pid controller more fleshed out

cpp_pid/CMakeLists.txt

@@ -0,0 +1,47 @@
+cmake_minimum_required(VERSION 3.8)
+project(cpp_pid)
+
+# Compile options
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -std=c++17)
+endif()
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(vectornav_msgs REQUIRED)
+find_package(dbw_msgs REQUIRED)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED COMPONENTS system)
+
+# Include directories
+include_directories(include)
+
+# Create executable
+add_executable(${PROJECT_NAME}_main src/main.cpp src/server.cpp src/environment.cpp src/controller.cpp)
+
+# Set dependencies for the target
+ament_target_dependencies(${PROJECT_NAME}_main rclcpp std_msgs vectornav_msgs dbw_msgs)
+
+# Install targets
+install(TARGETS
+  ${PROJECT_NAME}_main
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Install launch
+install(DIRECTORY launch/
+  DESTINATION share/${PROJECT_NAME}/launch
+)
+
+# Testing and linting
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  set(ament_cmake_copyright_FOUND TRUE)
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

gps_nav/gps_nav/include/pid_controller/controller.h → cpp_pid/include/auvsl_motion_controller/controller.h

@@ -8,7 +8,7 @@ class Controller
 {
     public:
         Controller(double dt, double Kp, double Ki, double Kd);
-        double calculate(double new_err);j
+        double calculate(double new_err);
         ~Controller();
 
     private: