/detect_targets
+)
 _generate_msg_py(detect_targets
   "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
   "${MSG_I_FLAGS}"
@@ -181,6 +267,10 @@ add_custom_target(detect_targets_generate_messages_py
 add_dependencies(detect_targets_generate_messages detect_targets_generate_messages_py)
 
 # add dependencies to all check dependencies targets
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
+get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg" NAME_WE)
+add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
 get_filename_component(_filename "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg" NAME_WE)
 add_dependencies(detect_targets_generate_messages_py _detect_targets_generate_messages_check_deps_${_filename})
 

workspace/build/detect_targets/cmake_install.cmake

@@ -120,7 +120,11 @@ file(INSTALL DESTINATION "/home/klafyvel/Documents/supelec/2A/projet/workspace/i
 endif()
 
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
-  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/detect_targets/msg" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/detect_targets/msg" TYPE FILE FILES
+    "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg"
+    "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg"
+    "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg"
+    )
 endif()
 
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
@@ -155,6 +159,10 @@ if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_
   file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/DetectTargetsConfig.h")
 endif()
 
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/triangle_controlConfig.h")
+endif()
+
 if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
   file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/python2.7/dist-packages/detect_targets" TYPE FILE FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/lib/python2.7/dist-packages/detect_targets/__init__.py")
 endif()

workspace/build/detect_targets/gtest/googlemock/CMakeFiles/gmock.dir/progress.make

@@ -1,4 +1,4 @@
-CMAKE_PROGRESS_1 = 9
+CMAKE_PROGRESS_1 = 20
-CMAKE_PROGRESS_2 = 10
+CMAKE_PROGRESS_2 = 21
-CMAKE_PROGRESS_3 = 11
+CMAKE_PROGRESS_3 = 22
 

workspace/build/detect_targets/gtest/googlemock/CMakeFiles/gmock_main.dir/progress.make

@@ -1,5 +1,5 @@
-CMAKE_PROGRESS_1 = 12
+CMAKE_PROGRESS_1 = 23
-CMAKE_PROGRESS_2 = 13
+CMAKE_PROGRESS_2 = 24
-CMAKE_PROGRESS_3 = 14
+CMAKE_PROGRESS_3 = 25
-CMAKE_PROGRESS_4 = 15
+CMAKE_PROGRESS_4 = 26
 

workspace/build/detect_targets/gtest/googlemock/gtest/CMakeFiles/gtest.dir/progress.make

@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 16
+CMAKE_PROGRESS_1 = 27
-CMAKE_PROGRESS_2 = 17
+CMAKE_PROGRESS_2 = 28
 

workspace/build/detect_targets/gtest/googlemock/gtest/CMakeFiles/gtest_main.dir/progress.make

@@ -1,3 +1,3 @@
-CMAKE_PROGRESS_1 = 18
+CMAKE_PROGRESS_1 = 29
-CMAKE_PROGRESS_2 = 19
+CMAKE_PROGRESS_2 = 30
 

workspace/build/drone_demo/catkin_generated/installspace/triangle_control.py

@@ -31,15 +31,20 @@ class TriangleControl:
         self.target_distance = config['distance_to_target']
         self.max_speed = config['max_speed']
 
-        self.pid_angular_z.Kp = config['angular_z_Kp']
+        #gains are reversed because of the chosen angle direction
-        self.pid_angular_z.Ki = config['angular_z_Ki']
+        self.pid_angular_z.Kp = - config['angular_z_Kp']
-        self.pid_angular_z.Kd = config['angular_z_Kd']
+        self.pid_angular_z.Ki = - config['angular_z_Ki']
-        self.pid_angular_z.auto_mode = config['control_angular_z']
+        self.pid_angular_z.Kd = - config['angular_z_Kd']
+        self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
+        if not config['control_angular_z']:
+            self.pid_angular_z._last_output = 0.0
 
         self.pid_linear_z.Kp = config['linear_z_Kp']
         self.pid_linear_z.Ki = config['linear_z_Ki']
         self.pid_linear_z.Kd = config['linear_z_Kd']
-        self.pid_linear_z.auto_mode = config['control_linear_z']
+        self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
+        if not config['control_linear_z']:
+            self.pid_linear_z._last_output = 0.0
         self.pid_linear_z.output_limits = (
             -config['max_speed'],
             config['max_speed']
@@ -47,16 +52,21 @@ class TriangleControl:
         self.pid_linear_y.Kp = config['linear_y_Kp']
         self.pid_linear_y.Ki = config['linear_y_Ki']
         self.pid_linear_y.Kd = config['linear_y_Kd']
-        self.pid_linear_y.auto_mode = config['control_linear_y']
+        self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
+        if not config['control_linear_y']:
+            self.pid_linear_y._last_output = 0.0
         self.pid_linear_y.output_limits = (
             -config['max_speed'],
             config['max_speed']
         )
 
-        self.pid_linear_x.Kp = config['linear_x_Kp']
+        # X gains are reversed because of the chosen axis
-        self.pid_linear_x.Ki = config['linear_x_Ki']
+        self.pid_linear_x.Kp = - config['linear_x_Kp']
-        self.pid_linear_x.Kd = config['linear_x_Kd']
+        self.pid_linear_x.Ki = - config['linear_x_Ki']
-        self.pid_linear_x.auto_mode = config['control_linear_x']
+        self.pid_linear_x.Kd = - config['linear_x_Kd']
+        self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
+        if not config['control_linear_x']:
+            self.pid_linear_x._last_output = 0.0
         self.pid_linear_x.output_limits = (
             -config['max_speed'],
             config['max_speed']
@@ -137,24 +147,24 @@ class TriangleControl:
         self.twist.linear.z = self.pid_linear_z(self.z)
         if self.linear_z_pub.get_num_connections() > 0:
             self.linear_z_info.target = 0
-            self.linear_z_info.error = self.error_linear_z[0]
+            self.linear_z_info.error = self.z
-            self.linear_z_info.derror = self.error_linear_z[1]
+            self.linear_z_info.derror = 0
             self.linear_z_info.cmd_vel = self.twist.linear.z
             self.linear_z_pub.publish(self.linear_z_info)
 
-        self.twist.linear.y = self.pid_linear_y(self.alpha)
+        self.twist.linear.y = self.pid_linear_y(-self.alpha)
         if self.linear_y_pub.get_num_connections() > 0:
             self.linear_y_info.target = 0
-            self.linear_y_info.error = self.error_linear_y[0]
+            self.linear_y_info.error = -self.alpha
-            self.linear_y_info.derror = self.error_linear_y[1]
+            self.linear_y_info.derror = 0
             self.linear_y_info.cmd_vel = self.twist.linear.y
             self.linear_y_pub.publish(self.linear_y_info)
 
         self.twist.linear.x = self.pid_linear_x(self.d)
         if self.linear_x_pub.get_num_connections() > 0:
-            self.linear_x_info.target = 0
+            self.linear_x_info.target = self.pid_linear_x.setpoint
-            self.linear_x_info.error = self.error_linear_x[0]
+            self.linear_x_info.error = self.target_distance - self.d
-            self.linear_x_info.derror = self.error_linear_x[1]
+            self.linear_x_info.derror = 0
             self.linear_x_info.cmd_vel = self.twist.linear.x
             self.linear_x_pub.publish(self.linear_x_info)
 

workspace/build/drone_demo/catkin_generated/stamps/drone_demo/triangle_control.py.stamp

@@ -31,15 +31,20 @@ class TriangleControl:
         self.target_distance = config['distance_to_target']
         self.max_speed = config['max_speed']
 
-        self.pid_angular_z.Kp = config['angular_z_Kp']
+        #gains are reversed because of the chosen angle direction
-        self.pid_angular_z.Ki = config['angular_z_Ki']
+        self.pid_angular_z.Kp = - config['angular_z_Kp']
-        self.pid_angular_z.Kd = config['angular_z_Kd']
+        self.pid_angular_z.Ki = - config['angular_z_Ki']
-        self.pid_angular_z.auto_mode = config['control_angular_z']
+        self.pid_angular_z.Kd = - config['angular_z_Kd']
+        self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
+        if not config['control_angular_z']:
+            self.pid_angular_z._last_output = 0.0
 
         self.pid_linear_z.Kp = config['linear_z_Kp']
         self.pid_linear_z.Ki = config['linear_z_Ki']
         self.pid_linear_z.Kd = config['linear_z_Kd']
-        self.pid_linear_z.auto_mode = config['control_linear_z']
+        self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
+        if not config['control_linear_z']:
+            self.pid_linear_z._last_output = 0.0
         self.pid_linear_z.output_limits = (
             -config['max_speed'],
             config['max_speed']
@@ -47,16 +52,21 @@ class TriangleControl:
         self.pid_linear_y.Kp = config['linear_y_Kp']
         self.pid_linear_y.Ki = config['linear_y_Ki']
         self.pid_linear_y.Kd = config['linear_y_Kd']
-        self.pid_linear_y.auto_mode = config['control_linear_y']
+        self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
+        if not config['control_linear_y']:
+            self.pid_linear_y._last_output = 0.0
         self.pid_linear_y.output_limits = (
             -config['max_speed'],
             config['max_speed']
         )
 
-        self.pid_linear_x.Kp = config['linear_x_Kp']
+        # X gains are reversed because of the chosen axis
-        self.pid_linear_x.Ki = config['linear_x_Ki']
+        self.pid_linear_x.Kp = - config['linear_x_Kp']
-        self.pid_linear_x.Kd = config['linear_x_Kd']
+        self.pid_linear_x.Ki = - config['linear_x_Ki']
-        self.pid_linear_x.auto_mode = config['control_linear_x']
+        self.pid_linear_x.Kd = - config['linear_x_Kd']
+        self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
+        if not config['control_linear_x']:
+            self.pid_linear_x._last_output = 0.0
         self.pid_linear_x.output_limits = (
             -config['max_speed'],
             config['max_speed']
@@ -137,24 +147,24 @@ class TriangleControl:
         self.twist.linear.z = self.pid_linear_z(self.z)
         if self.linear_z_pub.get_num_connections() > 0:
             self.linear_z_info.target = 0
-            self.linear_z_info.error = self.error_linear_z[0]
+            self.linear_z_info.error = self.z
-            self.linear_z_info.derror = self.error_linear_z[1]
+            self.linear_z_info.derror = 0
             self.linear_z_info.cmd_vel = self.twist.linear.z
             self.linear_z_pub.publish(self.linear_z_info)
 
