Final project

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(final_project)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  rospy
+  smach
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   geometry_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES final_project
+#  CATKIN_DEPENDS geometry_msgs rospy smach
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/final_project.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/final_project_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_final_project.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

ChaChaDance/backward.py

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+#!/usr/bin/env python
+
+# Import libraries
+import rospy
+import smach
+import time
+from geometry_msgs.msg import Twist
+
+
+# Define backward state
+class Backward(smach.State):
+    def __init__(self, pub_controls):
+        smach.State.__init__(self, outcomes=["do_plan"], input_keys=["curr_state"])
+        self.counter = 0
+        self.pub_controls = pub_controls
+
+    def execute(self, userdata):
+        # get state attributes
+        state_name = userdata.curr_state["name"]
+
+        rospy.loginfo("Running {} state".format(state_name))
+
+        dur = rospy.Duration(2.8 / (6.0))
+        rate = rospy.Rate(10)
+        start = rospy.Time.now()
+
+        while rospy.Time.now() - start < dur:
+            move_cmd = Twist()
+            move_cmd.linear.x = -3.0
+            self.pub_controls.publish(move_cmd)
+            rate.sleep()
+
+        move_cmd = Twist()
+        move_cmd.linear.x = 0.0
+        self.pub_controls.publish(move_cmd)
+
+        return "do_plan"
+

ChaChaDance/circle.py

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+#!/usr/bin/env python
+
+# Import libraries
+import rospy
+import smach
+import time
+import math
+from geometry_msgs.msg import Twist
+
+
+# Define circle state
+class Circle(smach.State):
+    def __init__(self, pub_controls):
+        smach.State.__init__(self, outcomes=["do_plan"], input_keys=["curr_state"])
+        self.counter = 0
+        self.pub_controls = pub_controls
+
+    def execute(self, userdata):
+        # get state attributes
+        state_name = userdata.curr_state["name"]
+        direction = userdata.curr_state["direction"]
+
+        rospy.loginfo("Running {} state".format(state_name))
+
+        dur = rospy.Duration(47 / (70.0))
+        rate = rospy.Rate(10)
+
+        move_cmd = Twist()
+        move_cmd.linear.x= 5
+        move_cmd.angular.z = 5 * direction
+
+        t0=rospy.Time.now()
+        while rospy.Time.now() - t0 < dur:
+            self.pub_controls.publish(move_cmd)
+            rate.sleep()
+
+        #After the loop, stops the robot
+        move_cmd = Twist()
+        move_cmd.angular.z = 0
+        move_cmd.linear.x = 0
+        self.pub_controls.publish(move_cmd)
+
+        return "do_plan"
+

ChaChaDance/forward.py

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+#!/usr/bin/env python
+
+# Import libraries
+import rospy
+import smach
+import time
+from geometry_msgs.msg import Twist
+
+
+# Define forward state
+class Forward(smach.State):
+    def __init__(self, pub_controls):
+        smach.State.__init__(self, outcomes=["do_plan"], input_keys=["curr_state"])
+        self.counter = 0
+        self.pub_controls = pub_controls
+
+    def execute(self, userdata):
+        # get state attributes
+        state_name = userdata.curr_state["name"]
+
+        rospy.loginfo("Running {} state".format(state_name))
+
+        dur = rospy.Duration(2.8 / (6.0))
+        rate = rospy.Rate(10)
+        start = rospy.Time.now()
+
+        while rospy.Time.now() - start < dur:
+            move_cmd = Twist()
+            move_cmd.linear.x = 3.0
+            self.pub_controls.publish(move_cmd)
+            rate.sleep()
+
+        move_cmd = Twist()
+        move_cmd.linear.x = 0.0
+        self.pub_controls.publish(move_cmd)
+
+        return "do_plan"
+

ChaChaDance/plan.py

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+#!/usr/bin/env python
+
+# Import libraries
+import rospy
+import smach
+import time
+
+
+# Define planning state
+class Plan(smach.State):
+    def __init__(self):
+        smach.State.__init__(self, outcomes=["do_forward", "do_backward", "do_exit",
+                                             "do_turnL", "do_turnR", "do_circle"],
+                            input_keys=["plan", "curr_state", "plan_length"],
+                            output_keys=["curr_state"])
+
+        self.counter = 0
+
+    def execute(self, userdata):
+        # if plan is empty, exit
+        if not userdata.plan:
+            return 'do_exit'
+
+        # get the first state
+        current_state = userdata.plan.pop(0)
+        userdata.curr_state = current_state
+        rospy.loginfo("Planning attempting to run: {}".format(current_state["name"]))
+
+        time.sleep(1)
+
+        return current_state["name"]

ChaChaDance/stop.py

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+#!/usr/bin/env python
+
+# Import libraries
+import rospy
+import smach
+import time
+from geometry_msgs.msg import Twist
+
+
+# Define the stop state
+class Stop(smach.State):
+    def __init__(self,  pub_controls):
+        smach.State.__init__(self, outcomes=["do_exit"])
+        self.counter = 0
+        self.pub_controls = pub_controls
+
+    def execute(self, userdata):
+        rospy.loginfo("Running Stop state")
+
+        move_cmd = Twist()
+        move_cmd.linear.x = 0.0
+        self.pub_controls.publish(move_cmd)
+
+        time.sleep(1)
+
+        return "do_exit"