Software Challenge Pull Request

software_training_assignment/CMakeLists.txt

@@ -0,0 +1,235 @@
+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
+   actionlib
+)
+
+## find_package(catkin REQUIRED COMPONENTS actionlib_msgs)
+
+
+## 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
+ PositionData.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  ResetMovingTurtle.srv
+)
+
+## Generate actions in the 'action' folder
+add_action_files(
+  DIRECTORY action
+  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 message_runtime 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(spawn_turtles src/spawn_turtles.cpp)
+target_link_libraries(spawn_turtles ${catkin_LIBRARIES})
+add_dependencies(spawn_turtles software_training_assignment_generate_messages_cpp)
+
+add_executable(clear_turtle src/clear_turtle.cpp)
+target_link_libraries(clear_turtle ${catkin_LIBRARIES})
+add_dependencies(clear_turtle software_training_assignment_generate_messages_cpp)
+
+add_executable(reset_moving_turtle src/reset_moving_turtle.cpp)
+target_link_libraries(reset_moving_turtle ${catkin_LIBRARIES})
+add_dependencies(reset_moving_turtle software_training_assignment_generate_messages_cpp)
+
+add_executable(position_data_publisher src/position_data_publisher.cpp)
+target_link_libraries(position_data_publisher ${catkin_LIBRARIES})
+add_dependencies(position_data_publisher software_training_assignment_generate_messages_cpp)
+
+add_executable(move_turtle_server src/move_turtle_server.cpp)
+target_link_libraries(move_turtle_server ${catkin_LIBRARIES})
+add_dependencies(move_turtle_server software_training_assignment_generate_messages_cpp)
+
+add_executable(move_turtle_client src/move_turtle_client.cpp)
+target_link_libraries(move_turtle_client ${catkin_LIBRARIES})
+add_dependencies(move_turtle_client software_training_assignment_generate_messages_cpp)

software_training_assignment/MoveTurtle.action

@@ -0,0 +1,11 @@
+# Define the goal
+float32 goal_x
+float32 goal_y
+---
+# Define the result
+float32 time_taken
+---
+# Define a feedback message
+float32 distance_to_goal
+
+

software_training_assignment/README.md

@@ -0,0 +1,14 @@
+Create a ros package called software_training_assignment
+Install the turtlesim package(hint: you shouldn't be downloading any source code from github. You should be using a package manager).
+Create a launch file that launches the turtlesim node with a background colour of (r=128, b=0, g=128) 
+Hint: http://wiki.ros.org/Names and http://wiki.ros.org/roslaunch/XML/group are useful. You need to make sure the parameter values are set in the correct ROS namepace (bugged upstream)
+Write a node that:
+Clears any existing turtles
+Spawns a turtle named "stationary_turtle" at x = 5, y = 5
+Spawns a second turtle named "moving_turtle" at x = 25, y = 10
+Create a service that resets the "moving_turtle" to its starting position. The service response should be whether or not it was successful.
+Create a publisher that publishes a custom msg. This custom msgs should have 3 integer fields that correspond with the x and y distances of "stationary_turtle" to "moving turtle", as well as the distance between the two turtles.
+Create an action that moves "moving_turtle" to a waypoint in a straight line by publishing geometry_msgs/Twist msgs to turtleX/cmd_vel.The action's goal is an absolute position of the waypoint, feedback is distance to the goal, and result is the time it took to reach the goal. You should define a custom action file. To easily test your action, you can use the rqt_action rqt plugin. 
+Add your node you created to your launch file. Make sure your node doesn't crash if the turtlesim_node has not come up yet.
+Create a .gitignore file so that only your source files and CMakelists are committed
+Push your package to a personal github repo and msg Melvin with the link(root directory of the repo should only contain your package folder).

software_training_assignment/ResetMovingTurtle.srv

@@ -0,0 +1,2 @@
+---
+bool success

software_training_assignment/action/MoveTurtle.action

@@ -0,0 +1,6 @@
+float32 goal_x
+float32 goal_y
+---
+float32 time_taken
+---
+float32 distance_to_goal

software_training_assignment/msg/PositionData.msg

@@ -0,0 +1,3 @@
+float32 distance_x
+float32 distance_y
+float32 distance

software_training_assignment/package.xml

@@ -0,0 +1,75 @@
+<?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]">tanavya</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> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib</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</build_export_depend>
+  <build_export_depend>actionlib_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_generation</exec_depend>
+  <exec_depend>actionlib</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

software_training_assignment/src/clear_turtle.cpp

@@ -0,0 +1,22 @@
+#include "ros/ros.h"
+#include <turtlesim/Kill.h>
+#include <std_srvs/Empty.h>
+#include <cstdlib>
+
+
+int main(int argc, char **argv) {
+
+  ros::init(argc, argv, "clear_turtle");
+
+  ros::NodeHandle nh;
+
+  ros::ServiceClient resetClient = nh.serviceClient<std_srvs::Empty>("/reset");
+  std_srvs::Empty srv1;
+  resetClient.call(srv1);
+
+  ros::ServiceClient killClient = nh.serviceClient<turtlesim::Kill>("/kill");
+  turtlesim::Kill srv2;
+  srv2.request.name = "turtle1";
+  killClient.call(srv2);
+
+}