initial release of webots simulation for scout

scout_webots_sim/include/scout_webots_sim/scout_sim_params.hpp

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+/* 
+ * scout_sim_params.hpp
+ * 
+ * Created on: Sep 27, 2019 15:08
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */ 
+
+#ifndef SCOUT_SIM_PARAMS_HPP
+#define SCOUT_SIM_PARAMS_HPP
+
+#include <cstdint>
+
+namespace wescore
+{
+struct ScoutSimParams
+{
+    /* Scout Parameters */
+    static constexpr double max_steer_angle = 30.0; // in degree
+
+    static constexpr double track = 0.576;        // in meter (left & right wheel distance)
+    static constexpr double wheelbase = 0.648;    // in meter (front & rear wheel distance)
+    static constexpr double wheel_radius = 0.165; // in meter
+
+    // from user manual v1.2.8 P18
+    // max linear velocity: 1.5 m/s
+    // max angular velocity: 0.7853 rad/s
+    static constexpr double max_linear_speed = 1.5;  // in m/s
+    static constexpr double max_angular_speed = 0.7853; // in rad/s
+    static constexpr double max_speed_cmd = 10.0;       // in rad/s
+};
+} // namespace wescore
+
+
+#endif /* SCOUT_SIM_PARAMS_HPP */

scout_webots_sim/include/scout_webots_sim/scout_webots_interface.hpp

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+/* 
+ * scout_webots_interface.hpp
+ * 
+ * Created on: Sep 26, 2019 23:04
+ * Description: 
+ * 
+ * Copyright (c) 2019 Ruixiang Du (rdu)
+ */
+
+#ifndef SCOUT_WEBOTS_INTERFACE_HPP
+#define SCOUT_WEBOTS_INTERFACE_HPP
+
+#include <string>
+
+#include <ros/ros.h>
+#include <sensor_msgs/PointCloud.h>
+#include <sensor_msgs/Imu.h>
+
+#include "scout_base/scout_messenger.hpp"
+
+namespace wescore
+{
+class ScoutWebotsInterface
+{
+public:
+    ScoutWebotsInterface(ros::NodeHandle *nh, ScoutROSMessenger* msger, uint32_t time_step);
+
+    void InitComponents(std::string controller_name);
+    void UpdateSimState();
+
+private:
+    ros::NodeHandle *nh_;
+    ScoutROSMessenger* messenger_;
+    uint32_t time_step_;
+
+    std::string robot_name_ = "agilex_scout";
+    const std::vector<std::string> motor_names_{"motor_fr", "motor_fl", "motor_rl", "motor_rr"};
+};
+} // namespace wescore
+
+#endif /* SCOUT_WEBOTS_INTERFACE_HPP */