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Create turtlesim_msgs (#169)
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Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
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@ahcorde
ahcorde committed Jul 10, 2024
1 parent b53c4da commit eb33d70
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Showing 19 changed files with 173 additions and 106 deletions.
29 changes: 10 additions & 19 deletions turtlesim/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,29 +14,16 @@ find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
find_package(rcl_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(turtlesim_msgs REQUIRED)

include_directories(include ${Qt5Widgets_INCLUDE_DIRS})

rosidl_generate_interfaces(${PROJECT_NAME}
"action/RotateAbsolute.action"
"msg/Color.msg"
"msg/Pose.msg"
"srv/Kill.srv"
"srv/SetPen.srv"
"srv/Spawn.srv"
"srv/TeleportAbsolute.srv"
"srv/TeleportRelative.srv")

qt5_wrap_cpp(turtlesim_node_MOCS include/turtlesim/turtle_frame.hpp)

rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")

add_executable(turtlesim_node
src/turtlesim.cpp
src/turtle.cpp
Expand All @@ -47,32 +34,32 @@ target_link_libraries(turtlesim_node PRIVATE
ament_index_cpp::ament_index_cpp
${cpp_typesupport_target}
${geometry_msgs_TARGETS}
${turtlesim_msgs_TARGETS}
Qt5::Widgets
${rcl_interfaces_TARGETS}
rclcpp::rclcpp
rclcpp_action::rclcpp_action
${std_srvs_TARGETS}
)

add_executable(turtle_teleop_key tutorials/teleop_turtle_key.cpp)
target_link_libraries(turtle_teleop_key PRIVATE
"${cpp_typesupport_target}"
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
rclcpp_action::rclcpp_action
)

add_executable(draw_square tutorials/draw_square.cpp)
target_link_libraries(draw_square PRIVATE
"${cpp_typesupport_target}"
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
${std_srvs_TARGETS}
)

add_executable(mimic tutorials/mimic.cpp)
target_link_libraries(mimic PRIVATE
"${cpp_typesupport_target}"
${turtlesim_msgs_TARGETS}
${geometry_msgs_TARGETS}
rclcpp::rclcpp
)
Expand All @@ -82,7 +69,11 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

install(TARGETS turtlesim_node turtle_teleop_key draw_square mimic
install(TARGETS
turtlesim_node
turtle_teleop_key
draw_square
mimic
DESTINATION lib/${PROJECT_NAME})

install(DIRECTORY images
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42 changes: 21 additions & 21 deletions turtlesim/include/turtlesim/turtle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,12 +35,12 @@
# include <rclcpp_action/rclcpp_action.hpp>

# include <geometry_msgs/msg/twist.hpp>
# include <turtlesim/action/rotate_absolute.hpp>
# include <turtlesim/msg/color.hpp>
# include <turtlesim/msg/pose.hpp>
# include <turtlesim/srv/set_pen.hpp>
# include <turtlesim/srv/teleport_absolute.hpp>
# include <turtlesim/srv/teleport_relative.hpp>
# include <turtlesim_msgs/action/rotate_absolute.hpp>
# include <turtlesim_msgs/msg/color.hpp>
# include <turtlesim_msgs/msg/pose.hpp>
# include <turtlesim_msgs/srv/set_pen.hpp>
# include <turtlesim_msgs/srv/teleport_absolute.hpp>
# include <turtlesim_msgs/srv/teleport_relative.hpp>
#endif

#include <QImage>
Expand All @@ -61,7 +61,7 @@ class Turtle
{
public:
using RotateAbsoluteGoalHandle = rclcpp_action::ServerGoalHandle<
turtlesim::action::RotateAbsolute>;
turtlesim_msgs::action::RotateAbsolute>;

