diff --git a/software_training_assignment/CMakeLists.txt b/software_training_assignment/CMakeLists.txt new file mode 100644 index 0000000..d5021c7 --- /dev/null +++ b/software_training_assignment/CMakeLists.txt @@ -0,0 +1,223 @@ +cmake_minimum_required(VERSION 2.8.3) +project(software_training_assignment) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + actionlib_msgs + genmsg +) + +## System dependencies are found with CMake's conventions +#find_package(catkin REQUIRED COMPONENTS acionlib_msgs) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +add_message_files( + FILES + TurtleDistance.msg + ) + +## Generate services in the 'srv' folder + add_service_files( + FILES + Spawn.srv + ) + +## Generate actions in the 'action' folder + add_action_files( + FILES + MoveTurtle.action + ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES actionlib_msgs std_msgs + ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES software_training_assignment + CATKIN_DEPENDS roscpp rospy std_msgs actionlib_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/software_training_assignment.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/software_training_assignment_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_software_training_assignment.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) +add_executable(turtle_tf_server src/turtle_tf_server.cpp) +target_link_libraries(turtle_tf_server ${catkin_LIBRARIES}) +add_dependencies(turtle_tf_server software_training_assignment_gencpp) + +add_executable(turtle_tf_publisher src/turtle_tf_publisher.cpp) +target_link_libraries(turtle_tf_publisher ${catkin_LIBRARIES}) +add_dependencies(turtle_tf_publisher software_training_assignment_gencpp) + +add_executable(turtle_tf_client src/turtle_tf_client.cpp) +target_link_libraries(turtle_tf_client ${catkin_LIBRARIES}) + +add_executable(turtle_tf_distance src/turtle_tf_distance.cpp) +target_link_libraries(turtle_tf_distance ${catkin_LIBRARIES}) +add_dependencies(turtle_tf_distance software_training_assignment_gencpp) + +add_executable(turtle_tf_reset src/turtle_tf_reset.cpp) +target_link_libraries(turtle_tf_reset ${catkin_LIBRARIES}) +add_dependencies(turtle_tf_reset software_training_assignment_gencpp) diff --git a/software_training_assignment/action/MoveTurtle.action b/software_training_assignment/action/MoveTurtle.action new file mode 100644 index 0000000..3488aa8 --- /dev/null +++ b/software_training_assignment/action/MoveTurtle.action @@ -0,0 +1,8 @@ +#goal definition +float32 waypoint_x +--- +#result definition +float32 time +--- +#feedback +float32 distance_to_goal diff --git a/software_training_assignment/actionlib_msgs/CMakeLists.txt b/software_training_assignment/actionlib_msgs/CMakeLists.txt new file mode 100644 index 0000000..03c62c1 --- /dev/null +++ b/software_training_assignment/actionlib_msgs/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 2.8.3) +project(actionlib_msgs) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES actionlib_msgs +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/actionlib_msgs.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/actionlib_msgs_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_actionlib_msgs.