-        self.twist.linear.y = self.pid_linear_y(self.alpha)
+        self.twist.linear.y = self.pid_linear_y(-self.alpha)
         if self.linear_y_pub.get_num_connections() > 0:
             self.linear_y_info.target = 0
-            self.linear_y_info.error = self.error_linear_y[0]
+            self.linear_y_info.error = -self.alpha
-            self.linear_y_info.derror = self.error_linear_y[1]
+            self.linear_y_info.derror = 0
             self.linear_y_info.cmd_vel = self.twist.linear.y
             self.linear_y_pub.publish(self.linear_y_info)
 
         self.twist.linear.x = self.pid_linear_x(self.d)
         if self.linear_x_pub.get_num_connections() > 0:
-            self.linear_x_info.target = 0
+            self.linear_x_info.target = self.pid_linear_x.setpoint
-            self.linear_x_info.error = self.error_linear_x[0]
+            self.linear_x_info.error = self.target_distance - self.d
-            self.linear_x_info.derror = self.error_linear_x[1]
+            self.linear_x_info.derror = 0
             self.linear_x_info.cmd_vel = self.twist.linear.x
             self.linear_x_pub.publish(self.linear_x_info)
 

workspace/build/teleop_tools_msgs/CMakeFiles/Makefile.cmake

@@ -10,8 +10,6 @@ set(CMAKE_MAKEFILE_DEPENDS
   "CMakeFiles/3.10.2/CMakeCCompiler.cmake"
   "CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
   "CMakeFiles/3.10.2/CMakeSystem.cmake"
-  "CMakeFiles/feature_tests.c"
-  "CMakeFiles/feature_tests.cxx"
   "catkin/catkin_generated/version/package.cmake"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/ordered_paths.cmake"
@@ -129,95 +127,27 @@ set(CMAKE_MAKEFILE_DEPENDS
   "/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgs-msg-extras.cmake"
   "/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgsConfig-version.cmake"
   "/opt/ros/melodic/share/trajectory_msgs/cmake/trajectory_msgsConfig.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeCCompiler.cmake.in"
-  "/usr/share/cmake-3.10/Modules/CMakeCCompilerABI.c"
   "/usr/share/cmake-3.10/Modules/CMakeCInformation.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeCXXCompiler.cmake.in"
-  "/usr/share/cmake-3.10/Modules/CMakeCXXCompilerABI.cpp"
   "/usr/share/cmake-3.10/Modules/CMakeCXXInformation.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeCommonLanguageInclude.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeCompilerIdDetection.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeConfigurableFile.in"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCXXCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCompileFeatures.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCompilerABI.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineCompilerId.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeDetermineSystem.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeFindBinUtils.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeGenericSystem.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeLanguageInformation.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeParseArguments.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeParseImplicitLinkInfo.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeSystem.cmake.in"
   "/usr/share/cmake-3.10/Modules/CMakeSystemSpecificInformation.cmake"
   "/usr/share/cmake-3.10/Modules/CMakeSystemSpecificInitialize.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeTestCCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeTestCXXCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeTestCompilerCommon.cmake"
-  "/usr/share/cmake-3.10/Modules/CMakeUnixFindMake.cmake"
-  "/usr/share/cmake-3.10/Modules/CheckFunctionExists.c"
-  "/usr/share/cmake-3.10/Modules/CheckIncludeFile.c.in"
   "/usr/share/cmake-3.10/Modules/CheckIncludeFile.cmake"
   "/usr/share/cmake-3.10/Modules/CheckLibraryExists.cmake"
   "/usr/share/cmake-3.10/Modules/CheckSymbolExists.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/ADSP-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Borland-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Bruce-C-DetermineCompiler.cmake"
   "/usr/share/cmake-3.10/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Clang-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Cray-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GHS-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GNU-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GNU-C-FeatureTests.cmake"
   "/usr/share/cmake-3.10/Modules/Compiler/GNU-C.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX-FeatureTests.cmake"
   "/usr/share/cmake-3.10/Modules/Compiler/GNU-CXX.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/GNU-FindBinUtils.cmake"
   "/usr/share/cmake-3.10/Modules/Compiler/GNU.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/HP-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/IAR-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Intel-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/MIPSpro-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/MSVC-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/PGI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/PathScale-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/SCO-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/TI-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/Watcom-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/XL-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
-  "/usr/share/cmake-3.10/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
   "/usr/share/cmake-3.10/Modules/FindGTest.cmake"
   "/usr/share/cmake-3.10/Modules/FindPackageHandleStandardArgs.cmake"
   "/usr/share/cmake-3.10/Modules/FindPackageMessage.cmake"
   "/usr/share/cmake-3.10/Modules/FindPythonInterp.cmake"
   "/usr/share/cmake-3.10/Modules/FindThreads.cmake"
   "/usr/share/cmake-3.10/Modules/GoogleTest.cmake"
-  "/usr/share/cmake-3.10/Modules/Internal/FeatureTesting.cmake"
-  "/usr/share/cmake-3.10/Modules/Platform/Linux-Determine-CXX.cmake"
   "/usr/share/cmake-3.10/Modules/Platform/Linux-GNU-C.cmake"
   "/usr/share/cmake-3.10/Modules/Platform/Linux-GNU-CXX.cmake"
   "/usr/share/cmake-3.10/Modules/Platform/Linux-GNU.cmake"
@@ -237,11 +167,6 @@ set(CMAKE_MAKEFILE_OUTPUTS
 
 # Byproducts of CMake generate step:
 set(CMAKE_MAKEFILE_PRODUCTS
-  "CMakeFiles/3.10.2/CMakeSystem.cmake"
-  "CMakeFiles/3.10.2/CMakeCCompiler.cmake"
-  "CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
-  "CMakeFiles/3.10.2/CMakeCCompiler.cmake"
-  "CMakeFiles/3.10.2/CMakeCXXCompiler.cmake"
   "catkin_generated/stamps/teleop_tools_msgs/package.xml.stamp"
   "catkin_generated/installspace/_setup_util.py"
   "catkin_generated/stamps/teleop_tools_msgs/_setup_util.py.stamp"

workspace/build/teleop_tools_msgs/catkin_generated/setup_cached.sh

@@ -8,6 +8,9 @@
 
 # modified environment variables
 export CMAKE_PREFIX_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs:$CMAKE_PREFIX_PATH"
+export LD_LIBRARY_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib:$LD_LIBRARY_PATH"
+export PKG_CONFIG_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib/pkgconfig:$PKG_CONFIG_PATH"
 export PWD="/home/klafyvel/Documents/supelec/2A/projet/workspace/build/teleop_tools_msgs"
+export PYTHONPATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/lib/python2.7/dist-packages:$PYTHONPATH"
 export ROSLISP_PACKAGE_DIRECTORIES="/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/teleop_tools_msgs/share/common-lisp:$ROSLISP_PACKAGE_DIRECTORIES"
 export ROS_PACKAGE_PATH="/home/klafyvel/Documents/supelec/2A/projet/workspace/src/teleop_tools/teleop_tools_msgs:$ROS_PACKAGE_PATH"

workspace/devel/.private/detect_targets/include/detect_targets/TriangleParamConfig.h

