software training

software_training/.catkin_tools/README

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+# Catkin Tools Metadata
+
+This directory was generated by catkin_tools and it contains persistent
+configuration information used by the `catkin` command and its sub-commands.
+
+Each subdirectory of the `profiles` directory contains a set of persistent
+configuration options for separate profiles. The default profile is called
+`default`. If another profile is desired, it can be described in the
+`profiles.yaml` file in this directory.
+
+Please see the catkin_tools documentation before editing any files in this
+directory. Most actions can be performed with the `catkin` command-line
+program.

software_training/.catkin_tools/VERSION

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+0.6.1

software_training/.catkin_tools/profiles/default/build.yaml

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+blacklist: []
+build_space: build
+catkin_make_args: []
+cmake_args: []
+devel_layout: linked
+devel_space: devel
+extend_path: null
+install: false
+install_space: install
+isolate_install: false
+jobs_args: []
+log_space: logs
+make_args: []
+source_space: src
+use_env_cache: false
+use_internal_make_jobserver: true
+whitelist: []

software_training/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/devel_manifest.txt

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+/home/ariwasch/catkin_ws/src/software_training/build/catkin_tools_prebuild
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/local_setup.zsh /home/ariwasch/catkin_ws/src/software_training/devel/./local_setup.zsh
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/setup.sh /home/ariwasch/catkin_ws/src/software_training/devel/./setup.sh
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/cmake.lock /home/ariwasch/catkin_ws/src/software_training/devel/./cmake.lock
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/setup.zsh /home/ariwasch/catkin_ws/src/software_training/devel/./setup.zsh
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/_setup_util.py /home/ariwasch/catkin_ws/src/software_training/devel/./_setup_util.py
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/setup.bash /home/ariwasch/catkin_ws/src/software_training/devel/./setup.bash
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/local_setup.bash /home/ariwasch/catkin_ws/src/software_training/devel/./local_setup.bash
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/env.sh /home/ariwasch/catkin_ws/src/software_training/devel/./env.sh
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/local_setup.sh /home/ariwasch/catkin_ws/src/software_training/devel/./local_setup.sh
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake /home/ariwasch/catkin_ws/src/software_training/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig-version.cmake
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake /home/ariwasch/catkin_ws/src/software_training/devel/share/catkin_tools_prebuild/cmake/catkin_tools_prebuildConfig.cmake
+/home/ariwasch/catkin_ws/src/software_training/devel/.private/catkin_tools_prebuild/lib/pkgconfig/catkin_tools_prebuild.pc /home/ariwasch/catkin_ws/src/software_training/devel/lib/pkgconfig/catkin_tools_prebuild.pc

software_training/.catkin_tools/profiles/default/packages/catkin_tools_prebuild/package.xml

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+<package>
+  <name>catkin_tools_prebuild</name>
+  <description>
+    This package is used to generate catkin setup files.
+  </description>
+  <version>0.0.0</version>
+  <license>BSD</license>
+  <maintainer email="jbo@jhu.edu">jbohren</maintainer>
+  <buildtool_depend>catkin</buildtool_depend>
+</package>

software_training/.gitignore

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+

software_training/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(software_training)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  actionlib_msgs
+  actionlib
+)
+
+
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  service.srv
+)
+
+## Generate actions in the 'action' folder
+add_action_files(
+  FILES
+  action.action
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+   DEPENDENCIES
+   std_msgs
+   actionlib_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
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+   CATKIN_DEPENDS
+   roscpp
+   std_msgs
+   message_runtime
+   actionlib_msgs
+)
+
+###########
+## 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/${PROJECT_NAME}/software_training.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${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_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
+# catkin_install_python(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.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(addTurtle src/addTurtle.cpp)
+target_link_libraries(addTurtle ${catkin_LIBRARIES})
+
+add_executable(talker src/talker.cpp)
+target_link_libraries(talker ${catkin_LIBRARIES})
+#add_dependencies(talker software_training_generate_messages_cpp)
+
+add_executable(listener src/listener.cpp)
+target_link_libraries(listener ${catkin_LIBRARIES})
+#add_dependencies(listener software_training_generate_messages_cpp)
+
+add_executable(service src/service.cpp)
+target_link_libraries(service ${catkin_LIBRARIES})
+add_dependencies(service software_training_generate_messages_cpp)
+

software_training/action/action.action

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+float32 x
+float32 y
+---
+duration time
+---
+float32 distance

software_training/msg/Distance.msg

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+float32 x
+float32 y
+
+float32 distance

software_training/msg/Num.msg

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+int64 num

software_training/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>software_training</name>
+  <version>0.0.0</version>
+  <description>The software_training package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="ariwasch@gmail.com">ariwasch</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/software_training</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>turtlesim</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

software_training/src/action.cpp

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+#include <ros/ros.h>
+#include <actionlib/client/simple_action_client.h>
+#include <actionlib>
+#include <std_msgs/String.h>
+#include <geometry_msgs/Twist.h>
+#include <sstream>
+#include <cmath>
+#include "software_training/Distance.h"
+#include <actionlib/server/simple_action_server.h>
+
+int main (int argc, char **argv)
+{
+  ros::init(argc, argv, "action");
+
+  ros::NodeHandle nh;
+  ros::Publisher pub
+       = nh.advertise<geometry_msgs::Twist>("/moving_turtle/cmd_vel", 1000);
+  // create the action client
+  // true causes the client to spin its own thread
+
+  //actionlib::SimpleActionClient<goemetry_msgs::Twist>("action", true);
+  actionlib::SimpleActionClient<software_training_assignment::Action> actionClient("action", true);
+
+  Server server(n, "action", boost::bind(&execute, _1, &server), false);
+  server.start();
+
+  ROS_INFO("Waiting for action server to start.");
+  // wait for the action server to start
+  actionClient.waitForServer(); //will wait for infinite time
+
+  ROS_INFO("Action server started, sending goal.");
+  // send a goal to the action
+  actionlib_tutorials::FibonacciGoal goal;
+  goal.order = 20;
+  ac.sendGoal(goal);
+
+  //wait for the action to return
+  bool finished_before_timeout = ac.waitForResult(ros::Duration(30.0));
+
+  if (finished_before_timeout)
+  {
+    actionlib::SimpleClientGoalState state = ac.getState();
+    ROS_INFO("Action finished: %s",state.toString().c_str());
+  }
+  else
+    ROS_INFO("Action did not finish before the time out.");
+
+  //exit
+  return 0;
+}