software training assignment

.gitignore

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+.vscode/
+install/
+build/
+log/

README.md

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-# software_challenge
+# UWRT Software  Training Assignment - Complete
+
+## How To Run
+1. Clone this repository.
+2. Source your ROS2 installation. `source /opt/ros/foxy/setup.bash`.
+3. `cd` into this repository.
+4. Run `colcon build` in this repository.
+5. Open a new terminal.
+6. `cd` into this repository in the new terminal.
+7. Run `. install/setup.bash` in the new terminal.
+8. Run `ros2 launch software_training_assignment testlaunch.py` in the new terminal.
+9. Sit back and watch the demo for 10 seconds.

software_training_assignment/CMakeLists.txt

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+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(turtlesim REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+
+#include the 'include' directory
+include_directories(include)
+
+# custom services and messages and actions
+rosidl_generate_interfaces(${PROJECT_NAME}
+	"srv/ResetMovingTurtle.srv"
+	"msg/Software.msg"
+	"action/Software.action"
+	DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
+	)
+ament_export_dependencies(rosidl_default_runtime)
+
+#create resource which references the libraries in the binary bin
+set(node_plugins "")
+
+
+#add clear_turtles as plugin
+add_library(clear_turtles SHARED
+	src/clear_turtles.cpp)
+target_compile_definitions(clear_turtles
+	PRIVATE "SOFTWARE_TRAINING_DLL")
+ament_target_dependencies(clear_turtles
+	"rclcpp"
+	"rclcpp_components"
+	"turtlesim"
+	"std_msgs"
+	"geometry_msgs")
+# rosidl_target_interfaces(clear_turtles ${PROJECT_NAME} "rosidl_typesupport_cpp") # need this for custom messages - idk why tho
+rclcpp_components_register_node(clear_turtles PLUGIN "composition::clear_turtles"  EXECUTABLE turtle_clear)
+# set(node_plugins PLUGIN "${node_plugins}composition::clear_turtles;$<TARGET_FILE:clear_turtles\n>" EXECUTABLE turtle_clear)
+
+
+
+#add spawn_turtle_nodelets as plugin
+add_library(turtle_spawn SHARED
+	src/spawn_turtle_nodelet.cpp)
+target_compile_definitions(turtle_spawn
+	PRIVATE "SOFTWARE_TRAINING_DLL")
+ament_target_dependencies(turtle_spawn
+	"rclcpp"
+	"rclcpp_components"
+	"turtlesim"
+	"std_msgs"
+	"geometry_msgs")
+rclcpp_components_register_node(turtle_spawn PLUGIN "composition::spawn_turtle_nodelet" EXECUTABLE turtle_spawner)
+# set(node_plugins PLUGIN "${node_plugins}composition::spawn_turtle_nodelet;$<TARGET_FILE:turtle_spawn\n>" EXECUTABLE turtle_spawner)
+
+
+#add turtle publisher nodelet
+add_library(turtle_pub SHARED
+	src/turtle_publisher.cpp)
+target_compile_definitions(turtle_pub
+	PRIVATE "SOFTWARE_TRAINING_DLL"
+	)
+ament_target_dependencies(turtle_pub
+	"rclcpp"
+	"rclcpp_components"
+	"turtlesim"
+	"std_msgs")
+rosidl_target_interfaces(turtle_pub ${PROJECT_NAME} "rosidl_typesupport_cpp") # need this for custom messages - idk why tho
+rclcpp_components_register_node(turtle_pub PLUGIN "composition::turtle_publisher" EXECUTABLE turtle_main_pub)
+# set(node_plugins PLUGIN "${node_plugins}composition::turtle_publisher;$<TARGET_FILE:turtle_pub\n>" EXECUTABLE turtle_main_pub)
+
+#add moving turtle service 
+add_library(turtle_service SHARED
+	src/reset_moving_turtle.cpp)
+target_compile_definitions(turtle_service
+	PRIVATE "SOFTWARE_TRAINING_DLL"
+	)
+ament_target_dependencies(turtle_service
+	"rclcpp"
+	"rclcpp_components"
+	"turtlesim"
+	"turtlesim"