@@ -0,0 +1,767 @@
+//#line 2 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+// *********************************************************
+//
+// File autogenerated for the detect_targets package
+// by the dynamic_reconfigure package.
+// Please do not edit.
+//
+// ********************************************************/
+
+#ifndef __detect_targets__TRIANGLEPARAMCONFIG_H__
+#define __detect_targets__TRIANGLEPARAMCONFIG_H__
+
+#if __cplusplus >= 201103L
+#define DYNAMIC_RECONFIGURE_FINAL final
+#else
+#define DYNAMIC_RECONFIGURE_FINAL
+#endif
+
+#include <dynamic_reconfigure/config_tools.h>
+#include <limits>
+#include <ros/node_handle.h>
+#include <dynamic_reconfigure/ConfigDescription.h>
+#include <dynamic_reconfigure/ParamDescription.h>
+#include <dynamic_reconfigure/Group.h>
+#include <dynamic_reconfigure/config_init_mutex.h>
+#include <boost/any.hpp>
+
+namespace detect_targets
+{
+  class TriangleParamConfigStatics;
+
+  class TriangleParamConfig
+  {
+  public:
+    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
+    {
+    public:
+      AbstractParamDescription(std::string n, std::string t, uint32_t l,
+          std::string d, std::string e)
+      {
+        name = n;
+        type = t;
+        level = l;
+        description = d;
+        edit_method = e;
+      }
+
+      virtual void clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const = 0;
+      virtual void calcLevel(uint32_t &level, const TriangleParamConfig &config1, const TriangleParamConfig &config2) const = 0;
+      virtual void fromServer(const ros::NodeHandle &nh, TriangleParamConfig &config) const = 0;
+      virtual void toServer(const ros::NodeHandle &nh, const TriangleParamConfig &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TriangleParamConfig &config) const = 0;
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const TriangleParamConfig &config) const = 0;
+      virtual void getValue(const TriangleParamConfig &config, boost::any &val) const = 0;
+    };
+
+    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
+
+    // Final keyword added to class because it has virtual methods and inherits
+    // from a class with a non-virtual destructor.
+    template <class T>
+    class ParamDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractParamDescription
+    {
+    public:
+      ParamDescription(std::string a_name, std::string a_type, uint32_t a_level,
+          std::string a_description, std::string a_edit_method, T TriangleParamConfig::* a_f) :
+        AbstractParamDescription(a_name, a_type, a_level, a_description, a_edit_method),
+        field(a_f)
+      {}
+
+      T (TriangleParamConfig::* field);
+
+      virtual void clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const
+      {
+        if (config.*field > max.*field)
+          config.*field = max.*field;
+
+        if (config.*field < min.*field)
+          config.*field = min.*field;
+      }
+
+      virtual void calcLevel(uint32_t &comb_level, const TriangleParamConfig &config1, const TriangleParamConfig &config2) const
+      {
+        if (config1.*field != config2.*field)
+          comb_level |= level;
+      }
+
+      virtual void fromServer(const ros::NodeHandle &nh, TriangleParamConfig &config) const
+      {
+        nh.getParam(name, config.*field);
+      }
+
+      virtual void toServer(const ros::NodeHandle &nh, const TriangleParamConfig &config) const
+      {
+        nh.setParam(name, config.*field);
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, TriangleParamConfig &config) const
+      {
+        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const TriangleParamConfig &config) const
+      {
+        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
+      }
+
+      virtual void getValue(const TriangleParamConfig &config, boost::any &val) const
+      {
+        val = config.*field;
+      }
+    };
+
+    class AbstractGroupDescription : public dynamic_reconfigure::Group
+    {
+      public:
+      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
+      {
+        name = n;
+        type = t;
+        parent = p;
+        state = s;
+        id = i;
+      }
+
+      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
+      bool state;
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
+      virtual void updateParams(boost::any &cfg, TriangleParamConfig &top) const= 0;
+      virtual void setInitialState(boost::any &cfg) const = 0;
+
+
+      void convertParams()
+      {
+        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+        {
+          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+        }
+      }
+    };
+
+    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
+
+    // Final keyword added to class because it has virtual methods and inherits
+    // from a class with a non-virtual destructor.
+    template<class T, class PT>
+    class GroupDescription DYNAMIC_RECONFIGURE_FINAL : public AbstractGroupDescription
+    {
+    public:
+      GroupDescription(std::string a_name, std::string a_type, int a_parent, int a_id, bool a_s, T PT::* a_f) : AbstractGroupDescription(a_name, a_type, a_parent, a_id, a_s), field(a_f)
+      {
+      }
+
+      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
+      {
+        parameters = g.parameters;
+        abstract_parameters = g.abstract_parameters;
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+          return false;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          if(!(*i)->fromMessage(msg, n))
+            return false;
+        }
+
+        return true;
+      }
+
+      virtual void setInitialState(boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        T* group = &((*config).*field);
+        group->state = state;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = boost::any(&((*config).*field));
+          (*i)->setInitialState(n);
+        }
+
+      }
+
+      virtual void updateParams(boost::any &cfg, TriangleParamConfig &top) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+
+        T* f = &((*config).*field);
+        f->setParams(top, abstract_parameters);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          (*i)->updateParams(n, top);
+        }
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
+      {
+        const PT config = boost::any_cast<PT>(cfg);
+        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          (*i)->toMessage(msg, config.*field);
+        }
+      }
+
+      T (PT::* field);
+      std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> groups;
+    };
+
+class DEFAULT
+{
+  public:
+    DEFAULT()
+    {
+      state = true;
+      name = "Default";
+    }
+
+    void setParams(TriangleParamConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
+    {
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
+      {
+        boost::any val;
+        (*_i)->getValue(config, val);
+
+        if("camera_angle"==(*_i)->name){camera_angle = boost::any_cast<double>(val);}
+        if("target_width"==(*_i)->name){target_width = boost::any_cast<double>(val);}
+        if("target_depth"==(*_i)->name){target_depth = boost::any_cast<double>(val);}
+        if("distance_to_target"==(*_i)->name){distance_to_target = boost::any_cast<double>(val);}
+        if("max_speed"==(*_i)->name){max_speed = boost::any_cast<double>(val);}
+        if("linear_x_Kp"==(*_i)->name){linear_x_Kp = boost::any_cast<double>(val);}
+        if("linear_x_Ki"==(*_i)->name){linear_x_Ki = boost::any_cast<double>(val);}
+        if("linear_x_Kd"==(*_i)->name){linear_x_Kd = boost::any_cast<double>(val);}
+        if("control_linear_x"==(*_i)->name){control_linear_x = boost::any_cast<bool>(val);}
+        if("linear_y_Kp"==(*_i)->name){linear_y_Kp = boost::any_cast<double>(val);}
+        if("linear_y_Ki"==(*_i)->name){linear_y_Ki = boost::any_cast<double>(val);}
+        if("linear_y_Kd"==(*_i)->name){linear_y_Kd = boost::any_cast<double>(val);}
+        if("control_linear_y"==(*_i)->name){control_linear_y = boost::any_cast<bool>(val);}
+        if("linear_z_Kp"==(*_i)->name){linear_z_Kp = boost::any_cast<double>(val);}
+        if("linear_z_Ki"==(*_i)->name){linear_z_Ki = boost::any_cast<double>(val);}
+        if("linear_z_Kd"==(*_i)->name){linear_z_Kd = boost::any_cast<double>(val);}
+        if("control_linear_z"==(*_i)->name){control_linear_z = boost::any_cast<bool>(val);}
+        if("angular_z_Kp"==(*_i)->name){angular_z_Kp = boost::any_cast<double>(val);}
+        if("angular_z_Ki"==(*_i)->name){angular_z_Ki = boost::any_cast<double>(val);}
+        if("angular_z_Kd"==(*_i)->name){angular_z_Kd = boost::any_cast<double>(val);}
+        if("control_angular_z"==(*_i)->name){control_angular_z = boost::any_cast<bool>(val);}
+      }
+    }
+
+    double camera_angle;
+double target_width;
+double target_depth;
+double distance_to_target;
+double max_speed;
+double linear_x_Kp;
+double linear_x_Ki;
+double linear_x_Kd;
+bool control_linear_x;
+double linear_y_Kp;
+double linear_y_Ki;
+double linear_y_Kd;
+bool control_linear_y;
+double linear_z_Kp;
+double linear_z_Ki;
+double linear_z_Kd;
+bool control_linear_z;
+double angular_z_Kp;
+double angular_z_Ki;
+double angular_z_Kd;
+bool control_angular_z;
+
+    bool state;
+    std::string name;
+
+    
+}groups;
+
+
+
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double camera_angle;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double target_width;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double target_depth;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double distance_to_target;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double max_speed;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_x_Kp;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_x_Ki;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_x_Kd;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      bool control_linear_x;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_y_Kp;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_y_Ki;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_y_Kd;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      bool control_linear_y;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_z_Kp;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_z_Ki;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double linear_z_Kd;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      bool control_linear_z;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double angular_z_Kp;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double angular_z_Ki;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      double angular_z_Kd;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      bool control_angular_z;
+//#line 228 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+
+    bool __fromMessage__(dynamic_reconfigure::Config &msg)
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+
+      int count = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        if ((*i)->fromMessage(msg, *this))
+          count++;
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
+      {
+        if ((*i)->id == 0)
+        {
+          boost::any n = boost::any(this);
+          (*i)->updateParams(n, *this);
+          (*i)->fromMessage(msg, n);
+        }
+      }
+
+      if (count != dynamic_reconfigure::ConfigTools::size(msg))
+      {
+        ROS_ERROR("TriangleParamConfig::__fromMessage__ called with an unexpected parameter.");
+        ROS_ERROR("Booleans:");
+        for (unsigned int i = 0; i < msg.bools.size(); i++)
+          ROS_ERROR("  %s", msg.bools[i].name.c_str());
+        ROS_ERROR("Integers:");
+        for (unsigned int i = 0; i < msg.ints.size(); i++)
+          ROS_ERROR("  %s", msg.ints[i].name.c_str());
+        ROS_ERROR("Doubles:");
+        for (unsigned int i = 0; i < msg.doubles.size(); i++)
+          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
+        ROS_ERROR("Strings:");
+        for (unsigned int i = 0; i < msg.strs.size(); i++)
+          ROS_ERROR("  %s", msg.strs[i].name.c_str());
+        // @todo Check that there are no duplicates. Make this error more
+        // explicit.
+        return false;
+      }
+      return true;
+    }
+
+    // This version of __toMessage__ is used during initialization of
+    // statics when __getParamDescriptions__ can't be called yet.
+    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
+    {
+      dynamic_reconfigure::ConfigTools::clear(msg);
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toMessage(msg, *this);
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        if((*i)->id == 0)
+        {
+          (*i)->toMessage(msg, *this);
+        }
+      }
+    }
+
+    void __toMessage__(dynamic_reconfigure::Config &msg) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+    }
+
+    void __toServer__(const ros::NodeHandle &nh) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toServer(nh, *this);
+    }
+
+    void __fromServer__(const ros::NodeHandle &nh)
+    {
+      static bool setup=false;
+
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->fromServer(nh, *this);
+
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
+        if (!setup && (*i)->id == 0) {
+          setup = true;
+          boost::any n = boost::any(this);
+          (*i)->setInitialState(n);
+        }
+      }
+    }
+
+    void __clamp__()
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const TriangleParamConfig &__max__ = __getMax__();
+      const TriangleParamConfig &__min__ = __getMin__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->clamp(*this, __max__, __min__);
+    }
+
+    uint32_t __level__(const TriangleParamConfig &config) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      uint32_t level = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->calcLevel(level, config, *this);
+      return level;
+    }
+
+    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
+    static const TriangleParamConfig &__getDefault__();
+    static const TriangleParamConfig &__getMax__();
+    static const TriangleParamConfig &__getMin__();
+    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
+    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
+
+  private:
+    static const TriangleParamConfigStatics *__get_statics__();
+  };
+
+  template <> // Max and min are ignored for strings.
+  inline void TriangleParamConfig::ParamDescription<std::string>::clamp(TriangleParamConfig &config, const TriangleParamConfig &max, const TriangleParamConfig &min) const
+  {
+    (void) config;
+    (void) min;
+    (void) max;
+    return;
+  }
+
+  class TriangleParamConfigStatics
+  {
+    friend class TriangleParamConfig;
+
+    TriangleParamConfigStatics()
+    {
+TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TriangleParamConfig> Default("Default", "", 0, 0, true, &TriangleParamConfig::groups);
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.camera_angle = 50.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.camera_angle = 180.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.camera_angle = 80.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("camera_angle", "double", 0, "The angle corresponding to the image width", "", &TriangleParamConfig::camera_angle)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("camera_angle", "double", 0, "The angle corresponding to the image width", "", &TriangleParamConfig::camera_angle)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.target_width = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.target_width = 1.5;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.target_width = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_width", "double", 0, "the real target width (m)", "", &TriangleParamConfig::target_width)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_width", "double", 0, "the real target width (m)", "", &TriangleParamConfig::target_width)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.target_depth = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.target_depth = 0.5;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.target_depth = 0.2;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_depth", "double", 0, "the real target depth (m)", "", &TriangleParamConfig::target_depth)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("target_depth", "double", 0, "the real target depth (m)", "", &TriangleParamConfig::target_depth)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.distance_to_target = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.distance_to_target = 5.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.distance_to_target = 2.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("distance_to_target", "double", 0, "The required distance to the target (m)", "", &TriangleParamConfig::distance_to_target)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("distance_to_target", "double", 0, "The required distance to the target (m)", "", &TriangleParamConfig::distance_to_target)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.max_speed = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.max_speed = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.max_speed = 0.3;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("max_speed", "double", 0, "the maximal linear speed", "", &TriangleParamConfig::max_speed)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("max_speed", "double", 0, "the maximal linear speed", "", &TriangleParamConfig::max_speed)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_x_Kp = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_x_Kp = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_x_Kp = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_x_Ki = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_x_Ki = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_x_Ki = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_x_Kd = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_x_Kd = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_x_Kd = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.control_linear_x = 0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.control_linear_x = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.control_linear_x = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_x", "bool", 0, "Control distance to target", "", &TriangleParamConfig::control_linear_x)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_x", "bool", 0, "Control distance to target", "", &TriangleParamConfig::control_linear_x)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_y_Kp = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_y_Kp = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_y_Kp = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_y_Ki = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_y_Ki = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_y_Ki = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_y_Kd = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_y_Kd = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_y_Kd = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.control_linear_y = 0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.control_linear_y = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.control_linear_y = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_y", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_y)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_y", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_y)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_z_Kp = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_z_Kp = 10.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_z_Kp = 0.1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kp", "double", 0, "linear.z controller Kp", "", &TriangleParamConfig::linear_z_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kp", "double", 0, "linear.z controller Kp", "", &TriangleParamConfig::linear_z_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_z_Ki = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_z_Ki = 10.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_z_Ki = 0.1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Ki", "double", 0, "linear.z controller Ki", "", &TriangleParamConfig::linear_z_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Ki", "double", 0, "linear.z controller Ki", "", &TriangleParamConfig::linear_z_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.linear_z_Kd = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.linear_z_Kd = 10.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.linear_z_Kd = 0.1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kd", "double", 0, "linear.z controller Kd", "", &TriangleParamConfig::linear_z_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_z_Kd", "double", 0, "linear.z controller Kd", "", &TriangleParamConfig::linear_z_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.control_linear_z = 0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.control_linear_z = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.control_linear_z = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_z)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_linear_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_linear_z)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.angular_z_Kp = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.angular_z_Kp = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.angular_z_Kp = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.angular_z_Ki = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.angular_z_Ki = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.angular_z_Ki = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.angular_z_Kd = 0.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.angular_z_Kd = 1.0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.angular_z_Kd = 0.01;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __min__.control_angular_z = 0;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __max__.control_angular_z = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __default__.control_angular_z = 1;
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_angular_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_angular_z)));
+//#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __param_descriptions__.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<bool>("control_angular_z", "bool", 0, "Controls the facing to target", "", &TriangleParamConfig::control_angular_z)));
+//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      Default.convertParams();
+//#line 246 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
+      __group_descriptions__.push_back(TriangleParamConfig::AbstractGroupDescriptionConstPtr(new TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TriangleParamConfig>(Default)));
+//#line 366 "/opt/ros/melodic/share/dynamic_reconfigure/cmake/../templates/ConfigType.h.template"
+
+      for (std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        __description_message__.groups.push_back(**i);
+      }
+      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__);
+      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__);
+      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__);
+    }
+    std::vector<TriangleParamConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
+    std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
+    TriangleParamConfig __max__;
+    TriangleParamConfig __min__;
+    TriangleParamConfig __default__;
+    dynamic_reconfigure::ConfigDescription __description_message__;
+
+    static const TriangleParamConfigStatics *get_instance()
+    {
+      // Split this off in a separate function because I know that
+      // instance will get initialized the first time get_instance is
+      // called, and I am guaranteeing that get_instance gets called at
+      // most once.
+      static TriangleParamConfigStatics instance;
+      return &instance;
+    }
+  };
+
+  inline const dynamic_reconfigure::ConfigDescription &TriangleParamConfig::__getDescriptionMessage__()
+  {
+    return __get_statics__()->__description_message__;
+  }
+
+  inline const TriangleParamConfig &TriangleParamConfig::__getDefault__()
+  {
+    return __get_statics__()->__default__;
+  }
+
+  inline const TriangleParamConfig &TriangleParamConfig::__getMax__()
+  {
+    return __get_statics__()->__max__;
+  }
+
+  inline const TriangleParamConfig &TriangleParamConfig::__getMin__()
+  {
+    return __get_statics__()->__min__;
+  }
+
+  inline const std::vector<TriangleParamConfig::AbstractParamDescriptionConstPtr> &TriangleParamConfig::__getParamDescriptions__()
+  {
+    return __get_statics__()->__param_descriptions__;
+  }
+
+  inline const std::vector<TriangleParamConfig::AbstractGroupDescriptionConstPtr> &TriangleParamConfig::__getGroupDescriptions__()
+  {
+    return __get_statics__()->__group_descriptions__;
+  }
+
+  inline const TriangleParamConfigStatics *TriangleParamConfig::__get_statics__()
+  {
+    const static TriangleParamConfigStatics *statics;
+
+    if (statics) // Common case
+      return statics;
+
+    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
+
+    if (statics) // In case we lost a race.
+      return statics;
+
+    statics = TriangleParamConfigStatics::get_instance();
+
+    return statics;
+  }
+
+
+}
+
+#undef DYNAMIC_RECONFIGURE_FINAL
+
+#endif // __TRIANGLEPARAMRECONFIGURATOR_H__

workspace/devel/.private/detect_targets/include/detect_targets/component_center.h