Turtle(
rclcpp::Node::SharedPtr & nh, const std::string & real_name, const QImage & turtle_image,
Expand All @@ -75,14 +75,14 @@ class Turtle
private:
void velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr vel);
bool setPenCallback(
const turtlesim::srv::SetPen::Request::SharedPtr,
turtlesim::srv::SetPen::Response::SharedPtr);
const turtlesim_msgs::srv::SetPen::Request::SharedPtr,
turtlesim_msgs::srv::SetPen::Response::SharedPtr);
bool teleportRelativeCallback(
const turtlesim::srv::TeleportRelative::Request::SharedPtr,
turtlesim::srv::TeleportRelative::Response::SharedPtr);
const turtlesim_msgs::srv::TeleportRelative::Request::SharedPtr,
turtlesim_msgs::srv::TeleportRelative::Response::SharedPtr);
bool teleportAbsoluteCallback(
const turtlesim::srv::TeleportAbsolute::Request::SharedPtr,
turtlesim::srv::TeleportAbsolute::Response::SharedPtr);
const turtlesim_msgs::srv::TeleportAbsolute::Request::SharedPtr,
turtlesim_msgs::srv::TeleportAbsolute::Response::SharedPtr);
void rotateAbsoluteAcceptCallback(const std::shared_ptr<RotateAbsoluteGoalHandle>);

void rotateImage();
Expand All @@ -102,17 +102,17 @@ class Turtle
QPen pen_;

rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr velocity_sub_;
rclcpp::Publisher<turtlesim::msg::Pose>::SharedPtr pose_pub_;
rclcpp::Publisher<turtlesim::msg::Color>::SharedPtr color_pub_;
rclcpp::Service<turtlesim::srv::SetPen>::SharedPtr set_pen_srv_;
rclcpp::Service<turtlesim::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
rclcpp::Service<turtlesim::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
rclcpp_action::Server<turtlesim::action::RotateAbsolute>
rclcpp::Publisher<turtlesim_msgs::msg::Pose>::SharedPtr pose_pub_;
rclcpp::Publisher<turtlesim_msgs::msg::Color>::SharedPtr color_pub_;
rclcpp::Service<turtlesim_msgs::srv::SetPen>::SharedPtr set_pen_srv_;
rclcpp::Service<turtlesim_msgs::srv::TeleportRelative>::SharedPtr teleport_relative_srv_;
rclcpp::Service<turtlesim_msgs::srv::TeleportAbsolute>::SharedPtr teleport_absolute_srv_;
rclcpp_action::Server<turtlesim_msgs::action::RotateAbsolute>
::SharedPtr rotate_absolute_action_server_;

std::shared_ptr<RotateAbsoluteGoalHandle> rotate_absolute_goal_handle_;
std::shared_ptr<turtlesim::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
std::shared_ptr<turtlesim::action::RotateAbsolute::Result> rotate_absolute_result_;
std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Feedback> rotate_absolute_feedback_;
std::shared_ptr<turtlesim_msgs::action::RotateAbsolute::Result> rotate_absolute_result_;
qreal rotate_absolute_start_orient_;

rclcpp::Time last_command_time_;
Expand Down
16 changes: 8 additions & 8 deletions turtlesim/include/turtlesim/turtle_frame.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,8 @@

#include <rcl_interfaces/msg/parameter_event.hpp>
#include <std_srvs/srv/empty.hpp>
#include <turtlesim/srv/spawn.hpp>
#include <turtlesim/srv/kill.hpp>
#include <turtlesim_msgs/srv/spawn.hpp>
#include <turtlesim_msgs/srv/kill.hpp>
#endif

namespace turtlesim
Expand Down Expand Up @@ -86,11 +86,11 @@ private slots:
const std_srvs::srv::Empty::Request::SharedPtr,
std_srvs::srv::Empty::Response::SharedPtr);
bool spawnCallback(
const turtlesim::srv::Spawn::Request::SharedPtr,
turtlesim::srv::Spawn::Response::SharedPtr);
const turtlesim_msgs::srv::Spawn::Request::SharedPtr,
turtlesim_msgs::srv::Spawn::Response::SharedPtr);
bool killCallback(
const turtlesim::srv::Kill::Request::SharedPtr,
turtlesim::srv::Kill::Response::SharedPtr);
const turtlesim_msgs::srv::Kill::Request::SharedPtr,
turtlesim_msgs::srv::Kill::Response::SharedPtr);

void parameterEventCallback(const rcl_interfaces::msg::ParameterEvent::ConstSharedPtr);

