uwrobotics · baharkholdisabeti · Feb 16, 2020
diff --git a/software_training_assignment/CMakeLists.txt b/software_training_assignment/CMakeLists.txt
@@ -0,0 +1,226 @@
+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
+  std_msgs
+  turtlesim
+  message_generation
+  genmsg
+  actionlib_msgs
+  actionlib
+)
+
+## 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
+  Disp.msg
+)
+
+## Generate services in the 'srv' folder
+#add_service_files(FILES
+#  MyReset.srv
+#)
+
+## Generate actions in the 'action' folder
+add_action_files(DIRECTORY action
+  FILES
+  Move.action
+#   Action2.action
+)
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs  # Or other packages containing 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_assignment
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+   CATKIN_DEPENDS message_runtime 
+   actionlib_msgs
+   # actionlib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(include
+ ${catkin_INCLUDE_DIRS}
+ ${Boost_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${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 /home/bahar/catkin_ws/src/software_training_assignment/src/software_training_assignment_node.cpp)
+
+#add_executable(make_action_node src/make_action.cpp)
+
+add_executable(simple_action_client /home/bahar/catkin_ws/src/software_training_assignment/src/simple_action_client.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})
+
+#add_dependencies(make_action_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(simple_action_client ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+)
+
+#target_link_libraries(make_action_node
+ # ${catkin_LIBRARIES}
+#)
+
+target_link_libraries(simple_action_client
+  ${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)
diff --git a/software_training_assignment/action/Move.action b/software_training_assignment/action/Move.action
@@ -0,0 +1,8 @@
+# goal definition
+float64[] endLocation
+---
+# result definition
+float64 time
+---
+# feedback
+float64 distance
diff --git a/software_training_assignment/launch/turtlesim.launch b/software_training_assignment/launch/turtlesim.launch
@@ -0,0 +1,5 @@
+<launch>
+<node pkg="turtlesim" name="sim" type="turtlesim_node"/>
+<node pkg="software_training_assignment" type="software_training_assignment_node" name="software_training_assignment_node" output="screen">
+</node>
+</launch>
diff --git a/software_training_assignment/msg/Disp.msg b/software_training_assignment/msg/Disp.msg
@@ -0,0 +1,3 @@
+float64 xDisp
+float64 yDisp
+float64 disp
diff --git a/software_training_assignment/package.xml b/software_training_assignment/package.xml
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>software_training_assignment</name>
+  <version>0.0.0</version>
+  <description>The software_training_assignment package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">bahar</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>TODO</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_assignment</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">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> -->
+
+ <!-- <build_depend>roscpp</build_depend> 
+  <exec_depend>roscpp</exec_depend>
+  <build_export_depend>roscpp</build_export_depend> -->
+
+  <build_depend>turtlesim</build_depend> 
+  <exec_depend>turtlesim</exec_depend>
+  <build_depend>std_msgs</build_depend> 
+  <exec_depend>std_msgs</exec_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>actionlib</depend>
+  <depend>actionlib_msgs</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+  </export>
+</package>
diff --git a/software_training_assignment/src/simple_action_client.cpp b/software_training_assignment/src/simple_action_client.cpp
@@ -0,0 +1,29 @@
+//============================================================================
+// simple_action_client.cpp
+// Bahar Kholdi-Sabeti
+// Feb. 15, 2020
+// simple client for Move action
+// ============================================================================
+#include <ros/ros.h>
+#include <software_training_assignment/MoveAction.h>
+#include <actionlib/client/simple_action_client.h>
+
+typedef actionlib::SimpleActionClient<software_training_assignment::MoveAction> Client;
+
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, "move_client");
+	Client client ("move", true);         // don't need ros::spin()
+	client.waitForServer();
+	software_training_assignment::MoveGoal goal;
+	// define goal
+    goal.endLocation = {5,5};   // enter your waypoint
+
+	client.sendGoal(goal);
+	client.waitForResult(ros::Duration(100.0));
+	if (client.getState()==actionlib::SimpleClientGoalState::SUCCEEDED){
+		printf("Current State: %s\n", client.getState().toString().c_str());
+	}
+	printf("Current State: %s\n", client.getState().toString().c_str());
+	return 0;
+}