training

software_training_assignment/.gitignore

@@ -0,0 +1,2 @@
+.vscode/
+software_training_assignment/launch/__pycache__/

software_training_assignment/CMakeLists.txt

@@ -0,0 +1,164 @@
+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()
+
+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()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(turtlesim REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+find_package(rclcpp_action REQUIRED)
+
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+include_directories(include)
+
+set(node_plugins "")
+
+# custom services and messages and actions
+rosidl_generate_interfaces(${PROJECT_NAME}
+	"srv/ExampleService.srv"
+  "msg/Position.msg"
+  "action/MoveTo.action"
+	DEPENDENCIES std_msgs geometry_msgs builtin_interfaces)
+ament_export_dependencies(rosidl_default_runtime)
+
+#spawn turtles 
+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 "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(spawn_turtle
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(spawn_turtle PLUGIN "composition::SpawnTurtle" EXECUTABLE spawn)
+
+#clear turtles
+add_library(clear SHARED
+  src/clear_turtle.cpp)
+target_include_directories(clear PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(clear
+  PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(clear
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rclcpp_components_register_node(clear PLUGIN "composition::ClearTurtle" EXECUTABLE clear_turtle)
+
+#rotate turtle 1
+add_library(rotate SHARED
+  src/rotate_turtle1.cpp)
+target_include_directories(rotate PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(rotate
+  PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(rotate
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components"
+  "geometry_msgs")
+rclcpp_components_register_node(rotate PLUGIN "composition::RotateTurtle" EXECUTABLE rotate_turtle)
+
+#reset turtle service
+add_library(reset SHARED
+  src/reset_moving.cpp)
+target_include_directories(reset PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(reset
+  PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(reset
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rosidl_target_interfaces(reset ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_components_register_node(reset PLUGIN "composition::ResetMoving" EXECUTABLE reset_turtle)
+
+#stationary position publisher
+add_library(pos_pub SHARED
+  src/stationary_position_publisher.cpp)
+target_include_directories(pos_pub PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(pos_pub
+  PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(pos_pub
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components")
+rosidl_target_interfaces(pos_pub ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_components_register_node(pos_pub PLUGIN "composition::StationaryPosPublisher" EXECUTABLE stationary_publisher)
+
+#move turtle server
+add_library(move_server SHARED
+  src/move_turtle_server.cpp)
+target_include_directories(move_server PRIVATE
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_definitions(move_server
+  PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(move_server
+  "turtlesim"
+  "rclcpp"
+  "rclcpp_components"
+  "rclcpp_action")
+rosidl_target_interfaces(move_server ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_components_register_node(move_server PLUGIN "composition::MoveTurtleServer" EXECUTABLE move_turtle)
+
+
+install(TARGETS
+  spawn_turtle
+  clear
+  rotate
+  reset
+  pos_pub
+  move_server
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin) 
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+
+ament_package()
+
+
+
+

software_training_assignment/action/MoveTo.action

@@ -0,0 +1,5 @@
+float32[] position
+---
+int32 seconds
+---
+float32 distance

software_training_assignment/include/clear_turtle.hpp

@@ -0,0 +1,28 @@
+#ifndef CLEAR_H
+#define CLEAR_H
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+#include <turtlesim/srv/kill.hpp>
+#include <visibility.h>
+
+namespace composition
+{
+class ClearTurtle : public rclcpp::Node
+{
+    public:
+        SOFTWARE_TRAINING_PUBLIC
+        explicit ClearTurtle(const rclcpp::NodeOptions & options);
+
+    private:
+        SOFTWARE_TRAINING_LOCAL
+        rclcpp::Client<turtlesim::srv::Kill>::SharedPtr client;
+        rclcpp::TimerBase::SharedPtr timer;
+
+        void kill_turtles();
+
+};
+}
+
+#endif