@@ -0,0 +1,214 @@
+// Generated by gencpp from file detect_targets/component_center.msg
+// DO NOT EDIT!
+
+
+#ifndef DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H
+#define DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace detect_targets
+{
+template <class ContainerAllocator>
+struct component_center_
+{
+  typedef component_center_<ContainerAllocator> Type;
+
+  component_center_()
+    : label(0)
+    , nb_vertex(0)
+    , x(0.0)
+    , y(0.0)  {
+    }
+  component_center_(const ContainerAllocator& _alloc)
+    : label(0)
+    , nb_vertex(0)
+    , x(0.0)
+    , y(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef int64_t _label_type;
+  _label_type label;
+
+   typedef int64_t _nb_vertex_type;
+  _nb_vertex_type nb_vertex;
+
+   typedef double _x_type;
+  _x_type x;
+
+   typedef double _y_type;
+  _y_type y;
+
+
+
+
+
+  typedef boost::shared_ptr< ::detect_targets::component_center_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::detect_targets::component_center_<ContainerAllocator> const> ConstPtr;
+
+}; // struct component_center_
+
+typedef ::detect_targets::component_center_<std::allocator<void> > component_center;
+
+typedef boost::shared_ptr< ::detect_targets::component_center > component_centerPtr;
+typedef boost::shared_ptr< ::detect_targets::component_center const> component_centerConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::detect_targets::component_center_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::detect_targets::component_center_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace detect_targets
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg'], 'detect_targets': ['/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::detect_targets::component_center_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::detect_targets::component_center_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::detect_targets::component_center_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::detect_targets::component_center_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::detect_targets::component_center_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::detect_targets::component_center_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::detect_targets::component_center_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "da1879b15a6566f498d1395c2d529084";
+  }
+
+  static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xda1879b15a6566f4ULL;
+  static const uint64_t static_value2 = 0x98d1395c2d529084ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::detect_targets::component_center_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "detect_targets/component_center";
+  }
+
+  static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::detect_targets::component_center_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "int64   label\n\
+int64   nb_vertex\n\
+float64 x\n\
+float64 y\n\
+";
+  }
+
+  static const char* value(const ::detect_targets::component_center_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::detect_targets::component_center_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.label);
+      stream.next(m.nb_vertex);
+      stream.next(m.x);
+      stream.next(m.y);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct component_center_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::detect_targets::component_center_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::detect_targets::component_center_<ContainerAllocator>& v)
+  {
+    s << indent << "label: ";
+    Printer<int64_t>::stream(s, indent + "  ", v.label);
+    s << indent << "nb_vertex: ";
+    Printer<int64_t>::stream(s, indent + "  ", v.nb_vertex);
+    s << indent << "x: ";
+    Printer<double>::stream(s, indent + "  ", v.x);
+    s << indent << "y: ";
+    Printer<double>::stream(s, indent + "  ", v.y);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // DETECT_TARGETS_MESSAGE_COMPONENT_CENTER_H

workspace/devel/.private/detect_targets/include/detect_targets/control.h

@@ -0,0 +1,214 @@
+// Generated by gencpp from file detect_targets/control.msg
+// DO NOT EDIT!
+
+
+#ifndef DETECT_TARGETS_MESSAGE_CONTROL_H
+#define DETECT_TARGETS_MESSAGE_CONTROL_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace detect_targets
+{
+template <class ContainerAllocator>
+struct control_
+{
+  typedef control_<ContainerAllocator> Type;
+
+  control_()
+    : target(0.0)
+    , error(0.0)
+    , derror(0.0)
+    , cmd_vel(0.0)  {
+    }
+  control_(const ContainerAllocator& _alloc)
+    : target(0.0)
+    , error(0.0)
+    , derror(0.0)
+    , cmd_vel(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef double _target_type;
+  _target_type target;
+
+   typedef double _error_type;
+  _error_type error;
+
+   typedef double _derror_type;
+  _derror_type derror;
+
+   typedef double _cmd_vel_type;
+  _cmd_vel_type cmd_vel;
+
+
+
+
+
+  typedef boost::shared_ptr< ::detect_targets::control_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::detect_targets::control_<ContainerAllocator> const> ConstPtr;
+
+}; // struct control_
+
+typedef ::detect_targets::control_<std::allocator<void> > control;
+
+typedef boost::shared_ptr< ::detect_targets::control > controlPtr;
+typedef boost::shared_ptr< ::detect_targets::control const> controlConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::detect_targets::control_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::detect_targets::control_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace detect_targets
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': True, 'IsMessage': True, 'HasHeader': False}
+// {'std_msgs': ['/opt/ros/melodic/share/std_msgs/cmake/../msg'], 'detect_targets': ['/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::detect_targets::control_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::detect_targets::control_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::detect_targets::control_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::detect_targets::control_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::detect_targets::control_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::detect_targets::control_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::detect_targets::control_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "6f80b008c55c6a68dec8d378f0b74e50";
+  }
+
+  static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x6f80b008c55c6a68ULL;
+  static const uint64_t static_value2 = 0xdec8d378f0b74e50ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::detect_targets::control_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "detect_targets/control";
+  }
+
+  static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::detect_targets::control_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "float64 target\n\
+float64 error\n\
+float64 derror\n\
+float64 cmd_vel\n\
+";
+  }
+
+  static const char* value(const ::detect_targets::control_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::detect_targets::control_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.target);
+      stream.next(m.error);
+      stream.next(m.derror);
+      stream.next(m.cmd_vel);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct control_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::detect_targets::control_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::detect_targets::control_<ContainerAllocator>& v)
+  {
+    s << indent << "target: ";
+    Printer<double>::stream(s, indent + "  ", v.target);
+    s << indent << "error: ";
+    Printer<double>::stream(s, indent + "  ", v.error);
+    s << indent << "derror: ";
+    Printer<double>::stream(s, indent + "  ", v.derror);
+    s << indent << "cmd_vel: ";
+    Printer<double>::stream(s, indent + "  ", v.cmd_vel);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // DETECT_TARGETS_MESSAGE_CONTROL_H

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package.lisp

@@ -5,5 +5,7 @@
    "COMPONENT_CENTER"
    "<COMPONENT_CENTERS>"
    "COMPONENT_CENTERS"
+   "<CONTROL>"
+   "CONTROL"
   ))
 

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_component_center.lisp

@@ -0,0 +1,10 @@
+(cl:in-package detect_targets-msg)
+(cl:export '(LABEL-VAL
+          LABEL
+          NB_VERTEX-VAL
+          NB_VERTEX
+          X-VAL
+          X
+          Y-VAL
+          Y
+))

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_control.lisp

@@ -0,0 +1,10 @@
+(cl:in-package detect_targets-msg)
+(cl:export '(TARGET-VAL
+          TARGET
+          ERROR-VAL
+          ERROR
+          DERROR-VAL
+          DERROR
+          CMD_VEL-VAL
+          CMD_VEL
+))

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/component_center.lisp

@@ -0,0 +1,176 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package detect_targets-msg)
+
+
+;//! \htmlinclude component_center.msg.html
+
+(cl:defclass <component_center> (roslisp-msg-protocol:ros-message)
+  ((label
+    :reader label
+    :initarg :label
+    :type cl:integer
+    :initform 0)
+   (nb_vertex
+    :reader nb_vertex
+    :initarg :nb_vertex
+    :type cl:integer
+    :initform 0)
+   (x
+    :reader x
+    :initarg :x
+    :type cl:float
+    :initform 0.0)
+   (y
+    :reader y
+    :initarg :y
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass component_center (<component_center>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <component_center>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'component_center)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name detect_targets-msg:<component_center> is deprecated: use detect_targets-msg:component_center instead.")))
+
+(cl:ensure-generic-function 'label-val :lambda-list '(m))
+(cl:defmethod label-val ((m <component_center>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:label-val is deprecated.  Use detect_targets-msg:label instead.")
+  (label m))
+
+(cl:ensure-generic-function 'nb_vertex-val :lambda-list '(m))
+(cl:defmethod nb_vertex-val ((m <component_center>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:nb_vertex-val is deprecated.  Use detect_targets-msg:nb_vertex instead.")
+  (nb_vertex m))
+
+(cl:ensure-generic-function 'x-val :lambda-list '(m))
+(cl:defmethod x-val ((m <component_center>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:x-val is deprecated.  Use detect_targets-msg:x instead.")
+  (x m))
+
+(cl:ensure-generic-function 'y-val :lambda-list '(m))
+(cl:defmethod y-val ((m <component_center>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:y-val is deprecated.  Use detect_targets-msg:y instead.")
+  (y m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <component_center>) ostream)
+  "Serializes a message object of type '<component_center>"
+  (cl:let* ((signed (cl:slot-value msg 'label)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'nb_vertex)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 18446744073709551616) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) unsigned) ostream)
+    )
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'x))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'y))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <component_center>) istream)
+  "Deserializes a message object of type '<component_center>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'label) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'nb_vertex) (cl:if (cl:< unsigned 9223372036854775808) unsigned (cl:- unsigned 18446744073709551616))))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'x) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'y) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<component_center>)))
+  "Returns string type for a message object of type '<component_center>"
+  "detect_targets/component_center")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'component_center)))
+  "Returns string type for a message object of type 'component_center"
+  "detect_targets/component_center")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<component_center>)))
+  "Returns md5sum for a message object of type '<component_center>"
+  "da1879b15a6566f498d1395c2d529084")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'component_center)))
+  "Returns md5sum for a message object of type 'component_center"
+  "da1879b15a6566f498d1395c2d529084")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<component_center>)))
+  "Returns full string definition for message of type '<component_center>"
+  (cl:format cl:nil "int64   label~%int64   nb_vertex~%float64 x~%float64 y~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'component_center)))
+  "Returns full string definition for message of type 'component_center"
+  (cl:format cl:nil "int64   label~%int64   nb_vertex~%float64 x~%float64 y~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <component_center>))
+  (cl:+ 0
+     8
+     8
+     8
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <component_center>))
+  "Converts a ROS message object to a list"
+  (cl:list 'component_center
+    (cl:cons ':label (label msg))
+    (cl:cons ':nb_vertex (nb_vertex msg))
+    (cl:cons ':x (x msg))
+    (cl:cons ':y (y msg))
+))

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/control.lisp

@@ -0,0 +1,174 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package detect_targets-msg)
+
+
+;//! \htmlinclude control.msg.html
+
+(cl:defclass <control> (roslisp-msg-protocol:ros-message)
+  ((target
+    :reader target
+    :initarg :target
+    :type cl:float
+    :initform 0.0)
+   (error
+    :reader error
+    :initarg :error
+    :type cl:float
+    :initform 0.0)
+   (derror
+    :reader derror
+    :initarg :derror
+    :type cl:float
+    :initform 0.0)
+   (cmd_vel
+    :reader cmd_vel
+    :initarg :cmd_vel
+    :type cl:float
+    :initform 0.0))
+)
+
+(cl:defclass control (<control>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <control>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'control)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name detect_targets-msg:<control> is deprecated: use detect_targets-msg:control instead.")))
+
+(cl:ensure-generic-function 'target-val :lambda-list '(m))
+(cl:defmethod target-val ((m <control>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:target-val is deprecated.  Use detect_targets-msg:target instead.")
+  (target m))
+
+(cl:ensure-generic-function 'error-val :lambda-list '(m))
+(cl:defmethod error-val ((m <control>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:error-val is deprecated.  Use detect_targets-msg:error instead.")
+  (error m))
+
+(cl:ensure-generic-function 'derror-val :lambda-list '(m))
+(cl:defmethod derror-val ((m <control>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:derror-val is deprecated.  Use detect_targets-msg:derror instead.")
+  (derror m))
+
+(cl:ensure-generic-function 'cmd_vel-val :lambda-list '(m))
+(cl:defmethod cmd_vel-val ((m <control>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader detect_targets-msg:cmd_vel-val is deprecated.  Use detect_targets-msg:cmd_vel instead.")
+  (cmd_vel m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <control>) ostream)
+  "Serializes a message object of type '<control>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'target))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'error))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'derror))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'cmd_vel))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <control>) istream)
+  "Deserializes a message object of type '<control>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'target) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'error) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'derror) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'cmd_vel) (roslisp-utils:decode-double-float-bits bits)))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<control>)))
+  "Returns string type for a message object of type '<control>"
+  "detect_targets/control")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'control)))
+  "Returns string type for a message object of type 'control"
+  "detect_targets/control")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<control>)))
+  "Returns md5sum for a message object of type '<control>"
+  "6f80b008c55c6a68dec8d378f0b74e50")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'control)))
+  "Returns md5sum for a message object of type 'control"
+  "6f80b008c55c6a68dec8d378f0b74e50")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<control>)))
+  "Returns full string definition for message of type '<control>"
+  (cl:format cl:nil "float64 target~%float64 error~%float64 derror~%float64 cmd_vel~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'control)))
+  "Returns full string definition for message of type 'control"
+  (cl:format cl:nil "float64 target~%float64 error~%float64 derror~%float64 cmd_vel~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <control>))
+  (cl:+ 0
+     8
+     8
+     8
+     8
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <control>))
+  "Converts a ROS message object to a list"
+  (cl:list 'control
+    (cl:cons ':target (target msg))
+    (cl:cons ':error (error msg))
+    (cl:cons ':derror (derror msg))
+    (cl:cons ':cmd_vel (cmd_vel msg))
+))

workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/detect_targets-msg.asd

@@ -8,4 +8,6 @@
     (:file "_package_component_center" :depends-on ("_package"))
     (:file "component_centers" :depends-on ("_package_component_centers"))
     (:file "_package_component_centers" :depends-on ("_package"))
+    (:file "control" :depends-on ("_package_control"))
+    (:file "_package_control" :depends-on ("_package"))
   ))

workspace/devel/.private/detect_targets/share/detect_targets/cmake/detect_targets-msg-extras.cmake

