Software Team Training

software_training/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(software_training)
+
+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_action REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(turtlesim REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+include_directories(include)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Reset.srv"
+  "msg/Distance.msg"
+  "action/MovingTurtle.action"
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+# ---- clear_turtle ----
+add_library(clear_turtle SHARED
+  src/clear_turtle.cpp)
+target_include_directories(clear_turtle PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(clear_turtle
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(clear_turtle
+  "std_srvs"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(clear_turtle PLUGIN "software_training::ClearTurtle" EXECUTABLE clear_turtle_node)
+install(TARGETS
+  clear_turtle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# ---- turtle1_circle ----
+add_library(turtle1_circle SHARED
+  src/turtle1_circle.cpp)
+target_include_directories(turtle1_circle PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(turtle1_circle
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(turtle1_circle
+  "geometry_msgs"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(turtle1_circle PLUGIN "software_training::Turtle1Circle" EXECUTABLE turtle1_circle_node)
+install(TARGETS
+  turtle1_circle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# ---- spawn_turtle ----
+add_library(spawn_turtle SHARED
+  src/spawn_turtle.cpp)
+target_include_directories(spawn_turtle PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(spawn_turtle
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(spawn_turtle
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(spawn_turtle PLUGIN "software_training::SpawnTurtle" EXECUTABLE spawn_turtle_node)
+install(TARGETS
+  spawn_turtle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+
+# ---- reset_moving_turtle ----
+add_library(reset_moving_turtle SHARED
+  src/reset_moving_turtle.cpp)
+target_include_directories(reset_moving_turtle PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(reset_moving_turtle
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(reset_moving_turtle
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(reset_moving_turtle PLUGIN "software_training::ResetMovingTurtle" EXECUTABLE reset_moving_turtle_node)
+install(TARGETS
+  reset_moving_turtle
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(reset_moving_turtle
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+  # ---- reset_moving_turtle_client ----
+add_library(reset_moving_turtle_client SHARED
+  src/reset_moving_turtle_client.cpp)
+target_include_directories(reset_moving_turtle_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(reset_moving_turtle_client
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(reset_moving_turtle_client
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(reset_moving_turtle_client PLUGIN "software_training::ResetMovingTurtleClient" EXECUTABLE reset_moving_turtle_client_node)
+install(TARGETS
+  reset_moving_turtle_client
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(reset_moving_turtle_client
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# ---- distance_publisher ----
+add_library(distance_publisher SHARED
+  src/distance_publisher.cpp)
+target_include_directories(distance_publisher PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(distance_publisher
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(distance_publisher
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(distance_publisher PLUGIN "software_training::DistancePublisher" EXECUTABLE distance_publisher_node)
+install(TARGETS
+  distance_publisher
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(distance_publisher
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# ---- distance_subscriber ----
+add_library(distance_subscriber SHARED
+  src/distance_subscriber.cpp)
+target_include_directories(distance_subscriber PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(distance_subscriber
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(distance_subscriber
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(distance_subscriber PLUGIN "software_training::DistanceSubscriber" EXECUTABLE distance_subscriber_node)
+install(TARGETS
+  distance_subscriber
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(distance_subscriber
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# ---- moving_turtle_server ----
+add_library(moving_turtle_server SHARED
+  src/moving_turtle_server.cpp)
+target_include_directories(moving_turtle_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(moving_turtle_server
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(moving_turtle_server
+  "rclcpp"
+  "rclcpp_action"
+  "geometry_msgs"
+  "turtlesim"
+  "rclcpp_components")
+rclcpp_components_register_node(moving_turtle_server PLUGIN "software_training::MovingTurtleServer" EXECUTABLE moving_turtle_server_node)
+install(TARGETS
+  moving_turtle_server
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(moving_turtle_server
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+# ---- moving_turtle_client ----
+add_library(moving_turtle_client SHARED
+  src/moving_turtle_client.cpp)
+target_include_directories(moving_turtle_client PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(moving_turtle_client
+  PRIVATE "SOFTWARE_TRAINING_CPP_BUILDING_DLL")
+ament_target_dependencies(moving_turtle_client
+  "rclcpp"
+  "rclcpp_action"
+  "rclcpp_components")
+rclcpp_components_register_node(moving_turtle_client PLUGIN "software_training::MovingTurtleClient" EXECUTABLE moving_turtle_client_node)
+install(TARGETS
+  moving_turtle_client
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin)
+rosidl_target_interfaces(moving_turtle_client
+  ${PROJECT_NAME} "rosidl_typesupport_cpp")
+
+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/MovingTurtle.action

