Ros2 turtlesim using shared lib

supplementary/alica_ros2/alica_ros2_turtlesim/CMakeLists.txt

@@ -8,7 +8,6 @@ alica_compile_flags()
 ## Dependencies ##
 ##################
 
-##Yaml
 find_package(yaml-cpp REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(geometry_msgs REQUIRED)
@@ -21,6 +20,7 @@ find_package(alica_solver_interface)
 find_package(ament_cmake REQUIRED)
 find_package(alica_msgs REQUIRED)
 find_package(alica_dynamic_loading REQUIRED)
+find_package(alica_turtlesim REQUIRED)
 find_package(Boost COMPONENTS system filesystem REQUIRED)
 if (NOT Boost_FOUND)
       message(FATAL_ERROR "Fatal error: Boost required.\n")
@@ -33,11 +33,13 @@ endif (NOT Boost_FOUND)
 include_directories(
     include
     ${turtlesim_INCLUDE_DIRS}
+    ${alica_turtlesim_INCLUDE_DIRS}
 )
 
 add_executable(${PROJECT_NAME}
     src/base_node.cpp
     src/base.cpp
+    src/turtle_ros2_interfaces.cpp
 )
 
 target_link_libraries(${PROJECT_NAME}
@@ -47,16 +49,20 @@ target_link_libraries(${PROJECT_NAME}
     alica_solver_interface
     alica_ros2_proxy
     alica_dynamic_loading
+    libalica-turtlesim
     Boost::system
     Boost::filesystem
     ${turtlesim_LIBRARIES}
     ${geometry_msgs_LIBRARIES}
 )
 
+add_subdirectory(libalica-ros2-utils)
+
 ament_target_dependencies(alica_ros2_turtlesim
   rclcpp
   geometry_msgs
   alica_ros2_proxy
+  alica_turtlesim
 )
 
 ament_export_dependencies(alica_ros2_turtlesim
@@ -66,8 +72,6 @@ ament_export_dependencies(alica_ros2_turtlesim
     alica_ros2_proxy
 )
 
-add_subdirectory(libalica-ros2-turtlesim)
-
 #############
 ## Install ##
 #############

supplementary/alica_ros2/alica_ros2_turtlesim/README.md

@@ -2,7 +2,7 @@
 
 ## 1. Overview
 
-This tutorial is a ROS 2 version of the Alica ROS Turtlesim, with support for ROS Galactic and Humble. See the ROS 1 Turtlesim package for details on how the turtlesim and Alica interact.
+This tutorial is a ROS 2 version of the Alica ROS Turtlesim, with support for ROS2 Humble. See the ROS 1 Turtlesim package for details on how the turtlesim and Alica interact.
 
 ## 2. Setup of the Colcon Workspace
 

supplementary/alica_ros2/alica_ros2_turtlesim/etc/behaviours/WaitForMsg.beh

@@ -0,0 +1,31 @@
+{
+  "blackboard": [
+    {
+      "access": "output",
+      "comment": "The contents of the msg that was received on the topic",
+      "id": 1670287826314001481,
+      "key": "msg",
+      "type": "std::string"
+    },
+    {
+      "access": "input",
+      "comment": "The topic name on which to wait for the msg",
+      "id": 3377017469681391113,
+      "key": "topic",
+      "type": "std::string"
+    }
+  ],
+  "comment": "Given the topic name as input, waits until a string msg is published on that topic & stores the msg as output",
+  "deferring": 0,
+  "eventDriven": false,
+  "frequency": 5,
+  "id": 2324679431617631864,
+  "implementationName": "",
+  "inheritBlackboard": false,
+  "libraryName": "libalica-ros2-utils",
+  "name": "WaitForMsg",
+  "postCondition": null,
+  "preCondition": null,
+  "runtimeCondition": null,
+  "variables": []
+}

supplementary/alica_ros2/alica_ros2_turtlesim/etc/behaviours/WaitForTrigger.beh

@@ -0,0 +1,24 @@
+{
+  "blackboard": [
+    {
+      "access": "input",
+      "comment": "subscriber topic on which to listen for trigger msgs",
+      "id": 2590992428289220704,
+      "key": "topic",
+      "type": "std::string"
+    }
+  ],
+  "comment": "Given the topic name as input, waits until an empty msg is published on that topic",
+  "deferring": 0,
+  "eventDriven": false,
+  "frequency": 5,
+  "id": 1320667069122998665,
+  "implementationName": "",
+  "inheritBlackboard": false,
+  "libraryName": "libalica-ros2-utils",
+  "name": "WaitForTrigger",
+  "postCondition": null,
+  "preCondition": null,
+  "runtimeCondition": null,
+  "variables": []
+}