software_training_assignment/include/move_turtle_server.hpp

@@ -0,0 +1,42 @@
+#ifndef MOVE_H
+#define MOVE_H
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+#include "rclcpp_action/rclcpp_action.hpp"
+
+#include <turtlesim/msg/pose.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+
+#include <software_training_assignment/action/move_to.hpp>
+
+namespace composition
+{
+class MoveTurtleServer : public rclcpp::Node
+{
+    public:
+        using MoveTo = software_training_assignment::action::MoveTo;
+        using GoalHandleMoveTo = rclcpp_action::ServerGoalHandle<MoveTo>;
+
+        MoveTurtleServer(const rclcpp::NodeOptions & options);
+
+    private:
+        rclcpp_action::Server<MoveTo>::SharedPtr action_server;
+        rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+        rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr pose_sub;
+
+        float curr_x;
+        float curr_y;
+        std::vector<float> target;
+
+        rclcpp_action::GoalResponse handle_goal(const rclcpp_action::GoalUUID & uuid,
+            std::shared_ptr<const MoveTo::Goal> goal);
+
+        rclcpp_action::CancelResponse handle_cancel(const std::shared_ptr<GoalHandleMoveTo> goal_handle);
+        void handle_accepted(const std::shared_ptr<GoalHandleMoveTo> goal_handle);
+        void execute(const std::shared_ptr<GoalHandleMoveTo> goal_handle);
+        void get_pose(const turtlesim::msg::Pose::SharedPtr currentPose);
+};
+}
+
+#endif

software_training_assignment/include/reset_moving.hpp

@@ -0,0 +1,31 @@
+#ifndef RESET_H
+#define RESET_H
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+#include <visibility.h>
+#include <software_training_assignment/srv/example_service.hpp>
+#include <turtlesim/srv/teleport_absolute.hpp>
+
+#include <turtle_info.hpp>
+#include <string>
+
+namespace composition
+{
+class ResetMoving : public rclcpp::Node
+{
+    public:
+        explicit ResetMoving(const rclcpp::NodeOptions & options);
+
+    private:
+        rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_cli;
+        rclcpp::Service<software_training_assignment::srv::ExampleService>::SharedPtr teleport_srv;
+
+        void reset_moving_turtle(
+            const std::shared_ptr<software_training_assignment::srv::ExampleService::Request> request,
+            std::shared_ptr<software_training_assignment::srv::ExampleService::Response> response);
+};
+}
+
+#endif

software_training_assignment/include/rotate_turtle1.hpp

@@ -0,0 +1,22 @@
+#ifndef ROTATE_H
+#define ROTATE_H
+
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp_components/register_node_macro.hpp"
+
+#include <geometry_msgs/msg/twist.hpp>
+
+namespace composition
+{
+class RotateTurtle : public rclcpp::Node
+{
+    public:
+        explicit RotateTurtle(const rclcpp::NodeOptions & options);
+
+    private:
+        rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+        void callback();    
+};
+}
+
+#endif

software_training_assignment/include/spawn_turtle.hpp

@@ -0,0 +1,30 @@
+#ifndef SPAWN_H
+#define SPAWN_H
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include "turtlesim/srv/spawn.hpp"
+
+#include <turtle_info.hpp>
+#include <visibility.h>
+#include <thread>
+
+namespace composition
+{
+class SpawnTurtle : public rclcpp::Node
+{
+    public:
+        SOFTWARE_TRAINING_PUBLIC
+        explicit SpawnTurtle(const rclcpp::NodeOptions &options);
+
+    private:
+        rclcpp::Client<turtlesim::srv::Spawn>::SharedPtr srv_client;
+        rclcpp::TimerBase::SharedPtr timer;
+
+        SOFTWARE_TRAINING_LOCAL
+        void spawn_turtles();
+};
+}
+
+#endif

software_training_assignment/include/stationary_position_publisher.hpp

@@ -0,0 +1,29 @@
+#ifndef STAT_POS_H
+#define STAT_POS_HS
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+
+#include <software_training_assignment/msg/position.hpp>
+#include <turtle_info.hpp>
+#include <turtlesim/msg/pose.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+
+#include <math.h>
+
+namespace composition
+{
+class StationaryPosPublisher : public rclcpp::Node
+{
+    public:
+        StationaryPosPublisher(const rclcpp::NodeOptions &options);
+
+    private:
+        rclcpp::Publisher<software_training_assignment::msg::Position>::SharedPtr publisher;
+        rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr pose_sub;
+
+        void get_pose(const turtlesim::msg::Pose::SharedPtr currentPose);
+};
+}
+
+#endif

software_training_assignment/include/turtle_info.hpp

@@ -0,0 +1,13 @@
+#ifndef TURTLE_INFO_H
+#define TURTLE_INFO_H
+
+#include <map>
+#include <vector>
+
+
+std::map<std::string, std::vector<int>> turtles {
+    { "moving_turtle", { 10, 10} },
+    { "stationary_turtle", { 5, 5 } }
+};
+
+#endif