@@ -1,2 +1,2 @@
-set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg")
+set(detect_targets_MESSAGE_FILES "/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_centers.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/component_center.msg;/home/klafyvel/Documents/supelec/2A/projet/workspace/src/detect_targets/msg/control.msg")
 set(detect_targets_SERVICE_FILES "")

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig-usage.dox

@@ -0,0 +1,27 @@
+\subsubsection usage Usage
+\verbatim
+<node name="detect_targets" pkg="detect_targets" type="detect_targets">
+  <param name="camera_angle" type="double" value="80.0" />
+  <param name="target_width" type="double" value="1.0" />
+  <param name="target_depth" type="double" value="0.2" />
+  <param name="distance_to_target" type="double" value="2.0" />
+  <param name="max_speed" type="double" value="0.3" />
+  <param name="linear_x_Kp" type="double" value="0.01" />
+  <param name="linear_x_Ki" type="double" value="0.01" />
+  <param name="linear_x_Kd" type="double" value="0.01" />
+  <param name="control_linear_x" type="bool" value="True" />
+  <param name="linear_y_Kp" type="double" value="0.01" />
+  <param name="linear_y_Ki" type="double" value="0.01" />
+  <param name="linear_y_Kd" type="double" value="0.01" />
+  <param name="control_linear_y" type="bool" value="True" />
+  <param name="linear_z_Kp" type="double" value="0.1" />
+  <param name="linear_z_Ki" type="double" value="0.1" />
+  <param name="linear_z_Kd" type="double" value="0.1" />
+  <param name="control_linear_z" type="bool" value="True" />
+  <param name="angular_z_Kp" type="double" value="0.01" />
+  <param name="angular_z_Ki" type="double" value="0.01" />
+  <param name="angular_z_Kd" type="double" value="0.01" />
+  <param name="control_angular_z" type="bool" value="True" />
+</node>
+\endverbatim
+

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.dox

@@ -0,0 +1,26 @@
+\subsubsection parameters ROS parameters
+
+Reads and maintains the following parameters on the ROS server
+
+- \b "~camera_angle" : \b [double] The angle corresponding to the image width min: 50.0, default: 80.0, max: 180.0
+- \b "~target_width" : \b [double] the real target width (m) min: 0.01, default: 1.0, max: 1.5
+- \b "~target_depth" : \b [double] the real target depth (m) min: 0.01, default: 0.2, max: 0.5
+- \b "~distance_to_target" : \b [double] The required distance to the target (m) min: 1.0, default: 2.0, max: 5.0
+- \b "~max_speed" : \b [double] the maximal linear speed min: 0.01, default: 0.3, max: 1.0
+- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.01, max: 1.0
+- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.01, max: 1.0
+- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.01, max: 1.0
+- \b "~control_linear_x" : \b [bool] Control distance to target min: False, default: True, max: True
+- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.01, max: 1.0
+- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
+- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
+- \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
+- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
+- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
+- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
+- \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
+- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
+- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
+- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
+- \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
+

workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.wikidoc

@@ -0,0 +1,92 @@
+# Autogenerated param section. Do not hand edit.
+param {
+group.0 {
+name=Dynamically Reconfigurable Parameters
+desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
+0.name= ~camera_angle
+0.default= 80.0
+0.type= double
+0.desc=The angle corresponding to the image width Range: 50.0 to 180.0
+1.name= ~target_width
+1.default= 1.0
+1.type= double
+1.desc=the real target width (m) Range: 0.01 to 1.5
+2.name= ~target_depth
+2.default= 0.2
+2.type= double
+2.desc=the real target depth (m) Range: 0.01 to 0.5
+3.name= ~distance_to_target
+3.default= 2.0
+3.type= double
+3.desc=The required distance to the target (m) Range: 1.0 to 5.0
+4.name= ~max_speed
+4.default= 0.3
+4.type= double
+4.desc=the maximal linear speed Range: 0.01 to 1.0
+5.name= ~linear_x_Kp
+5.default= 0.01
+5.type= double
+5.desc=linear.x controller Kp Range: 0.0 to 1.0
+6.name= ~linear_x_Ki
+6.default= 0.01
+6.type= double
+6.desc=linear.x controller Ki Range: 0.0 to 1.0
+7.name= ~linear_x_Kd
+7.default= 0.01
+7.type= double
+7.desc=linear.x controller Kd Range: 0.0 to 1.0
+8.name= ~control_linear_x
+8.default= True
+8.type= bool
+8.desc=Control distance to target 
+9.name= ~linear_y_Kp
+9.default= 0.01
+9.type= double
+9.desc=linear.y controller Kp Range: 0.0 to 1.0
+10.name= ~linear_y_Ki
+10.default= 0.01
+10.type= double
+10.desc=linear.y controller Ki Range: 0.0 to 1.0
+11.name= ~linear_y_Kd
+11.default= 0.01
+11.type= double
+11.desc=linear.y controller Kd Range: 0.0 to 1.0
+12.name= ~control_linear_y
+12.default= True
+12.type= bool
+12.desc=Controls the facing to target 
+13.name= ~linear_z_Kp
+13.default= 0.1
+13.type= double
+13.desc=linear.z controller Kp Range: 0.0 to 10.0
+14.name= ~linear_z_Ki
+14.default= 0.1
+14.type= double
+14.desc=linear.z controller Ki Range: 0.0 to 10.0
+15.name= ~linear_z_Kd
+15.default= 0.1
+15.type= double
+15.desc=linear.z controller Kd Range: 0.0 to 10.0
+16.name= ~control_linear_z
+16.default= True
+16.type= bool
+16.desc=Controls the facing to target 
+17.name= ~angular_z_Kp
+17.default= 0.01
+17.type= double
+17.desc=angular.z controller Kp Range: 0.0 to 1.0
+18.name= ~angular_z_Ki
+18.default= 0.01
+18.type= double
+18.desc=angular.z controller Ki Range: 0.0 to 1.0
+19.name= ~angular_z_Kd
+19.default= 0.01
+19.type= double
+19.desc=angular.z controller Kd Range: 0.0 to 1.0
+20.name= ~control_angular_z
+20.default= True
+20.type= bool
+20.desc=Controls the facing to target 
+}
+}
+# End of autogenerated section. You may edit below.

workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/_index.js

@@ -3,8 +3,10 @@
 
 let component_centers = require('./component_centers.js');
 let component_center = require('./component_center.js');
+let control = require('./control.js');
 
 module.exports = {
   component_centers: component_centers,
   component_center: component_center,
+  control: control,
 };

workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/component_center.js

@@ -0,0 +1,145 @@
+// Auto-generated. Do not edit!
+
+// (in-package detect_targets.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class component_center {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.label = null;
+      this.nb_vertex = null;
+      this.x = null;
+      this.y = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('label')) {
+        this.label = initObj.label
+      }
+      else {
+        this.label = 0;
+      }
+      if (initObj.hasOwnProperty('nb_vertex')) {
+        this.nb_vertex = initObj.nb_vertex
+      }
+      else {
+        this.nb_vertex = 0;
+      }
+      if (initObj.hasOwnProperty('x')) {
+        this.x = initObj.x
+      }
+      else {
+        this.x = 0.0;
+      }
+      if (initObj.hasOwnProperty('y')) {
+        this.y = initObj.y
+      }
+      else {
+        this.y = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type component_center
+    // Serialize message field [label]
+    bufferOffset = _serializer.int64(obj.label, buffer, bufferOffset);
+    // Serialize message field [nb_vertex]
+    bufferOffset = _serializer.int64(obj.nb_vertex, buffer, bufferOffset);
+    // Serialize message field [x]
+    bufferOffset = _serializer.float64(obj.x, buffer, bufferOffset);
+    // Serialize message field [y]
+    bufferOffset = _serializer.float64(obj.y, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type component_center
+    let len;
+    let data = new component_center(null);
+    // Deserialize message field [label]
+    data.label = _deserializer.int64(buffer, bufferOffset);
+    // Deserialize message field [nb_vertex]
+    data.nb_vertex = _deserializer.int64(buffer, bufferOffset);
+    // Deserialize message field [x]
+    data.x = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [y]
+    data.y = _deserializer.float64(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 32;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'detect_targets/component_center';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'da1879b15a6566f498d1395c2d529084';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    int64   label
+    int64   nb_vertex
+    float64 x
+    float64 y
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new component_center(null);
+    if (msg.label !== undefined) {
+      resolved.label = msg.label;
+    }
+    else {
+      resolved.label = 0
+    }
+
+    if (msg.nb_vertex !== undefined) {
+      resolved.nb_vertex = msg.nb_vertex;
+    }
+    else {
+      resolved.nb_vertex = 0
+    }
+
+    if (msg.x !== undefined) {
+      resolved.x = msg.x;
+    }
+    else {
+      resolved.x = 0.0
+    }
+
+    if (msg.y !== undefined) {
+      resolved.y = msg.y;
+    }
+    else {
+      resolved.y = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = component_center;

workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/control.js

@@ -0,0 +1,144 @@
+// Auto-generated. Do not edit!
+
+// (in-package detect_targets.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class control {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.target = null;
+      this.error = null;
+      this.derror = null;
+      this.cmd_vel = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('target')) {
+        this.target = initObj.target
+      }
+      else {
+        this.target = 0.0;
+      }
+      if (initObj.hasOwnProperty('error')) {
+        this.error = initObj.error
+      }
+      else {
+        this.error = 0.0;
+      }
+      if (initObj.hasOwnProperty('derror')) {
+        this.derror = initObj.derror
+      }
+      else {
+        this.derror = 0.0;
+      }
+      if (initObj.hasOwnProperty('cmd_vel')) {
+        this.cmd_vel = initObj.cmd_vel
+      }
+      else {
+        this.cmd_vel = 0.0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type control
+    // Serialize message field [target]
+    bufferOffset = _serializer.float64(obj.target, buffer, bufferOffset);
+    // Serialize message field [error]
+    bufferOffset = _serializer.float64(obj.error, buffer, bufferOffset);
+    // Serialize message field [derror]
+    bufferOffset = _serializer.float64(obj.derror, buffer, bufferOffset);
+    // Serialize message field [cmd_vel]
+    bufferOffset = _serializer.float64(obj.cmd_vel, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type control
+    let len;
+    let data = new control(null);
+    // Deserialize message field [target]
+    data.target = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [error]
+    data.error = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [derror]
+    data.derror = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [cmd_vel]
+    data.cmd_vel = _deserializer.float64(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 32;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'detect_targets/control';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '6f80b008c55c6a68dec8d378f0b74e50';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    float64 target
+    float64 error
+    float64 derror
+    float64 cmd_vel
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new control(null);
+    if (msg.target !== undefined) {
+      resolved.target = msg.target;
+    }
+    else {
+      resolved.target = 0.0
+    }
+
+    if (msg.error !== undefined) {
+      resolved.error = msg.error;
+    }
+    else {
+      resolved.error = 0.0
+    }
+
+    if (msg.derror !== undefined) {
+      resolved.derror = msg.derror;
+    }
+    else {
+      resolved.derror = 0.0
+    }
+
+    if (msg.cmd_vel !== undefined) {
+      resolved.cmd_vel = msg.cmd_vel;
+    }
+    else {
+      resolved.cmd_vel = 0.0
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = control;

workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_center.l

@@ -0,0 +1,139 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'detect_targets::component_center)
+  (if (not (find-package "DETECT_TARGETS"))
+    (make-package "DETECT_TARGETS"))
+  (shadow 'component_center (find-package "DETECT_TARGETS")))
+(unless (find-package "DETECT_TARGETS::COMPONENT_CENTER")
+  (make-package "DETECT_TARGETS::COMPONENT_CENTER"))
+
+(in-package "ROS")
+;;//! \htmlinclude component_center.msg.html
+
+
+(defclass detect_targets::component_center
+  :super ros::object
+  :slots (_label _nb_vertex _x _y ))
+
+(defmethod detect_targets::component_center
+  (:init
+   (&key
+    ((:label __label) 0)
+    ((:nb_vertex __nb_vertex) 0)
+    ((:x __x) 0.0)
+    ((:y __y) 0.0)
+    )
+   (send-super :init)
+   (setq _label (round __label))
+   (setq _nb_vertex (round __nb_vertex))
+   (setq _x (float __x))
+   (setq _y (float __y))
+   self)
+  (:label
+   (&optional __label)
+   (if __label (setq _label __label)) _label)
+  (:nb_vertex
+   (&optional __nb_vertex)
+   (if __nb_vertex (setq _nb_vertex __nb_vertex)) _nb_vertex)
+  (:x
+   (&optional __x)
+   (if __x (setq _x __x)) _x)
+  (:y
+   (&optional __y)
+   (if __y (setq _y __y)) _y)
+  (:serialization-length
+   ()
+   (+
+    ;; int64 _label
+    8
+    ;; int64 _nb_vertex
+    8
+    ;; float64 _x
+    8
+    ;; float64 _y
+    8
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; int64 _label
+#+(or :alpha :irix6 :x86_64)
+       (progn (sys::poke _label (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
+#-(or :alpha :irix6 :x86_64)
+       (cond ((and (class _label) (= (length (_label . bv)) 2)) ;; bignum
+              (write-long (ash (elt (_label . bv) 0) 0) s)
+              (write-long (ash (elt (_label . bv) 1) -1) s))
+             ((and (class _label) (= (length (_label . bv)) 1)) ;; big1
+              (write-long (elt (_label . bv) 0) s)
+              (write-long (if (>= _label 0) 0 #xffffffff) s))
+             (t                                         ;; integer
+              (write-long _label s)(write-long (if (>= _label 0) 0 #xffffffff) s)))
+     ;; int64 _nb_vertex
+#+(or :alpha :irix6 :x86_64)
+       (progn (sys::poke _nb_vertex (send s :buffer) (send s :count) :long) (incf (stream-count s) 8))
+#-(or :alpha :irix6 :x86_64)
+       (cond ((and (class _nb_vertex) (= (length (_nb_vertex . bv)) 2)) ;; bignum
+              (write-long (ash (elt (_nb_vertex . bv) 0) 0) s)
+              (write-long (ash (elt (_nb_vertex . bv) 1) -1) s))
+             ((and (class _nb_vertex) (= (length (_nb_vertex . bv)) 1)) ;; big1
+              (write-long (elt (_nb_vertex . bv) 0) s)
+              (write-long (if (>= _nb_vertex 0) 0 #xffffffff) s))
+             (t                                         ;; integer
+              (write-long _nb_vertex s)(write-long (if (>= _nb_vertex 0) 0 #xffffffff) s)))
+     ;; float64 _x
+       (sys::poke _x (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _y
+       (sys::poke _y (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; int64 _label
+#+(or :alpha :irix6 :x86_64)
+      (setf _label (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
+#-(or :alpha :irix6 :x86_64)
+      (setf _label (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
+                  (b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
+              (cond ((= b1 -1) b0)
+                     ((and (= b1  0)
+                           (<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
+                      b0)
+                    ((= b1  0) (make-instance bignum :size 1 :bv (integer-vector b0)))
+                    (t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
+   ;; int64 _nb_vertex
+#+(or :alpha :irix6 :x86_64)
+      (setf _nb_vertex (prog1 (sys::peek buf ptr- :long) (incf ptr- 8)))
+#-(or :alpha :irix6 :x86_64)
+      (setf _nb_vertex (let ((b0 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4)))
+                  (b1 (prog1 (sys::peek buf ptr- :integer) (incf ptr- 4))))
+              (cond ((= b1 -1) b0)
+                     ((and (= b1  0)
+                           (<= lisp::most-negative-fixnum b0 lisp::most-positive-fixnum))
+                      b0)
+                    ((= b1  0) (make-instance bignum :size 1 :bv (integer-vector b0)))
+                    (t (make-instance bignum :size 2 :bv (integer-vector b0 (ash b1 1)))))))
+   ;; float64 _x
+     (setq _x (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _y
+     (setq _y (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;;
+   self)
+  )
+
+(setf (get detect_targets::component_center :md5sum-) "da1879b15a6566f498d1395c2d529084")
+(setf (get detect_targets::component_center :datatype-) "detect_targets/component_center")
+(setf (get detect_targets::component_center :definition-)
+      "int64   label
+int64   nb_vertex
+float64 x
+float64 y
+
+")
+
+
+
+(provide :detect_targets/component_center "da1879b15a6566f498d1395c2d529084")
+
+

workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/control.l

@@ -0,0 +1,98 @@
+;; Auto-generated. Do not edit!
+
+
+(when (boundp 'detect_targets::control)
+  (if (not (find-package "DETECT_TARGETS"))
+    (make-package "DETECT_TARGETS"))
+  (shadow 'control (find-package "DETECT_TARGETS")))
+(unless (find-package "DETECT_TARGETS::CONTROL")
+  (make-package "DETECT_TARGETS::CONTROL"))
+
+(in-package "ROS")
+;;//! \htmlinclude control.msg.html
+
+
+(defclass detect_targets::control
+  :super ros::object
+  :slots (_target _error _derror _cmd_vel ))
+
+(defmethod detect_targets::control
+  (:init
+   (&key
+    ((:target __target) 0.0)
+    ((:error __error) 0.0)
+    ((:derror __derror) 0.0)
+    ((:cmd_vel __cmd_vel) 0.0)
+    )
+   (send-super :init)
+   (setq _target (float __target))
+   (setq _error (float __error))
+   (setq _derror (float __derror))
+   (setq _cmd_vel (float __cmd_vel))
+   self)
+  (:target
+   (&optional __target)
+   (if __target (setq _target __target)) _target)
+  (:error
+   (&optional __error)
+   (if __error (setq _error __error)) _error)
+  (:derror
+   (&optional __derror)
+   (if __derror (setq _derror __derror)) _derror)
+  (:cmd_vel
+   (&optional __cmd_vel)
+   (if __cmd_vel (setq _cmd_vel __cmd_vel)) _cmd_vel)
+  (:serialization-length
+   ()
+   (+
+    ;; float64 _target
+    8
+    ;; float64 _error
+    8
+    ;; float64 _derror
+    8
+    ;; float64 _cmd_vel
+    8
+    ))
+  (:serialize
+   (&optional strm)
+   (let ((s (if strm strm
+              (make-string-output-stream (send self :serialization-length)))))
+     ;; float64 _target
+       (sys::poke _target (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _error
+       (sys::poke _error (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _derror
+       (sys::poke _derror (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;; float64 _cmd_vel
+       (sys::poke _cmd_vel (send s :buffer) (send s :count) :double) (incf (stream-count s) 8)
+     ;;
+     (if (null strm) (get-output-stream-string s))))
+  (:deserialize
+   (buf &optional (ptr- 0))
+   ;; float64 _target
+     (setq _target (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _error
+     (setq _error (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _derror
+     (setq _derror (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;; float64 _cmd_vel
+     (setq _cmd_vel (sys::peek buf ptr- :double)) (incf ptr- 8)
+   ;;
+   self)
+  )
+
+(setf (get detect_targets::control :md5sum-) "6f80b008c55c6a68dec8d378f0b74e50")
+(setf (get detect_targets::control :datatype-) "detect_targets/control")
+(setf (get detect_targets::control :definition-)
+      "float64 target
+float64 error
+float64 derror
+float64 cmd_vel
+")
+
+
+
+(provide :detect_targets/control "6f80b008c55c6a68dec8d378f0b74e50")
+
+

workspace/devel/.private/drone_demo/include/drone_demo/TriangleParamConfig.h

@@ -523,9 +523,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_x_Kp = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_x_Kp = 2.0;
+      __max__.linear_x_Kp = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_x_Kp = 0.1;
+      __default__.linear_x_Kp = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kp", "double", 0, "linear.x controller Kp", "", &TriangleParamConfig::linear_x_Kp)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -533,9 +533,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_x_Ki = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_x_Ki = 2.0;
+      __max__.linear_x_Ki = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_x_Ki = 0.1;
+      __default__.linear_x_Ki = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Ki", "double", 0, "linear.x controller Ki", "", &TriangleParamConfig::linear_x_Ki)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -543,9 +543,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_x_Kd = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_x_Kd = 2.0;
+      __max__.linear_x_Kd = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_x_Kd = 0.1;
+      __default__.linear_x_Kd = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_x_Kd", "double", 0, "linear.x controller Kd", "", &TriangleParamConfig::linear_x_Kd)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -563,9 +563,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_y_Kp = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_y_Kp = 2.0;
+      __max__.linear_y_Kp = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_y_Kp = 0.1;
+      __default__.linear_y_Kp = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kp", "double", 0, "linear.y controller Kp", "", &TriangleParamConfig::linear_y_Kp)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -573,9 +573,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_y_Ki = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_y_Ki = 2.0;
+      __max__.linear_y_Ki = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_y_Ki = 0.1;
+      __default__.linear_y_Ki = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Ki", "double", 0, "linear.y controller Ki", "", &TriangleParamConfig::linear_y_Ki)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -583,9 +583,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_y_Kd = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_y_Kd = 2.0;
+      __max__.linear_y_Kd = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.linear_y_Kd = 0.1;
+      __default__.linear_y_Kd = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("linear_y_Kd", "double", 0, "linear.y controller Kd", "", &TriangleParamConfig::linear_y_Kd)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -603,7 +603,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_z_Kp = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_z_Kp = 2.0;
+      __max__.linear_z_Kp = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.linear_z_Kp = 0.1;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -613,7 +613,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_z_Ki = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_z_Ki = 2.0;
+      __max__.linear_z_Ki = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.linear_z_Ki = 0.1;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -623,7 +623,7 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.linear_z_Kd = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.linear_z_Kd = 2.0;
+      __max__.linear_z_Kd = 10.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __default__.linear_z_Kd = 0.1;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -643,9 +643,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Kp = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Kp = 2.0;
+      __max__.angular_z_Kp = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.angular_z_Kp = 0.1;
+      __default__.angular_z_Kp = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kp", "double", 0, "angular.z controller Kp", "", &TriangleParamConfig::angular_z_Kp)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -653,9 +653,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Ki = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Ki = 2.0;
+      __max__.angular_z_Ki = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.angular_z_Ki = 0.1;
+      __default__.angular_z_Ki = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Ki", "double", 0, "angular.z controller Ki", "", &TriangleParamConfig::angular_z_Ki)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
@@ -663,9 +663,9 @@ TriangleParamConfig::GroupDescription<TriangleParamConfig::DEFAULT, TrianglePara
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       __min__.angular_z_Kd = 0.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __max__.angular_z_Kd = 2.0;
+      __max__.angular_z_Kd = 1.0;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
-      __default__.angular_z_Kd = 0.1;
+      __default__.angular_z_Kd = 0.01;
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"
       Default.abstract_parameters.push_back(TriangleParamConfig::AbstractParamDescriptionConstPtr(new TriangleParamConfig::ParamDescription<double>("angular_z_Kd", "double", 0, "angular.z controller Kd", "", &TriangleParamConfig::angular_z_Kd)));
 //#line 291 "/opt/ros/melodic/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator_catkin.py"

workspace/devel/.private/drone_demo/share/drone_demo/docs/TriangleParamConfig-usage.dox