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+float32 target_x
+float32 target_y
+---
+uint64 duration
+---
+float32 x_distance
+float32 y_distance

software_training/include/software_training/visibility.h

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+#ifndef SOFTWARE_TRAINING__VISIBILITY_CONTROL_H_
+#define SOFTWARE_TRAINING__VISIBILITY_CONTROL_H_
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+// This logic was borrowed (then namespaced) from the examples on the gcc wiki:
+//     https://gcc.gnu.org/wiki/Visibility
+
+#if defined _WIN32 || defined __CYGWIN__
+  #ifdef __GNUC__
+    #define SOFTWARE_TRAINING_EXPORT __attribute__ ((dllexport))
+    #define SOFTWARE_TRAINING_IMPORT __attribute__ ((dllimport))
+  #else
+    #define SOFTWARE_TRAINING_EXPORT __declspec(dllexport)
+    #define SOFTWARE_TRAINING_IMPORT __declspec(dllimport)
+  #endif
+  #ifdef SOFTWARE_TRAINING_BUILDING_DLL
+    #define SOFTWARE_TRAINING_PUBLIC SOFTWARE_TRAINING_EXPORT
+  #else
+    #define SOFTWARE_TRAINING_PUBLIC SOFTWARE_TRAINING_IMPORT
+  #endif
+  #define SOFTWARE_TRAINING_PUBLIC_TYPE SOFTWARE_TRAINING_PUBLIC
+  #define SOFTWARE_TRAINING_LOCAL
+#else
+  #define SOFTWARE_TRAINING_EXPORT __attribute__ ((visibility("default")))
+  #define SOFTWARE_TRAINING_IMPORT
+  #if __GNUC__ >= 4
+    #define SOFTWARE_TRAINING_PUBLIC __attribute__ ((visibility("default")))
+    #define SOFTWARE_TRAINING_LOCAL  __attribute__ ((visibility("hidden")))
+  #else
+    #define SOFTWARE_TRAINING_PUBLIC
+    #define SOFTWARE_TRAINING_LOCAL
+  #endif
+  #define SOFTWARE_TRAINING_PUBLIC_TYPE
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // SOFTWARE_TRAINING__VISIBILITY_CONTROL_H_

software_training/launch/launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import RegisterEventHandler, LogInfo
+from launch.event_handlers import OnProcessStart
+
+def generate_launch_description():
+
+    turtlesim = Node(
+        package='turtlesim',
+        executable='turtlesim_node',
+        name='turtle_sim',
+    )
+
+    turtle1_circle = Node(
+        package='software_training',
+        executable='turtle1_circle_node',
+        name='turtle1_circle',
+    )
+
+    spawn_turtle = Node(
+        package='software_training',
+        executable='spawn_turtle_node',
+        name='spawn_turtle',
+    )
+
+    reset_moving_turtle = Node(
+        package='software_training',
+        executable='moving_turtle_server_node',
+        name='moving_turtle_server',
+    )
+
+    distance_publisher = Node(
+        package='software_training',
+        executable='distance_publisher_node',
+        name='distance_publisher',
+    )
+
+    moving_turtle_server = Node(
+        package='software_training',
+        executable='moving_turtle_server_node',
+        name='moving_turtle_server',
+    )
+
+
+    launch_after_turtlesim = RegisterEventHandler(
+        OnProcessStart(
+            target_action=turtlesim,
+            on_start=[
+                turtle1_circle,
+                spawn_turtle,
+                reset_moving_turtle,
+                distance_publisher,
+                moving_turtle_server
+            ]
+        )
+    )
+
+    return LaunchDescription([
+        turtlesim,
+        launch_after_turtlesim
+    ])

software_training/msg/Distance.msg

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+float32 x_distance
+float32 y_distance
+float32 distance

software_training/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>software_training</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="maepifan@uwaterloo.ca">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_action</depend>
+  <depend>std_srvs</depend>
+  <depend>turtlesim</depend>
+  <depend>geometry_msgs</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>