Expand All @@ -106,8 +106,8 @@ private slots:

rclcpp::Service<std_srvs::srv::Empty>::SharedPtr clear_srv_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_srv_;
rclcpp::Service<turtlesim::srv::Spawn>::SharedPtr spawn_srv_;
rclcpp::Service<turtlesim::srv::Kill>::SharedPtr kill_srv_;
rclcpp::Service<turtlesim_msgs::srv::Spawn>::SharedPtr spawn_srv_;
rclcpp::Service<turtlesim_msgs::srv::Kill>::SharedPtr kill_srv_;
rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent>::SharedPtr parameter_event_sub_;

typedef std::map<std::string, TurtlePtr> M_Turtle;
Expand Down
6 changes: 1 addition & 5 deletions turtlesim/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -26,25 +26,21 @@
<build_depend>qtbase5-dev</build_depend>

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>

<exec_depend>libqt5-core</exec_depend>
<exec_depend>libqt5-gui</exec_depend>
<exec_depend>rosidl_default_runtime</exec_depend>

<depend>ament_index_cpp</depend>
<depend>geometry_msgs</depend>
<depend>rcl_interfaces</depend>
<depend>rclcpp</depend>
<depend>rclcpp_action</depend>
<depend>std_msgs</depend>
<depend>std_srvs</depend>
<depend>turtlesim_msgs</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<member_of_group>rosidl_interface_packages</member_of_group>

<export>
<build_type>ament_cmake</build_type>
</export>
Expand Down
61 changes: 31 additions & 30 deletions turtlesim/src/turtle.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,12 @@
#include "geometry_msgs/msg/twist.hpp"
#include "rclcpp/rclcpp.hpp"

#include "turtlesim/action/rotate_absolute.hpp"
#include "turtlesim/msg/pose.hpp"
#include "turtlesim/msg/color.hpp"
#include "turtlesim/srv/set_pen.hpp"
#include "turtlesim/srv/teleport_absolute.hpp"
#include "turtlesim/srv/teleport_relative.hpp"
#include "turtlesim_msgs/action/rotate_absolute.hpp"
#include "turtlesim_msgs/msg/pose.hpp"
#include "turtlesim_msgs/msg/color.hpp"
#include "turtlesim_msgs/srv/set_pen.hpp"
#include "turtlesim_msgs/srv/teleport_absolute.hpp"
#include "turtlesim_msgs/srv/teleport_relative.hpp"
#include "turtlesim/qos.hpp"

#define DEFAULT_PEN_R 0xb3
Expand Down Expand Up @@ -78,37 +78,38 @@ Turtle::Turtle(
real_name + "/cmd_vel", qos, std::bind(
&Turtle::velocityCallback, this,
std::placeholders::_1));
pose_pub_ = nh_->create_publisher<turtlesim::msg::Pose>(real_name + "/pose", qos);
color_pub_ = nh_->create_publisher<turtlesim::msg::Color>(real_name + "/color_sensor", qos);
pose_pub_ = nh_->create_publisher<turtlesim_msgs::msg::Pose>(real_name + "/pose", qos);
color_pub_ = nh_->create_publisher<turtlesim_msgs::msg::Color>(real_name + "/color_sensor", qos);
set_pen_srv_ =
nh_->create_service<turtlesim::srv::SetPen>(
nh_->create_service<turtlesim_msgs::srv::SetPen>(
real_name + "/set_pen",
std::bind(&Turtle::setPenCallback, this, std::placeholders::_1, std::placeholders::_2));
teleport_relative_srv_ = nh_->create_service<turtlesim::srv::TeleportRelative>(
teleport_relative_srv_ = nh_->create_service<turtlesim_msgs::srv::TeleportRelative>(
real_name + "/teleport_relative",
std::bind(
&Turtle::teleportRelativeCallback, this, std::placeholders::_1,
std::placeholders::_2));
teleport_absolute_srv_ = nh_->create_service<turtlesim::srv::TeleportAbsolute>(
teleport_absolute_srv_ = nh_->create_service<turtlesim_msgs::srv::TeleportAbsolute>(
real_name + "/teleport_absolute",
std::bind(
&Turtle::teleportAbsoluteCallback, this, std::placeholders::_1,
std::placeholders::_2));
rotate_absolute_action_server_ = rclcpp_action::create_server<turtlesim::action::RotateAbsolute>(
nh,
real_name + "/rotate_absolute",
rotate_absolute_action_server_ =
rclcpp_action::create_server<turtlesim_msgs::action::RotateAbsolute>(
nh,
real_name + "/rotate_absolute",
[](const rclcpp_action::GoalUUID &,
std::shared_ptr<const turtlesim::action::RotateAbsolute::Goal>)
std::shared_ptr<const turtlesim_msgs::action::RotateAbsolute::Goal>)
{
// Accept all goals
// Accept all goals
return rclcpp_action::GoalResponse::ACCEPT_AND_EXECUTE;
},
},
[](const std::shared_ptr<RotateAbsoluteGoalHandle>)
{
// Accept all cancel requests
// Accept all cancel requests
return rclcpp_action::CancelResponse::ACCEPT;
},
std::bind(&Turtle::rotateAbsoluteAcceptCallback, this, std::placeholders::_1));
},
std::bind(&Turtle::rotateAbsoluteAcceptCallback, this, std::placeholders::_1));

last_command_time_ = nh_->now();

Expand Down Expand Up @@ -137,8 +138,8 @@ void Turtle::velocityCallback(const geometry_msgs::msg::Twist::ConstSharedPtr ve
}

bool Turtle::setPenCallback(
const turtlesim::srv::SetPen::Request::SharedPtr req,
turtlesim::srv::SetPen::Response::SharedPtr)
const turtlesim_msgs::srv::SetPen::Request::SharedPtr req,
turtlesim_msgs::srv::SetPen::Response::SharedPtr)
{
pen_on_ = !req->off;
if (req->off) {
Expand All @@ -155,16 +156,16 @@ bool Turtle::setPenCallback(
}

bool Turtle::teleportRelativeCallback(
const turtlesim::srv::TeleportRelative::Request::SharedPtr req,
turtlesim::srv::TeleportRelative::Response::SharedPtr)
const turtlesim_msgs::srv::TeleportRelative::Request::SharedPtr req,
turtlesim_msgs::srv::TeleportRelative::Response::SharedPtr)
{
teleport_requests_.push_back(TeleportRequest(0, 0, req->angular, req->linear, true));
return true;
}

bool Turtle::teleportAbsoluteCallback(
const turtlesim::srv::TeleportAbsolute::Request::SharedPtr req,
turtlesim::srv::TeleportAbsolute::Response::SharedPtr)
const turtlesim_msgs::srv::TeleportAbsolute::Request::SharedPtr req,
turtlesim_msgs::srv::TeleportAbsolute::Response::SharedPtr)
{
teleport_requests_.push_back(TeleportRequest(req->x, req->y, req->theta, 0, false));
return true;
Expand All @@ -181,8 +182,8 @@ void Turtle::rotateAbsoluteAcceptCallback(
rotate_absolute_goal_handle_->abort(rotate_absolute_result_);
}
rotate_absolute_goal_handle_ = goal_handle;
rotate_absolute_feedback_.reset(new turtlesim::action::RotateAbsolute::Feedback);
rotate_absolute_result_.reset(new turtlesim::action::RotateAbsolute::Result);
rotate_absolute_feedback_.reset(new turtlesim_msgs::action::RotateAbsolute::Feedback);
rotate_absolute_result_.reset(new turtlesim_msgs::action::RotateAbsolute::Result);
rotate_absolute_start_orient_ = orient_;
}

Expand Down Expand Up @@ -300,7 +301,7 @@ bool Turtle::update(
static_cast<double>(canvas_height)));

// Publish pose of the turtle
auto p = std::make_unique<turtlesim::msg::Pose>();
auto p = std::make_unique<turtlesim_msgs::msg::Pose>();
p->x = pos_.x();
p->y = canvas_height - pos_.y();
p->theta = orient_;
Expand All @@ -310,7 +311,7 @@ bool Turtle::update(

// Figure out (and publish) the color underneath the turtle
{
auto color = std::make_unique<turtlesim::msg::Color>();
auto color = std::make_unique<turtlesim_msgs::msg::Color>();
QRgb pixel = path_image.pixel((pos_ * meter_).toPoint());
color->r = qRed(pixel);
color->g = qGreen(pixel);
Expand Down
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