@@ -6,21 +6,21 @@
   <param name="target_depth" type="double" value="0.2" />
   <param name="distance_to_target" type="double" value="2.0" />
   <param name="max_speed" type="double" value="0.3" />
-  <param name="linear_x_Kp" type="double" value="0.1" />
+  <param name="linear_x_Kp" type="double" value="0.01" />
-  <param name="linear_x_Ki" type="double" value="0.1" />
+  <param name="linear_x_Ki" type="double" value="0.01" />
-  <param name="linear_x_Kd" type="double" value="0.1" />
+  <param name="linear_x_Kd" type="double" value="0.01" />
   <param name="control_linear_x" type="bool" value="True" />
-  <param name="linear_y_Kp" type="double" value="0.1" />
+  <param name="linear_y_Kp" type="double" value="0.01" />
-  <param name="linear_y_Ki" type="double" value="0.1" />
+  <param name="linear_y_Ki" type="double" value="0.01" />
-  <param name="linear_y_Kd" type="double" value="0.1" />
+  <param name="linear_y_Kd" type="double" value="0.01" />
   <param name="control_linear_y" type="bool" value="True" />
   <param name="linear_z_Kp" type="double" value="0.1" />
   <param name="linear_z_Ki" type="double" value="0.1" />
   <param name="linear_z_Kd" type="double" value="0.1" />
   <param name="control_linear_z" type="bool" value="True" />
-  <param name="angular_z_Kp" type="double" value="0.1" />
+  <param name="angular_z_Kp" type="double" value="0.01" />
-  <param name="angular_z_Ki" type="double" value="0.1" />
+  <param name="angular_z_Ki" type="double" value="0.01" />
-  <param name="angular_z_Kd" type="double" value="0.1" />
+  <param name="angular_z_Kd" type="double" value="0.01" />
   <param name="control_angular_z" type="bool" value="True" />
 </node>
 \endverbatim

workspace/devel/.private/drone_demo/share/drone_demo/docs/TriangleParamConfig.dox

@@ -7,20 +7,20 @@ Reads and maintains the following parameters on the ROS server
 - \b "~target_depth" : \b [double] the real target depth (m) min: 0.01, default: 0.2, max: 0.5
 - \b "~distance_to_target" : \b [double] The required distance to the target (m) min: 1.0, default: 2.0, max: 5.0
 - \b "~max_speed" : \b [double] the maximal linear speed min: 0.01, default: 0.3, max: 1.0
-- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_x_Kp" : \b [double] linear.x controller Kp min: 0.0, default: 0.01, max: 1.0
-- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_x_Ki" : \b [double] linear.x controller Ki min: 0.0, default: 0.01, max: 1.0
-- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_x_Kd" : \b [double] linear.x controller Kd min: 0.0, default: 0.01, max: 1.0
 - \b "~control_linear_x" : \b [bool] Control distance to target min: False, default: True, max: True
-- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_y_Kp" : \b [double] linear.y controller Kp min: 0.0, default: 0.01, max: 1.0
-- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_y_Ki" : \b [double] linear.y controller Ki min: 0.0, default: 0.01, max: 1.0
-- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_y_Kd" : \b [double] linear.y controller Kd min: 0.0, default: 0.01, max: 1.0
 - \b "~control_linear_y" : \b [bool] Controls the facing to target min: False, default: True, max: True
-- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_z_Kp" : \b [double] linear.z controller Kp min: 0.0, default: 0.1, max: 10.0
-- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_z_Ki" : \b [double] linear.z controller Ki min: 0.0, default: 0.1, max: 10.0
-- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 2.0
+- \b "~linear_z_Kd" : \b [double] linear.z controller Kd min: 0.0, default: 0.1, max: 10.0
 - \b "~control_linear_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
-- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.1, max: 2.0
+- \b "~angular_z_Kp" : \b [double] angular.z controller Kp min: 0.0, default: 0.01, max: 1.0
-- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.1, max: 2.0
+- \b "~angular_z_Ki" : \b [double] angular.z controller Ki min: 0.0, default: 0.01, max: 1.0
-- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.1, max: 2.0
+- \b "~angular_z_Kd" : \b [double] angular.z controller Kd min: 0.0, default: 0.01, max: 1.0
 - \b "~control_angular_z" : \b [bool] Controls the facing to target min: False, default: True, max: True
 

workspace/devel/.private/drone_demo/share/drone_demo/docs/TriangleParamConfig.wikidoc

@@ -24,33 +24,33 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
 4.type= double
 4.desc=the maximal linear speed Range: 0.01 to 1.0
 5.name= ~linear_x_Kp
-5.default= 0.1
+5.default= 0.01
 5.type= double
-5.desc=linear.x controller Kp Range: 0.0 to 2.0
+5.desc=linear.x controller Kp Range: 0.0 to 1.0
 6.name= ~linear_x_Ki
-6.default= 0.1
+6.default= 0.01
 6.type= double
-6.desc=linear.x controller Ki Range: 0.0 to 2.0
+6.desc=linear.x controller Ki Range: 0.0 to 1.0
 7.name= ~linear_x_Kd
-7.default= 0.1
+7.default= 0.01
 7.type= double
-7.desc=linear.x controller Kd Range: 0.0 to 2.0
+7.desc=linear.x controller Kd Range: 0.0 to 1.0
 8.name= ~control_linear_x
 8.default= True
 8.type= bool
 8.desc=Control distance to target 
 9.name= ~linear_y_Kp
-9.default= 0.1
+9.default= 0.01
 9.type= double
-9.desc=linear.y controller Kp Range: 0.0 to 2.0
+9.desc=linear.y controller Kp Range: 0.0 to 1.0
 10.name= ~linear_y_Ki
-10.default= 0.1
+10.default= 0.01
 10.type= double
-10.desc=linear.y controller Ki Range: 0.0 to 2.0
+10.desc=linear.y controller Ki Range: 0.0 to 1.0
 11.name= ~linear_y_Kd
-11.default= 0.1
+11.default= 0.01
 11.type= double
-11.desc=linear.y controller Kd Range: 0.0 to 2.0
+11.desc=linear.y controller Kd Range: 0.0 to 1.0
 12.name= ~control_linear_y
 12.default= True
 12.type= bool
@@ -58,31 +58,31 @@ desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfig
 13.name= ~linear_z_Kp
 13.default= 0.1
 13.type= double
-13.desc=linear.z controller Kp Range: 0.0 to 2.0
+13.desc=linear.z controller Kp Range: 0.0 to 10.0
 14.name= ~linear_z_Ki
 14.default= 0.1
 14.type= double
-14.desc=linear.z controller Ki Range: 0.0 to 2.0
+14.desc=linear.z controller Ki Range: 0.0 to 10.0
 15.name= ~linear_z_Kd
 15.default= 0.1
 15.type= double
-15.desc=linear.z controller Kd Range: 0.0 to 2.0
+15.desc=linear.z controller Kd Range: 0.0 to 10.0
 16.name= ~control_linear_z
 16.default= True
 16.type= bool
 16.desc=Controls the facing to target 
 17.name= ~angular_z_Kp
-17.default= 0.1
+17.default= 0.01
 17.type= double
-17.desc=angular.z controller Kp Range: 0.0 to 2.0
+17.desc=angular.z controller Kp Range: 0.0 to 1.0
 18.name= ~angular_z_Ki
-18.default= 0.1
+18.default= 0.01
 18.type= double
-18.desc=angular.z controller Ki Range: 0.0 to 2.0
+18.desc=angular.z controller Ki Range: 0.0 to 1.0
 19.name= ~angular_z_Kd
-19.default= 0.1
+19.default= 0.01
 19.type= double
-19.desc=angular.z controller Kd Range: 0.0 to 2.0
+19.desc=angular.z controller Kd Range: 0.0 to 1.0
 20.name= ~control_angular_z
 20.default= True
 20.type= bool

workspace/devel/include/detect_targets/TriangleParamConfig.h

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/TriangleParamConfig.h

workspace/devel/include/detect_targets/component_center.h

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/component_center.h

workspace/devel/include/detect_targets/control.h

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/include/detect_targets/control.h

workspace/devel/share/common-lisp/ros/detect_targets/msg/_package_component_center.lisp

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_component_center.lisp

workspace/devel/share/common-lisp/ros/detect_targets/msg/_package_control.lisp

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/_package_control.lisp

workspace/devel/share/common-lisp/ros/detect_targets/msg/component_center.lisp

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/component_center.lisp

workspace/devel/share/common-lisp/ros/detect_targets/msg/control.lisp

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/common-lisp/ros/detect_targets/msg/control.lisp

workspace/devel/share/detect_targets/docs/TriangleParamConfig-usage.dox

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig-usage.dox

workspace/devel/share/detect_targets/docs/TriangleParamConfig.dox

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.dox

workspace/devel/share/detect_targets/docs/TriangleParamConfig.wikidoc

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/detect_targets/docs/TriangleParamConfig.wikidoc

workspace/devel/share/gennodejs/ros/detect_targets/msg/component_center.js

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/component_center.js

workspace/devel/share/gennodejs/ros/detect_targets/msg/control.js

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/gennodejs/ros/detect_targets/msg/control.js

workspace/devel/share/roseus/ros/detect_targets/msg/component_center.l

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/component_center.l

workspace/devel/share/roseus/ros/detect_targets/msg/control.l

@@ -0,0 +1 @@
+/home/klafyvel/Documents/supelec/2A/projet/workspace/devel/.private/detect_targets/share/roseus/ros/detect_targets/msg/control.l

workspace/src/detect_targets/CMakeLists.txt

@@ -53,6 +53,8 @@ find_package(catkin REQUIRED COMPONENTS
 add_message_files(
   FILES
   component_centers.msg
+  component_center.msg
+  control.msg
 )
 
 ## Generate services in the 'srv' folder
@@ -92,6 +94,7 @@ generate_messages(
 ## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
   cfg/DetectTargets.cfg
+  cfg/triangle_control.cfg
 )
 
 ###################################

workspace/src/detect_targets/cfg/triangle_control.cfg

@@ -0,0 +1,37 @@
+#!/usr/bin/env python
+PACKAGE = "detect_targets"
+
+from dynamic_reconfigure.parameter_generator_catkin import *
+
+gen = ParameterGenerator()
+
+gen.add("camera_angle", double_t, 0, "The angle corresponding to the image width", 80, 50, 180)
+gen.add("target_width", double_t, 0, "the real target width (m)", 1, 0.01, 1.5)
+gen.add("target_depth", double_t, 0, "the real target depth (m)", .2, 0.01, 0.5)
+gen.add("distance_to_target", double_t, 0, "The required distance to the target (m)", 2, 1, 5)
+gen.add("max_speed", double_t, 0, "the maximal linear speed", .3, .01, 1)
+
+
+gen.add("linear_x_Kp", double_t, 0, "linear.x controller Kp", .01, 0, 1)
+gen.add("linear_x_Ki", double_t, 0, "linear.x controller Ki", .01, 0, 1)
+gen.add("linear_x_Kd", double_t, 0, "linear.x controller Kd", .01, 0, 1)
+gen.add("control_linear_x", bool_t, 0, "Control distance to target", True)
+
+gen.add("linear_y_Kp", double_t, 0, "linear.y controller Kp", .01, 0, 1)
+gen.add("linear_y_Ki", double_t, 0, "linear.y controller Ki", .01, 0, 1)
+gen.add("linear_y_Kd", double_t, 0, "linear.y controller Kd", .01, 0, 1)
+gen.add("control_linear_y", bool_t, 0, "Controls the facing to target", True)
+
+gen.add("linear_z_Kp", double_t, 0, "linear.z controller Kp", .1, 0, 10)
+gen.add("linear_z_Ki", double_t, 0, "linear.z controller Ki", .1, 0, 10)
+gen.add("linear_z_Kd", double_t, 0, "linear.z controller Kd", .1, 0, 10)
+gen.add("control_linear_z", bool_t, 0, "Controls the facing to target", True)
+
+gen.add("angular_z_Kp", double_t, 0, "angular.z controller Kp", .01, 0, 1)
+gen.add("angular_z_Ki", double_t, 0, "angular.z controller Ki", .01, 0, 1)
+gen.add("angular_z_Kd", double_t, 0, "angular.z controller Kd", .01, 0, 1)
+gen.add("control_angular_z", bool_t, 0, "Controls the facing to target", True)
+
+
+
+exit(gen.generate(PACKAGE, "detect_targets", "TriangleParam"))

workspace/src/detect_targets/launch/bebop-triangle-control.launch

@@ -5,7 +5,7 @@
   <node name="targets" pkg="detect_targets" type="target_publisher.py">
   </node>
 
