From 251d429d320e5a407d53574639948986467c8b58 Mon Sep 17 00:00:00 2001
From: Luke Blommesteyn <lblommesteyn@icloud.com>
Date: Thu, 4 Jun 2026 23:06:00 -0400
Subject: [PATCH] feat: add synthetic actuation feedback node

---
 CMakeLists.txt                            | 13 ++++
 src/synthetic_actuation_feedback_node.cpp | 83 +++++++++++++++++++++++
 2 files changed, 96 insertions(+)
 create mode 100644 src/synthetic_actuation_feedback_node.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2ef96f6..175435c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -21,10 +21,17 @@ add_executable(control_node
     src/control_node.cpp
     src/ackermann_controller.cpp
 )
+add_executable(synthetic_actuation_feedback_node
+    src/synthetic_actuation_feedback_node.cpp
+)
 target_include_directories(control_node PUBLIC 
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
 )
+target_include_directories(synthetic_actuation_feedback_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
 ament_target_dependencies(
   control_node 
   "rclcpp"
@@ -32,9 +39,15 @@ ament_target_dependencies(
   "geometry_msgs"
   "ap1_msgs"
 )
+ament_target_dependencies(
+  synthetic_actuation_feedback_node
+  "rclcpp"
+  "ap1_msgs"
+)
 
 install(TARGETS 
   control_node 
+  synthetic_actuation_feedback_node
   DESTINATION lib/${PROJECT_NAME}
 )
 
diff --git a/src/synthetic_actuation_feedback_node.cpp b/src/synthetic_actuation_feedback_node.cpp
new file mode 100644
index 0000000..17662ff
--- /dev/null
+++ b/src/synthetic_actuation_feedback_node.cpp
@@ -0,0 +1,83 @@
+#include <chrono>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "ap1_msgs/msg/float_stamped.hpp"
+
+using ap1_msgs::msg::FloatStamped;
+using namespace std::chrono_literals;
+
+class SyntheticActuationFeedbackNode : public rclcpp::Node
+{
+  public:
+    SyntheticActuationFeedbackNode()
+        : Node("synthetic_actuation_feedback")
+    {
+        speed_mps_ = this->declare_parameter<double>("speed_mps", 1.0);
+        turn_angle_rad_ =
+            this->declare_parameter<double>("turn_angle_rad", 0.0);
+        publish_rate_hz_ =
+            this->declare_parameter<double>("publish_rate_hz", 20.0);
+
+        if (publish_rate_hz_ <= 0.0)
+        {
+            RCLCPP_WARN(
+                this->get_logger(),
+                "publish_rate_hz must be > 0; using 20.0 Hz");
+            publish_rate_hz_ = 20.0;
+        }
+
+        speed_pub_ = this->create_publisher<FloatStamped>(
+            "/ap1/actuation/speed",
+            10);
+        turn_angle_pub_ = this->create_publisher<FloatStamped>(
+            "/ap1/actuation/turn_angle",
+            10);
+
+        timer_ = this->create_wall_timer(
+            std::chrono::duration<double>(1.0 / publish_rate_hz_),
+            std::bind(
+                &SyntheticActuationFeedbackNode::publish_feedback,
+                this));
+
+        RCLCPP_INFO(
+            this->get_logger(),
+            "Synthetic actuation feedback ready. speed: %.2f m/s, "
+            "turn_angle: %.2f rad, rate: %.2f Hz",
+            speed_mps_,
+            turn_angle_rad_,
+            publish_rate_hz_);
+    }
+
+  private:
+    void publish_feedback()
+    {
+        const auto stamp = this->now();
+
+        FloatStamped speed_msg;
+        speed_msg.header.stamp = stamp;
+        speed_msg.value = static_cast<float>(speed_mps_);
+        speed_pub_->publish(speed_msg);
+
+        FloatStamped turn_msg;
+        turn_msg.header.stamp = stamp;
+        turn_msg.value = static_cast<float>(turn_angle_rad_);
+        turn_angle_pub_->publish(turn_msg);
+    }
+
+    double speed_mps_;
+    double turn_angle_rad_;
+    double publish_rate_hz_;
+    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<FloatStamped>::SharedPtr speed_pub_;
+    rclcpp::Publisher<FloatStamped>::SharedPtr turn_angle_pub_;
+};
+
+int main(int argc, char** argv)
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<SyntheticActuationFeedbackNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}