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/software_training_assignment/actionlib_msgs/package.xml b/software_training_assignment/actionlib_msgs/package.xml new file mode 100644 index 0000000..8511d2c --- /dev/null +++ b/software_training_assignment/actionlib_msgs/package.xml @@ -0,0 +1,59 @@ + + + actionlib_msgs + 0.0.0 + The actionlib_msgs package + + + + + tieuchanlong + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + + diff --git a/software_training_assignment/launch/turtlemimic.launch b/software_training_assignment/launch/turtlemimic.launch new file mode 100644 index 0000000..6bec1ae --- /dev/null +++ b/software_training_assignment/launch/turtlemimic.launch @@ -0,0 +1,9 @@ + + + +# + +# + + + diff --git a/software_training_assignment/msg/TurtleDistance.msg b/software_training_assignment/msg/TurtleDistance.msg new file mode 100644 index 0000000..e86f579 --- /dev/null +++ b/software_training_assignment/msg/TurtleDistance.msg @@ -0,0 +1,3 @@ +float32 x_dist +float32 y_dist +float32 dist diff --git a/software_training_assignment/package.xml b/software_training_assignment/package.xml new file mode 100644 index 0000000..df289ff --- /dev/null +++ b/software_training_assignment/package.xml @@ -0,0 +1,72 @@ + + + software_training_assignment + 0.0.0 + The software_training_assignment package + + + + + tieuchanlong + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + actionlib_msgs + message_generation + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + actionlib_msgs + message_runtime + + + + + + + + diff --git a/software_training_assignment/src/action_server.cpp b/software_training_assignment/src/action_server.cpp new file mode 100644 index 0000000..f1e5c61 --- /dev/null +++ b/software_training_assignment/src/action_server.cpp @@ -0,0 +1,53 @@ +#include "ros/ros.h" +#include +#include + +class MoveTurtleAction +{ + protected: + ros::NodeHandle nh_; + actionlib::SimpleActionServer as_; + + std::string action_name_; + + software_training_assignment::MoveTurtleFeedback feedback_; + software_training_assignment::MoveTurtleResult result_; + + public: + MoveTurtleAction(std::string name): as_(nh_, name, boost::bind(&MoveTurtleAction::executeCB, this, _1), false), action_name_(name) + { + as_.start(); + } + + ~MoveTurtleAction(void) + { + } + + void executeCB(const actionlib_tutorials::MoveTurtleGoalConstPtr &goal) + { + ros::Rate r(1); + bool success = true; + + feedback_.distance_to_goal + + // publish info to the console for the user + ROS_INFO("%s: Executing, creating turtle movement of order %i with seed %.2f", action_name_.c_str(), goal->order, feedback_.sequence[0], feedback_.distance_to_goal); + + for (int i = 1;i<=goal->order; i++) + { + // check that preempt has not been requested by the client + if (as_.isPreemptRequested() || !ros::ok()) + { + ROS_INFO("%s: Preempted", action_name_.c_str()); + // set the action state to preempted + as_.setPreempted(); + success = false; + break; + } + + as_.publishFeedback(feedback_); + // this sleep is not necessary, the sequence is computed at 1 Hz for demonstration purposes + r.sleep(); + } + } +} diff --git a/software_training_assignment/src/turtle_tf_client.cpp b/software_training_assignment/src/turtle_tf_client.cpp new file mode 100644 index 0000000..d8de26e --- /dev/null +++ b/software_training_assignment/src/turtle_tf_client.cpp @@ -0,0 +1,30 @@ +#include "ros/ros.h" +#include "turtlesim/Spawn.h" +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "turtle_tf_client"); + if (argc != 3) + { + ROS_INFO("spawn turtle at X Y"); + return 1; + } + + ros::NodeHandle n; + ros::ServiceClient client = n.serviceClient("spawn"); + turtlesim::Spawn srv; + if (client.call(srv)) + { + ROS_INFO("Spawn a turtle name: %s", srv.response.name.c_str()); + } + else + { + ROS_ERROR("Failed to call spawn"); + return 1; + } + + return 0; +} + + diff --git a/software_training_assignment/src/turtle_tf_distance.cpp b/software_training_assignment/src/turtle_tf_distance.cpp new file mode 100644 index 0000000..1e18913 --- /dev/null +++ b/software_training_assignment/src/turtle_tf_distance.cpp @@ -0,0 +1,55 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "turtlesim/Pose.h" +#include "software_training_assignment/TurtleDistance.h" +#include "turtlesim/Spawn.h" + +#include +#include + +using software_training_assignment::TurtleDistance; + +void poseCallback(const turtlesim::Pose::ConstPtr& pose_message,turtlesim::Pose *pos_data) +{ + pos_data->x = pose_message->x; + pos_data->y = pose_message->y; + //ROS_INFO("Initial pos: %.2f", pose_message->x); +} + +void PubPosition(turtlesim::Pose turtle1, turtlesim::Pose turtle2, ros::Publisher dist_pub) +{ + TurtleDistance result; + result.x_dist = abs(turtle1.x - turtle2.x); + result.y_dist = abs(turtle1.y - turtle2.y); + result.dist = sqrt(pow(abs(turtle1.x - turtle2.x),2) + pow(abs(turtle1.y - turtle2.y),2)); + ROS_INFO("x: %.2f y: %.2f dist: %.2f", result.x_dist, result.y_dist, result.dist); + dist_pub.publish(result); +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "turtle_tf_distance"); + ros::NodeHandle n; + + ros::Rate loop_rate(10); + + int count = 0; + srand(time(NULL)); + turtlesim::Pose stationary_msgs; + turtlesim::Pose moving_msgs; + + ros::Subscriber stationary_turtle_subscriber = n.subscribe("stationary_turtle/pose", 100, boost::bind(&poseCallback, _1, &stationary_msgs)); + ros::Subscriber moving_turtle_subscriber = n.subscribe("moving_turtle/pose", 100, boost::bind(&poseCallback, _1, &moving_msgs)); + + ros::Publisher dist_publisher = n.advertise("turtle_distance", 10); + + while (ros::ok()) + { + PubPosition(stationary_msgs, moving_msgs, dist_publisher); + + ros::spinOnce(); + loop_rate.sleep(); + } + ros::spin(); + return 0; +} diff --git a/software_training_assignment/src/turtle_tf_listener.cpp b/software_training_assignment/src/turtle_tf_listener.cpp new file mode 100644 index 0000000..5ed8ada --- /dev/null +++ b/software_training_assignment/src/turtle_tf_listener.cpp @@ -0,0 +1,39 @@ +#include +#include +#include +#include + +int main(int argc, char** argv){ + ros::init(argc, argv, "my_tf_listener"); + + ros::NodeHandle node; + + ros::service::waitForService("spawn"); + ros::ServiceClient add_turtle = node.serviceClient("spawn"); + turtlesim::Spawn srv; + add_turtle.call(srv); + + ros::Publisher turtle_vel = node.advertise("stationary_turtle/command_velocity", 10); + + tf::TransformListener listener; + + ros::Rate rate(10.0); + while (node.ok()){ + tf::StampedTransform transform; + try{ + listener.lookupTransform("/stationary_turtle", ros::Time(0), transform); + } + catch (tf::TransformException ex){ + ROS_ERROR("%s",ex.what()); + ros::Duration(1.0).sleep(); + } + + turtlesim::Velocity vel_msg; + vel_msg.angular = 4.0 * atan2(transform.getOrigin().y(), transform.getOrigin().x()); + vel_msg.linear = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) + pow(transform.getOrigin().y(), 2)); + turtle_vel.publish(vel_msg); + + rate.sleep(); + } + return 0; +}; diff --git a/software_training_assignment/src/turtle_tf_publisher.cpp b/software_training_assignment/src/turtle_tf_publisher.cpp new file mode 100644 index 0000000..d88996e --- /dev/null +++ b/software_training_assignment/src/turtle_tf_publisher.cpp @@ -0,0 +1,80 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "turtlesim/Pose.h" +#include "sensor_msgs/Joy.h" +#include "turtlesim/Spawn.h" +#include +#include + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "turtle_tf_server"); + ros::NodeHandle n; + + + ros::Publisher velocity_publisher = n.advertise("turtle1/cmd_vel", 1000); + ros::Publisher angle_publisher = n.advertise("turtle1/pose", 