-  <node name="controller" pkg="drone_demo" type="triangle_control.py" output="screen">
+  <node name="controller" pkg="detect_targets" type="triangle_control.py" output="screen">
     <remap from="component_centers" to="targets"/>
   </node>
 
@@ -20,8 +20,6 @@
 
 
   <node name="view" pkg="rqt_image_view" type="rqt_image_view" args="/bebop/image_raw"/>
-  <node name="view1" pkg="rqt_image_view" type="rqt_image_view" args="/img_targets"/>
-  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find drone_demo)/params/triangle.rviz"/>
 
   <node name="reconf" pkg="rqt_reconfigure" type="rqt_reconfigure"/>
   <node name="pid_param" pkg="dynamic_reconfigure" type="dynparam" args="load /controller $(find drone_demo)/params/triangle-control-pid.yaml"/>

workspace/src/detect_targets/msg/control.msg

@@ -0,0 +1,4 @@
+float64 target
+float64 error
+float64 derror
+float64 cmd_vel

workspace/src/detect_targets/scripts/target_publisher.py

@@ -62,6 +62,7 @@ class Publisher:
                         pass
 
         self.pub.publish(self.centers)
+        if self.img_pub.get_num_connections() > 0:
             self.img_pub.publish(self.bridge.cv2_to_imgmsg(img, "rgb8"))
 
 

workspace/src/detect_targets/scripts/triangle_control.py

@@ -0,0 +1,255 @@
+#! /usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import math
+
+import roslib
+import rospy
+from geometry_msgs.msg import Twist
+import tf
+
+from simple_pid import PID
+
+import dynamic_reconfigure.server
+from detect_targets.cfg import TriangleParamConfig
+from detect_targets.msg import control
+
+from detect_targets.msg import component_centers
+
+
+class TriangleControl:
+
+    def on_reconf(self, config, level):
+
+        self.camera_angle = config['camera_angle']*math.pi/360.0  # theta/2
+        self.tan_cam = math.tan(self.camera_angle)
+
+        self.target_width = config['target_width']
+        self.target_depth = config['target_depth']
+        self.target_distance = config['distance_to_target']
+        self.max_speed = config['max_speed']
+
+        #gains are reversed because of the chosen angle direction
+        self.pid_angular_z.Kp = - config['angular_z_Kp']
+        self.pid_angular_z.Ki = - config['angular_z_Ki']
+        self.pid_angular_z.Kd = - config['angular_z_Kd']
+        self.pid_angular_z.set_auto_mode(config['control_angular_z'], last_output=0.0)
+        if not config['control_angular_z']:
+            self.pid_angular_z._last_output = 0.0
+
+        self.pid_linear_z.Kp = config['linear_z_Kp']
+        self.pid_linear_z.Ki = config['linear_z_Ki']
+        self.pid_linear_z.Kd = config['linear_z_Kd']
+        self.pid_linear_z.set_auto_mode(config['control_linear_z'], last_output=0.0)
+        if not config['control_linear_z']:
+            self.pid_linear_z._last_output = 0.0
+        self.pid_linear_z.output_limits = (
+            -config['max_speed'],
+            config['max_speed']
+        )
+        self.pid_linear_y.Kp = config['linear_y_Kp']
+        self.pid_linear_y.Ki = config['linear_y_Ki']
+        self.pid_linear_y.Kd = config['linear_y_Kd']
+        self.pid_linear_y.set_auto_mode(config['control_linear_y'], last_output=0.0)
+        if not config['control_linear_y']:
+            self.pid_linear_y._last_output = 0.0
+        self.pid_linear_y.output_limits = (
+            -config['max_speed'],
+            config['max_speed']
+        )
+
+        # X gains are reversed because of the chosen axis
+        self.pid_linear_x.Kp = - config['linear_x_Kp']
+        self.pid_linear_x.Ki = - config['linear_x_Ki']
+        self.pid_linear_x.Kd = - config['linear_x_Kd']
+        self.pid_linear_x.set_auto_mode(config['control_linear_x'], last_output=0.0)
+        if not config['control_linear_x']:
+            self.pid_linear_x._last_output = 0.0
+        self.pid_linear_x.output_limits = (
+            -config['max_speed'],
+            config['max_speed']
+        )
+        self.pid_linear_x.setpoint = self.target_distance
+
+        return config
+
+    def clear_controls(self):
+        self.error_angular_z.clear()
+        self.error_linear_z.clear()
+        self.error_linear_y.clear()
+        self.error_linear_x.clear()
+
+    def saturate_twist():
+        if self.twist.linear.x > self.max_speed:
+            self.twist.linear.x = self.max_speed
+        elif self.twist.linear.x < - self.max_speed:
+            self.twist.linear.x = - self.max_speed
+        if self.twist.linear.y > self.max_speed:
+            self.twist.linear.y = self.max_speed
+        elif self.twist.linear.y < - self.max_speed:
+            self.twist.linear.y = - self.max_speed
+        if self.twist.linear.z > self.max_speed:
+            self.twist.linear.z = self.max_speed
+        elif self.twist.linear.z < - self.max_speed:
+            self.twist.linear.z = - self.max_speed
+
+    def on_comp(self, msg):
+        self.twist = Twist()
+        if len(msg.data) > 2:
+            msg.data.sort(key=lambda component: -component.nb_vertex)
+            pts = msg.data[0:3]
+            pts.sort(key=lambda component: -component.y)
+            H = pts[0]
+            L = pts[2]
+            R = pts[1]
+            if pts[1].x < pts[2].x:
+                L = pts[1]
+                R = pts[2]
+            self.triangle(L, H, R)
+            self.twist_pub.publish(self.twist)
+
+    def triangle(self, L, H, R):
+        now = rospy.Time.now()
+        t = (now - self.first_time).to_sec()
+        self.Gx = (L.x + H.x + R.x)*.333333
+        Gy = (L.y + H.y + R.y)*.333333
+        w = R.x - L.x
+        h = H.x - .5 * (R.x + L.x)
+
+        self.alpha = math.atan(h*self.target_width/(1e-5+w*self.target_depth))
+        ca = math.cos(self.alpha)
+        sa = math.sin(self.alpha)
+        # why *.5.... I don't know.
+        self.d = self.target_width*ca/(w*self.tan_cam) * .5
+        self.z = -Gy*self.d*self.tan_cam
+
+        # print('#######')
+        #print('d = {}, z = {}, alpha = {}'.format(self.d, self.z, self.alpha*180/math.pi))
+        #print('w = {}, h = {}, Gy = {}'.format(w, h, Gy))
+        #print('L = {}, l = {}'.format(self.target_width, self.target_depth))
+
+        self.br.sendTransform((self.d * ca, self.d * sa, self.z),
+                              tf.transformations.quaternion_from_euler(
+                                  0, 0, self.alpha + math.pi),
+                              now,
+                              'drone', 'target')
+
+        self.twist.angular.z = self.pid_angular_z(-self.Gx * self.camera_angle)
+        if self.angular_z_pub.get_num_connections() > 0:
+            self.angular_z_info.target = 0
+            self.angular_z_info.error = 0
+            self.angular_z_info.derror = 0
+            self.angular_z_info.cmd_vel = self.twist.angular.z
+            self.angular_z_pub.publish(self.angular_z_info)
+
+        self.twist.linear.z = self.pid_linear_z(self.z)
+        if self.linear_z_pub.get_num_connections() > 0:
+            self.linear_z_info.target = 0
+            self.linear_z_info.error = self.z
+            self.linear_z_info.derror = 0
+            self.linear_z_info.cmd_vel = self.twist.linear.z
+            self.linear_z_pub.publish(self.linear_z_info)
+
+        self.twist.linear.y = self.pid_linear_y(-self.alpha)
+        if self.linear_y_pub.get_num_connections() > 0:
+            self.linear_y_info.target = 0
+            self.linear_y_info.error = -self.alpha
+            self.linear_y_info.derror = 0
+            self.linear_y_info.cmd_vel = self.twist.linear.y
+            self.linear_y_pub.publish(self.linear_y_info)
+
+        self.twist.linear.x = self.pid_linear_x(self.d)
+        if self.linear_x_pub.get_num_connections() > 0:
+            self.linear_x_info.target = self.pid_linear_x.setpoint
+            self.linear_x_info.error = self.target_distance - self.d
+            self.linear_x_info.derror = 0
+            self.linear_x_info.cmd_vel = self.twist.linear.x
+            self.linear_x_pub.publish(self.linear_x_info)
+
+    def __init__(self):
+
+        self.Gx = 0
+
+        self.alpha = 0
+        self.d = 0
+        self.z = 0
+
+        self.camera_angle = 80*math.pi/180./2.0
+        self.tan_cam = math.tan(self.camera_angle)
+        self.target_width = 1
+        self.target_depth = .2
+        self.target_distance = 2
+        self.max_speed = .3
+
+        self.last_time_angular_z = 0
+        self.last_time_linear_z = 0
+        self.last_time_linear_y = 0
+        self.last_time_linear_x = 0
+        self.first_time = rospy.Time.now()
+
+        self.pid_angular_z = PID(
+            1,
+            0,
+            0,
+            auto_mode=True,
+            sample_time=0.14  # 7 Hz
+        )
+        self.pid_linear_z = PID(
+            1,
+            0,
+            0,
+            auto_mode=True,
+            sample_time=0.14
+        )
+        self.pid_linear_y = PID(
+            1,
+            0,
+            0,
+            auto_mode=True,
+            sample_time=0.14
+        )
+        self.pid_linear_x = PID(
+            1,
+            0,
+            0,
+            auto_mode=True,
+            sample_time=0.14,
+            setpoint=self.target_distance,
+        )
+
+        # Control info
+        self.angular_z_info = control()
+        self.linear_x_info = control()
+        self.linear_y_info = control()
+        self.linear_z_info = control()
+
+        # ROS stuff
+
+        self.twist = Twist()
+        self.twist_pub = rospy.Publisher(
+            'cmd_vel',           Twist,                           queue_size=1)
+        self.angular_z_pub = rospy.Publisher(
+            'angular_z_control', control,                         queue_size=1)
+        self.linear_z_pub = rospy.Publisher(
+            'linear_z_control',  control,                         queue_size=1)
+        self.linear_y_pub = rospy.Publisher(
+            'linear_y_control',  control,                         queue_size=1)
+        self.linear_x_pub = rospy.Publisher(
+            'linear_x_control',  control,                         queue_size=1)
+        self.comp_sub = rospy.Subscriber(
+            "component_centers", component_centers, self.on_comp, queue_size=1)
+
+        self.config_srv = dynamic_reconfigure.server.Server(
+            TriangleParamConfig, self.on_reconf)
+
+        self.br = tf.TransformBroadcaster()
+
+
+if __name__ == '__main__':
+    print "running"
+    rospy.init_node('triangle_control', anonymous=True)
+
+    print "node created"
+
+    triangle = TriangleControl()
+    rospy.spin()