Andrew Zhao - Software Training Assignment

.gitignore

@@ -1 +1,67 @@
-/software_training/launch/__pycache__/
+
+/software_training/launch/__pycache__/
+
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+.vscode/
+
+.idea/
+
+CMakeLists.txt.user
+
+cmake-build-debug/
+
+install/
+
+
+log/

CMakeLists.txt

@@ -0,0 +1,131 @@
+cmake_minimum_required(VERSION 3.5)
+project(software_training_assignment)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(turtlesim REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+
+#include the 'include' directory
+include_directories(include)
+
+# add clear_turtles_node
+add_library(turtle_request SHARED 
+          src/clear_turtles_node.cpp)
+
+target_compile_definitions(turtle_request PRIVATE "COMPOSITION_BUILDING_DLL")
+
+ament_target_dependencies(turtle_request
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs")   
+rclcpp_components_register_nodes(turtle_request "composition::turtle_service_request_node")
+
+#add reset_turtle_node
+add_library(turtle_reset_request SHARED
+            src/reset_turtle_node.cpp)
+
+ament_target_dependencies(turtle_reset_request
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs")   
+rclcpp_components_register_nodes(turtle_reset_request "composition::turtle_service_request_node")
+
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+"msg/Software.msg"
+"srv/Software.srv"
+"action/Software.action"
+  DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+
+add_library(circular_turtle_request SHARED
+            src/circular_turtle_node.cpp)
+ament_target_dependencies(circular_turtle_request
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs"
+"geometry_msgs")
+rclcpp_components_register_nodes(circular_turtle_request "composition::circular_turtle_node")
+
+
+add_library(spawn_turtle_request SHARED
+            src/spawn_turtles_node.cpp)
+ament_target_dependencies(spawn_turtle_request
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs")
+rclcpp_components_register_nodes(circular_turtle_request "composition::spawn_turtles_node")
+
+
+add_library(turtle_distance_request SHARED
+            src/turtle_distance_node.cpp)
+ament_target_dependencies(turtle_distance_request
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs"
+"geometry_msgs")
+rclcpp_components_register_nodes(turtle_distance_request "composition::turtle_distance_node")
+
+add_library(moving_turtle_action_node SHARED
+            src/moving_turtle_action_node.cpp)
+ament_target_dependencies(moving_turtle_action_node
+"rclcpp"
+"rclcpp_components"
+"turtlesim"
+"std_msgs"
+"geometry_msgs")
+rclcpp_components_register_nodes(moving_turtle_action_node "composition::moving_turtle_action_node")
+
+
+install(TARGETS
+  turtle_request
+  turtle_reset_request
+  circular_turtle_request
+  turtle_distance_request
+  spawn_turtle_request
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

software_training/action/Software.action → action/Moving.action

@@ -1,16 +1,14 @@
+
 # Goal Request /moving_turtle/cmd_vel
 geometry_msgs/Vector3 linear_pos 
 geometry_msgs/Vector3 angular_pos
 
 # Result - time
 ---
-uint64 duration
+int64 duration
 
 ---
 # Feedback /moving_turtle/pose
 float32 x_pos 
 float32 y_pos
 float32 theta_pos
-
-
-

include/software_training_assignment/circular_turtle_node.hpp

@@ -0,0 +1,36 @@
+//ppdirective that states the header only gets included once in the project
+
+#pragma once 
+
+#include <rclcpp.hpp>
+#include <cstdlib>
+namespace composition{
+    class circular_turtle : public rclcpp::Node {
+    public: 
+        circular_turtle(const rclcpp::NodeOptions &options);
+    private:
+        rclcpp::TimerBase::SharedPtr timer_;
+        rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+        //need to figure out how to publish a message to turtle1 outlining its angular velocity and all that
+        typedef struct point {
+
+            typedef struct linear {
+            static constexpr float x = 12;
+            static constexpr float y = 12;
+            static constexpr float z = 12;
+            } linear;
+
+            typedef struct angular {
+            static constexpr float x = 1.41;
+            static constexpr float y = 1.41;
+            static constexpr float z = 1.41;
+
+            } angular;
+
+        } coordinates;
+        void rotate();
+
+};
+}
+
+