+	"std_msgs")
+rosidl_target_interfaces(turtle_service ${PROJECT_NAME} "rosidl_typesupport_cpp") # need for custom srv
+rclcpp_components_register_node(turtle_service PLUGIN "composition::reset_moving_turtle" EXECUTABLE moving_turtle_reset)
+# set(node_plugins PLUGIN "${node_plugins}composition::reset_moving_turtle;$<TARGET_FILE:turtle_service\n" EXECUTABLE moving_turtle_reset)
+
+
+# add turtle circle  publisher nodelet
+add_library(turtle_circle SHARED
+	src/turtle_circle_publisher.cpp)
+target_compile_definitions(turtle_circle
+	PRIVATE "SOFTWARE_TRAINING_DLL"
+	)
+ament_target_dependencies(turtle_circle
+	"rclcpp"
+	"rclcpp_components"
+	"turtlesim"
+	"geometry_msgs"
+	"std_msgs")
+# rosidl_target_interfaces(turtle_circle ${PROJECT_NAME} "rosidl_typesupport_cpp") # need this for custom messages - idk why tho
+rclcpp_components_register_node(turtle_circle PLUGIN "composition::turtle_circle_publisher" EXECUTABLE turtle_circle_pub)
+# set(node_plugins "${node_plugins}composition::turtle_circle_publisher;$<TARGET_FILE:turtle_circle\n>")
+
+
+add_library(turtle_action_server SHARED
+	src/action_turtle.cpp)
+target_compile_definitions(turtle_action_server
+	PRIVATE "SOFTWARE_TRAINING_DLL")
+ament_target_dependencies(turtle_action_server
+       "rclcpp"
+       "rclcpp_components" 
+       "turtlesim"
+       "rclcpp_action"
+       "std_msgs"
+       "geometry_msgs")
+rosidl_target_interfaces(turtle_action_server ${PROJECT_NAME} "rosidl_typesupport_cpp") # needed for custom action
+# with this we can execute the component as a node -cd ros2 run software_training turtle_action
+rclcpp_components_register_node(turtle_action_server PLUGIN "composition::action_turtle" EXECUTABLE turtle_action)
+# set(node_plugins "${node_plugins}composition::action_turtle;$<TARGET_FILE:turtle_action_server\n>")
+
+
+# add_library(turtle_action_client SHARED
+# 	src/action_client.cpp)
+# target_compile_definitions(turtle_action_client
+# 	PRIVATE "SOFTWARE_TRAINING_DLL")
+# ament_target_dependencies(turtle_action_client
+#        "rclcpp"
+#        "rclcpp_components" 
+#        "turtlesim"
+#        "rclcpp_action"
+#        "std_msgs"
+#        "geometry_msgs")
+# rosidl_target_interfaces(turtle_action_client ${PROJECT_NAME} "rosidl_typesupport_cpp") # needed for custom action
+# # with this we can execute the component as a node - ros2 run software_training turtle_action
+# rclcpp_components_register_node(turtle_action_client PLUGIN "composition::action_turtle" EXECUTABLE turtle_client)
+# set(node_plugins "${node_plugins}composition::action_client;$<TARGET_FILE:turtle_action_client\n>")
+
+
+#tell where to put binaries
+install(TARGETS
+	# turtle_request
+	turtle_spawn
+	turtle_circle
+	clear_turtles
+	turtle_service
+	turtle_pub
+	turtle_action_server
+	# turtle_action_client
+	ARCHIVE DESTINATION lib
+	LIBRARY DESTINATION lib 
+	RUNTIME DESTINATION bin)
+
+#install launch file
+install(DIRECTORY launch
+	DESTINATION share/${PROJECT_NAME}
+	)
+
+#install configuration file (yaml files) for param server
+install(DIRECTORY
+	config
+	DESTINATION share/${PROJECT_NAME}
+	)
+
+ament_package()

software_training_assignment/action/Software.action

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+# Goal Request /moving_turtle/cmd_vel
+float32 x_pos 
+float32 y_pos
+
+# Result - time
+---
+uint64 duration
+
+---
+# feedback distance
+# float32 dist
+float32 dist
+
+
+

software_training_assignment/include/software_training_assignment/action_client.hpp

