Refs/heads/488 feature split up acting controller

[vinzenzm]

Description

Split up acting into acting and control. No functional changes.

Fixes # (issue)

421

Please delete options that are not relevant.

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)
• Breaking change (fix or feature that would cause existing functionality to not work as expected)
• This change requires a documentation update

Does this PR introduce a breaking change?

e.g. is old functionality not usable anymore

Most important changes

Which files functionalities are most important in this PR. On which part should the reviewer be focussed on?

Checklist:

• [x] My code follows the style guidelines of this project
• [x] I have performed a self-review of my own code
• [x] I have commented my code, particularly in hard-to-understand areas
• [x] I have made corresponding changes to the documentation
• [x] My changes generate no new warnings
• [x] I have added tests that prove my fix is effective or that my feature works (might be obsolete with CI later on)
• [x] New and existing unit tests pass locally with my changes (might be obsolete with CI later on)

Summary by CodeRabbit

Release Notes

• New Features

  • Introduced a new passthrough node for improved message handling in the acting component.
  • Added a control launch file to streamline the launch process for vehicle control nodes.

• Documentation

  • Updated and reorganized documentation for the acting and control components, enhancing clarity and usability.
  • New architecture documentation for the control component detailing its structure and functionality.
  • Comprehensive documentation for the passthrough component, explaining its role and functionality.
  • Enhanced clarity in the acting_testing.md document regarding the functionality of the Acting_Debug_Node.

• Bug Fixes

  • Corrected file paths in various documentation files to reflect the new directory structure.

[coderabbitai[bot]]

Walkthrough

The changes in this pull request involve significant modifications to the ROS (Robot Operating System) configuration and structure for the acting and control packages. A passthrough node has been introduced to streamline message passing, replacing several controller nodes. Additionally, new launch and configuration files for the control package have been created. The documentation has been updated to reflect these structural changes, including new files and updated paths for existing components.

Changes

File Path	Change Summary
code/acting/launch/acting.launch	Removed nodes for velocity_controller, stanley_controller, pure_pursuit_controller, and vehicle_controller; added passthrough node; modified parameters for MainFramePublisher; included control.launch.
code/acting/src/acting/passthrough.py	Introduced new passthrough node class for message passing; defined Passthrough class and its main function.
code/control/CMakeLists.txt	Created CMake configuration for the control project; specified dependencies and package declaration.
code/control/launch/control.launch	Added new launch file defining multiple nodes for vehicle control with parameters for role_name and control_loop_rate.
code/control/package.xml	Created package.xml for the control package with metadata and dependencies.
code/control/setup.py	Introduced setup.py for packaging the control module.
code/control/src/pure_pursuit_controller.py	Updated subscription and publication topics to use a centralized naming scheme under "acting".
code/control/src/stanley_controller.py	Updated subscription and publication topics to use a centralized naming scheme under "acting"; updated import paths.
code/control/src/velocity_controller.py	Changed subscription topic for target velocity to a fixed path without role_name.
doc/acting/README.md	Updated documentation structure and titles; corrected filenames.
doc/acting/acting_testing.md	Enhanced clarity regarding Acting_Debug_Node functionality; refined setup instructions.
doc/acting/architecture_documentation.md	Restructured documentation; expanded summary of the acting component's role and interactions.
doc/acting/passthrough.md	Created documentation for the passthrough component.
doc/control/README.md	Introduced documentation for the control component.
doc/control/architecture_documentation.md	Added detailed architecture documentation for the control component.
doc/control/steering_controllers.md	Updated file paths and image references for steering controllers.
doc/control/vehicle_controller.md	Modified file paths for the Vehicle Controller documentation.
doc/control/velocity_controller.md	Updated file paths and image references for the velocity controller documentation.

Possibly related PRs

• #479: This PR introduces a new launch file acting_debug.launch that is related to the modifications made in the main PR, which also involves changes to launch configurations in the acting package.

Suggested labels

infrastructure, enhancement

Suggested reviewers

• seitzseb

Poem

🐇 In the land where code does flow,
A passthrough node begins to grow.
Controllers fade, but fear not,
For simpler paths are now our lot!
With docs refined and paths aligned,
The acting's clear, our goals defined! 🌟

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