include/software_training_assignment/clear_turtles_node.hpp

@@ -0,0 +1,24 @@
+#pragma once
+
+//get all turtle names and request to kill each one
+//make a request to the turtle killing service
+
+#include <rclcpp/rclcpp.hpp>
+#include <turtlesim/srv/kill.hpp>
+#include <cstdlib>
+
+
+
+namespace composition {
+class clear_turtles_node : public rclcpp::Node{
+    public:
+        clear_turtles_node(const rclcpp::NodeOptions &options);
+
+    private:
+        rclcpp::Client<turtlesim::srv::Kill>::SharedPtr client; //shared request
+        std::vector<std::string> nodes = {"turtle1", "moving_turtle", "stationary_turtle"};
+        rclcpp::TimerBase::SharedPtr timer_;
+        void kill();
+
+};
+}

include/software_training_assignment/moving_turtle_action_node.hpp

@@ -0,0 +1,37 @@
+#include <cstdlib>
+#include <rclcpp_action/rclcpp_action.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <turtlesim/msg/pose.hpp>
+#include <software_training/action/Software.hpp>
+
+namespace composition{
+class moving_turtle_action_node : public rclcpp::Node {
+    public:
+
+        moving_turtle_action_node();
+        using GoalHandleActionServer =
+            rclcpp_action::ServerGoalHandle<software_training::action::Software>;
+    private:
+        float x;
+        float y;
+        float theta;
+
+        rclcpp_action::Server<software_training::action::Software>::SharedPtr action_server;
+
+        rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+
+        rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscriber;
+
+        //copied some code from software training, since action server is hard to figure out
+        rclcpp_action::GoalResponse handle_goal(
+            const rclcpp_action::GoalUUID &uuid,
+            std::shared_ptr<const software_training::action::Software::Goal> goal);
+
+        rclcpp_action::CancelResponse
+        handle_cancel(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+        static constexpr unsigned int QUEUE{10};
+
+};
+}

include/software_training_assignment/reset_turtle_node.hpp

@@ -0,0 +1,20 @@
+#pragma once
+#include <cstdlib>
+#include <rclcpp/rclcpp.hpp>
+#include <turtlesim/srv/teleport_absolute.hpp>
+// #include <software_training_assignment/srv/Software.hpp>
+
+namespace composition{
+    class reset_turtle_node : public rclcpp::Node {
+        public:
+            reset_turtle_node(const rclcpp::NodeOptions &options);
+        private:
+            //make a service.... 
+            //how do i do that lmao
+            rclcpp::Service<software_training_assignment::srv::Software::Request>::SharedPtr service_;
+            rclcpp::TimerBase::SharedPtr timer_;
+            rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedPtr client_;
+            void reset();
+            void reset_moving_turtle();
+    };
+}

include/software_training_assignment/spawn_turtles_node.hpp

@@ -0,0 +1,17 @@
+#include <cstdlib>
+#include <rclcpp/rclcpp.hpp>
+#include <turtlesim/srv/spawn.hpp>
+
+class spawn_turtles : public rclcpp::Node {
+private:
+    /* data */
+    rclcpp::Client<turtlesim::srv::Spawn>::SharedPtr client;
+
+    rclcpp::TimerBase::SharedPtr timer_;
+    void spawn();
+
+public:
+    spawn_turtles(const rclcpp::NodeOptions &options);
+
+};
+

include/software_training_assignment/turtle_distance_node.hpp

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <rclcpp/rclcpp.hpp>
+#include <cstdlib>
+#include <cmath>
+#include <turtlesim/msg/pose.hpp>
+
+namespace composition {
+class turtle_distance_node : public rclcpp::Node {
+    public:
+        turtle_distance_node(const rclcpp::NodeOptions &options);
+    private:
+        rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscription;
+        rclcpp::Publisher<software_training::msg::Software>::SharedPtr publisher;
+        rclcpp::TimerBase::SharedPtr timer;
+        float turtleDistance();
+
+        float turtle1_x;
+        float turtle1_y;
+        float turtle2_x;
+        float turtle2_y; 
+};
+}
+

msg/Software.msg

@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 distance