1000); + ros::Rate loop_rate(1); + + int count = 0; + srand(time(NULL)); + turtlesim::Pose vel_msgs; + geometry_msgs::Twist ang_msgs; + + double t0 = ros::Time::now().toSec(); + double angle = atan(20/5) + 3.1415; + double dist = sqrt(20*20 + 5*5); + + while(ros::ok()) + { + //vel_msgs.orientation.x = 5; + //vel_msgs.orientation.y = 20; + //vel_msgs.orientation.z = 2.09; + + ang_msgs.angular.z = 1; + + double t1 = ros::Time::now().toSec(); + double current_angle = t1 - t0; + + ROS_INFO("Random positon linear: %.2f", vel_msgs.theta); + + if (current_angle >= angle) + { + ROS_INFO("Turtle reaches angle!!"); + break; + } + + velocity_publisher.publish(ang_msgs); + angle_publisher.publish(vel_msgs); + ros::spinOnce(); + loop_rate.sleep(); + count++; + } + + t0 = ros::Time::now().toSec(); + + while(ros::ok()) + { + ang_msgs.linear.x = 1; + ang_msgs.angular.z = 0; + + double t1 = ros::Time::now().toSec(); + double current_dist = t1 - t0; + + if (current_dist >= dist) + { + ROS_INFO("Turtle reaches destination!!"); + break; + } + + velocity_publisher.publish(ang_msgs); + angle_publisher.publish(vel_msgs); + ros::spinOnce(); + loop_rate.sleep(); + count++; + } + + + return 0; +} diff --git a/software_training_assignment/src/turtle_tf_reset.cpp b/software_training_assignment/src/turtle_tf_reset.cpp new file mode 100644 index 0000000..f52f143 --- /dev/null +++ b/software_training_assignment/src/turtle_tf_reset.cpp @@ -0,0 +1,31 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Pose.h" +#include "sensor_msgs/Joy.h" +#include "std_srvs/Empty.h" +#include + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "turtle_tf_reset"); + ros::NodeHandle n; + + + ros::ServiceClient moving_turtle = n.serviceClient("reset"); + std_srvs::Empty srv; + + if (moving_turtle.call(srv)) + { + ROS_INFO("Moving turtle is reset!"); + } + else ROS_INFO("The moving turtle has not been reset!"); + + + //ROS_INFO("The turtle name and pos is: %f %f %s", srv.request.x, srv.request.y, srv.request.name.c_str()); + + ros::spinOnce(); + + + return 0; +} diff --git a/software_training_assignment/src/turtle_tf_server.cpp b/software_training_assignment/src/turtle_tf_server.cpp new file mode 100644 index 0000000..d4a0878 --- /dev/null +++ b/software_training_assignment/src/turtle_tf_server.cpp @@ -0,0 +1,43 @@ +#include "ros/ros.h" +#include "geometry_msgs/Twist.h" +#include "geometry_msgs/Pose.h" +#include "sensor_msgs/Joy.h" +#include "turtlesim/Spawn.h" +#include + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "turtle_tf_server"); + ros::NodeHandle n; + + + ros::ServiceClient stationary_turtle = n.serviceClient("spawn"); + turtlesim::Spawn srv; + turtlesim::Spawn srv1; + + srv.request.x = 5; + srv.request.y = 5; + srv.request.theta = 0; + srv.request.name = "stationary_turtle"; + + srv1.request.x = 25; + srv1.request.y = 10; + srv1.request.theta = 0; + srv1.request.name = "moving_turtle"; + + if (stationary_turtle.call(srv)) + { + ROS_INFO("Turtle is spawned!"); + } + else ROS_INFO("The turtle has not been spawned!"); + + stationary_turtle.call(srv1); + + //ROS_INFO("The turtle name and pos is: %f %f %s", srv.request.x, srv.request.y, srv.request.name.c_str()); + + ros::spinOnce(); + + + return 0; +} diff --git a/software_training_assignment/srv/Spawn.srv b/software_training_assignment/srv/Spawn.srv new file mode 100644 index 0000000..5f473fd --- /dev/null +++ b/software_training_assignment/srv/Spawn.srv @@ -0,0 +1,6 @@ +float32 x +float32 y +float32 theta +string name # Optional. A unique name will be created and returned if this is empty +--- +string name \ No newline at end of file