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+#ifndef ACTION_CLIENT_HPP_
+#define ACTION_CLIENT_HPP_
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time.hpp>                 // ros2 time header
+#include <rclcpp_action/rclcpp_action.hpp> // ros2 action header
+#include <software_training_assignment/action/software.hpp>
+#include <software_training_assignment/visibility.h>
+
+#include <geometry_msgs/msg/twist.hpp> // cmd_vel publisher message
+#include <turtlesim/msg/pose.hpp>      // header for message to get moving turt position
+
+namespace composition
+{
+
+    class action_client : public rclcpp::Node
+    {
+
+    public:
+        SOFTWARE_TRAINING_PUBLIC
+        explicit action_client(const rclcpp::NodeOptions &options);
+
+        // nice to have to prevent lengthy repitive code
+        using GoalHandleActionClient =
+            rclcpp_action::ClientGoalHandle<software_training_assignment::action::Software>;
+
+        // using SoftwareAction = software_training_assignment::action::Software;
+
+        SOFTWARE_TRAINING_PUBLIC
+        void send_goal();
+    private:
+        // action client
+        rclcpp_action::Client<software_training_assignment::action::Software>::SharedPtr
+            client;
+
+        rclcpp::TimerBase::SharedPtr timer;
+
+        // goal callback function
+        SOFTWARE_TRAINING_LOCAL
+        void goal_response_callback(GoalHandleActionClient::SharedPtr goal_handle);
+
+        // cancel response callback function
+        SOFTWARE_TRAINING_LOCAL
+        void
+        feedback_callback(GoalHandleActionClient::SharedPtr, const std::shared_ptr<const SoftwareAction::Feedback> feedback);
+
+        // handle accepted callback function
+        SOFTWARE_TRAINING_LOCAL
+        void
+        result_callback(const GoalHandleActionClient::WrappedResult & result);
+
+    };
+
+}
+
+#endif // ACTION_CLIENT_HPP_

software_training_assignment/include/software_training_assignment/action_turtle.hpp

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+#ifndef ACTION_TURTLE_HPP_
+#define ACTION_TURTLE_HPP_
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time.hpp>                 // ros2 time header
+#include <rclcpp_action/rclcpp_action.hpp> // ros2 action header
+#include <software_training_assignment/action/software.hpp>
+#include <software_training_assignment/visibility.h>
+
+#include <geometry_msgs/msg/twist.hpp> // cmd_vel publisher message
+#include <turtlesim/msg/pose.hpp> // header for message to get moving turt position
+
+namespace composition{
+
+class action_turtle : public rclcpp::Node {
+
+public:
+  SOFTWARE_TRAINING_PUBLIC
+  explicit action_turtle(const rclcpp::NodeOptions &options);
+
+  // nice to have to prevent lengthy repitive code
+  using GoalHandleActionServer =
+      rclcpp_action::ServerGoalHandle<software_training_assignment::action::Software>;
+
+private:
+  // action server
+  rclcpp_action::Server<software_training_assignment::action::Software>::SharedPtr
+      action_server;
+
+  // publisher to publish moving turtle commands
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+
+  // subscriber to get moving turt posiiton
+  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscriber;
+
+  // goal callback function
+  SOFTWARE_TRAINING_LOCAL
+  rclcpp_action::GoalResponse handle_goal(
+      const rclcpp_action::GoalUUID &uuid,
+      std::shared_ptr<const software_training_assignment::action::Software::Goal> goal);
+
+  // cancel response callback function
+  SOFTWARE_TRAINING_LOCAL
+  rclcpp_action::CancelResponse
+  handle_cancel(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  // handle accepted callback function
+  SOFTWARE_TRAINING_LOCAL
+  void
+  handle_accepted(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  SOFTWARE_TRAINING_LOCAL
+  // executioner callback function
+  void execute(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  // for subscriber
+  float x = 0.0f;
+  float y = 0.0f;
+  float theta = 0.0f;
+  float linear_velocity = 0.0f;
+  float angular_velocity = 0.0f;
+
+  static constexpr unsigned int QUEUE{10};
+};
+
+}
+
+#endif // ACTION_TURTLE_HPP_