software_challenge PR

CMakeLists.txt

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+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 3.0.2)
+
+project(Project)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

README.md

@@ -1 +1,22 @@
-# software_challenge
+# software_challenge
+
+## Usage:
+1. Add package to your workspace, `cd` into your workspace, run `source ./devel/setup.bash`, `catkin_make`
+2. Start the turtlesim and my_turtle nodes by running:
+	```
+	roslaunch software_training_assignment launcher.launch
+	```
+3. To use the reset "moving_turtle" service run:
+	```
+	rosservice call /reset_moving_turtle
+	```
+4. To get information about the distances between the "stationary_turtle" and "moving_turtle" run:
+	```
+	rostopic echo /turtle_distance
+	```
+5. To use the "moving_turtle" action run:
+	```
+	rosrun software_training_assignment MoveTurtleActionTester _x:=2 _y:=5
+	```
+
+Replace the x and y parameters to whatever you would like to move the "moving_turtle".

software_training_assignment/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+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
+find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	rospy
+	turtlesim
+	std_msgs
+	message_generation
+	actionlib
+	actionlib_msgs
+)
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  Distance.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  ResetMovingTurtle.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
+  std_msgs
+  actionlib_msgs
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+
+catkin_package(
+	# INCLUDE_DIRS include
+	# LIBRARIES software_training_assignment
+	CATKIN_DEPENDS message_runtime actionlib_msgs
+	# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+include_directories(
+    include
+    /src
+    ${catkin_INCLUDE_DIRS}
+)
+
+set(SOURCE_FILES
+  src/main.cpp
+  src/Turtle.cpp
+  src/StationaryTurtle.cpp
+  src/MovingTurtle.cpp
+  src/DistancePublisher.cpp
+)
+
+add_executable(my_turtle ${SOURCE_FILES})
+target_link_libraries(my_turtle ${catkin_LIBRARIES})
+add_dependencies(my_turtle software_training_assignment_generate_messages_cpp)
+
+add_executable(MoveTurtleActionTester src/MoveTurtleActionTester.cpp)
+target_link_libraries(MoveTurtleActionTester ${catkin_LIBRARIES})
+add_dependencies(MoveTurtleActionTester software_training_assignment_generate_messages_cpp)

software_training_assignment/action/MoveTurtle.action

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+# goal definition
+float32 x
+float32 y
+---
+# result definition
+duration time
+---
+# feedback
+float32 distance

software_training_assignment/launch/launcher.launch

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+<launch>
+
+    <node name="turtlesim" pkg="turtlesim" type="turtlesim_node">
+      <rosparam param="background_r">128</rosparam>	
+      <rosparam param="background_g">128</rosparam> 
+      <rosparam param="background_b">0</rosparam>
+    </node>
+
+    <node name="my_turtle" pkg="software_training_assignment" type="my_turtle" output="screen" />
+
+</launch>

software_training_assignment/msg/Distance.msg

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+float32 x
+float32 y
+
+float32 distance

software_training_assignment/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+
+  <name>software_training_assignment</name>
+  <version>0.0.0</version>
+  <description>The software_training_assignment package</description>
+
+  <maintainer email="[email protected]">Sam Sandhu</maintainer>
+
+  <license>TODO</license>
+
+  <!-- Dependencies -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>rospy</depend>
+  <depend>std_msgs</depend>
+  <depend>message_generation</depend>
+  <depend>actionlib</depend>
+  <depend>actionlib_msgs</depend>
+  <exec_depend>message_runtime</exec_depend>
+
+</package>

software_training_assignment/src/DistancePublisher.cpp

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+#include "DistancePublisher.h"
+
+#include "software_training_assignment/Distance.h"
+
+#include <cmath>
+
+// ctor
+DistancePublisher::DistancePublisher(ros::NodeHandle &n, Turtle* t1, Turtle* t2) : n_{n}, t1_{t1}, t2_{t2} {
+    // init ros distance publisher
+    dist_pub_ = n_.advertise<software_training_assignment::Distance>("turtle_distance", 1000);
+}
+
+void DistancePublisher::publish() {
+    turtlesim::Pose t1_Position = t1_->getPosition();
+    turtlesim::Pose t2_Position = t2_->getPosition();
+
+    // set message
+    software_training_assignment::Distance msg;
+    msg.x = t1_Position.x - t2_Position.x;
+    msg.y = t1_Position.y - t2_Position.y;
+    msg.distance = sqrt(pow(msg.x, 2) + pow(msg.y, 2));
+
+    ROS_INFO_STREAM(std::setprecision(2) << std::fixed << " distance: " << msg.x << " " << msg.y << " " << msg.distance);
+
+    // publish
+    dist_pub_.publish(msg);
+    ros::spinOnce();
+}

software_training_assignment/src/DistancePublisher.h

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+#ifndef DISTANCE_PUBLISHER_H
+#define DISTANCE_PUBLISHER_H
+
+#include "Turtle.h"
+
+class DistancePublisher {
+    public:
+        // ctor
+        DistancePublisher(ros::NodeHandle &n, Turtle* t1, Turtle* t2);
+
+        // publishes distance
+        void publish();
+
+    private:
+        ros::NodeHandle n_;
+
+        // ros publisher
+        ros::Publisher dist_pub_;
+
+        // 2 Turtle's to compare
+        Turtle* t1_;
+        Turtle* t2_;
+};
+
+#endif

software_training_assignment/src/MoveTurtleActionTester.cpp

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+#include "ros/ros.h"
+
+#include <actionlib/client/simple_action_client.h>
+#include <actionlib/client/terminal_state.h>
+
+#include "software_training_assignment/MoveTurtleAction.h"
+
+int main(int argc, char **argv) {
+
+    ros::init(argc, argv, "move_turtle_action_tester");
+
+    ros::NodeHandle n;
+
+    float x, y;
+    n.getParam("/move_turtle_action_tester/x", x);
+    n.getParam("/move_turtle_action_tester/y", y);
+
+    actionlib::SimpleActionClient<software_training_assignment::MoveTurtleAction> actionClient("move_turtle_action_server", true);
+
+    ROS_INFO("Waiting for action server to start.");
+    actionClient.waitForServer(); // will wait for infinite time
+
+    // send a goal to the action
+    ROS_INFO("Action server started, sending goal.");
+    software_training_assignment::MoveTurtleGoal goal;
+    goal.x = x;
+    goal.y = y;
+    actionClient.sendGoal(goal);
+
+    // wait for the action to return
+    bool finished_before_timeout = actionClient.waitForResult(ros::Duration(30.0));
+
+    if (finished_before_timeout) {
+        actionlib::SimpleClientGoalState state = actionClient.getState();
+        ROS_INFO("Action finished: %s", state.toString().c_str());
+    } else {
+        ROS_INFO("Action did not finish before the time out.");
+    }
+
+    return 0;
+}