onboarding need review

10_Examples/Johnny_Shen_onboarding/CMakeLists.txt

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+
+cmake_minimum_required(VERSION 3.8)
+project(Johnny_Shen_onboarding)
+
+include_directories(include)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_gtest REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
+
+add_library(hello_world src/hello_world.cpp)
+install(TARGETS
+  hello_world
+  DESTINATION lib/${PROJECT_NAME})
+
+
+add_executable(publish_test src/a.cpp)
+
+ament_target_dependencies(publish_test 
+std_msgs
+rclcpp)
+
+install(TARGETS
+  publish_test
+  DESTINATION lib/${PROJECT_NAME})
+
+add_executable(subscribe_test src/b.cpp)
+
+ament_target_dependencies(subscribe_test 
+std_msgs
+rclcpp)
+
+install(TARGETS
+  subscribe_test
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_add_gtest(testadd test/c.cpp)
+target_link_libraries(testadd
+gtest 
+hello_world)
+
+
+

10_Examples/Johnny_Shen_onboarding/include/Johnny_Shen_onboarding/a.hpp

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+/*
+ *   Copyright (c) 2024 Jake Wendling
+ *   All rights reserved.
+
+ *   Permission is hereby granted, free of charge, to any person obtaining a copy
+ *   of this software and associated documentation files (the "Software"), to deal
+ *   in the Software without restriction, including without limitation the rights
+ *   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *   copies of the Software, and to permit persons to whom the Software is
+ *   furnished to do so, subject to the following conditions:
+
+ *   The above copyright notice and this permission notice shall be included in all
+ *   copies or substantial portions of the Software.
+
+ *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ *   SOFTWARE.
+ */
+
+#pragma once
+#include "std_msgs/msg/string.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+// file that contains the custom nodes definitions
+// #include "dummy_nodes.h"
+// using namespace DummyNodes;
+
+class Publishertest : public rclcpp::Node
+{
+private:
+  // std::shared_ptr<ghost_v5_interfaces::RobotHardwareInterface> robot_hardware_interface_ptr_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr robot_pub_;
+
+public:
+  Publishertest();
+};

10_Examples/Johnny_Shen_onboarding/include/Johnny_Shen_onboarding/b.hpp

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+/*
+ *   Copyright (c) 2024 Jake Wendling
+ *   All rights reserved.
+
+ *   Permission is hereby granted, free of charge, to any person obtaining a copy
+ *   of this software and associated documentation files (the "Software"), to deal
+ *   in the Software without restriction, including without limitation the rights
+ *   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *   copies of the Software, and to permit persons to whom the Software is
+ *   furnished to do so, subject to the following conditions:
+
+ *   The above copyright notice and this permission notice shall be included in all
+ *   copies or substantial portions of the Software.
+
+ *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ *   SOFTWARE.
+ */
+
+#pragma once
+#include "std_msgs/msg/string.hpp"
+#include "rclcpp/rclcpp.hpp"
+
+// file that contains the custom nodes definitions
+// #include "dummy_nodes.h"
+// using namespace DummyNodes;
+
+class Subscribertest : public rclcpp::Node
+{
+private:
+  // std::shared_ptr<ghost_v5_interfaces::RobotHardwareInterface> robot_hardware_interface_ptr_;
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr robot_sub_;
+   void printer(std_msgs::msg::String::SharedPtr msg);
+
+public:
+  Subscribertest();
+};

10_Examples/Johnny_Shen_onboarding/include/Johnny_Shen_onboarding/hello_world.hpp

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+#pragma once
+
+#include <iostream>
+
+class Add{
+    public:
+        int add (int x, int y);
+
+};
+int Add::add(int x, int y){
+    return x+y;
+}

10_Examples/Johnny_Shen_onboarding/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>Johnny_Shen_onboarding</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">johnny</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

10_Examples/Johnny_Shen_onboarding/src/a.cpp

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+#include "Johnny_Shen_onboarding/a.hpp"
+
+Publishertest::Publishertest()
+: rclcpp::Node("hello_node")
+{
+  robot_pub_ = create_publisher<std_msgs::msg::String>(
+    "/hello",
+    10);
+  std_msgs::msg::String hello_msg{};
+  hello_msg.data = "hello";
+  robot_pub_->publish(hello_msg);
+}
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<Publishertest>();
+  rclcpp::spin(node);
+
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/Johnny_Shen_onboarding/src/b.cpp

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+#include "Johnny_Shen_onboarding/b.hpp"
+using std::placeholders::_1;
+
+Subscribertest::Subscribertest()
+: rclcpp::Node("hello1_node")
+{
+  robot_sub_ = create_subscription<std_msgs::msg::String>(
+    "/hello",
+    10,
+    std::bind(&Subscribertest::printer,this,_1));
+
+}
+void Subscribertest::printer(std_msgs::msg::String::SharedPtr msg){
+    std::cout << msg->data;
+// RCLCPP_INFO(this, msg->data);
+}
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  auto node = std::make_shared<Subscribertest>();
+  rclcpp::spin(node);
+
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/Johnny_Shen_onboarding/src/hello_world.cpp

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+#include <iostream>
+#include "Johnny_Shen_onboarding/hello_world.hpp"
+
+
+
+
+int main(int argc, char **argv) {
+    std::cout << "Hello World!" << std::endl;
+    Add myObj;
+    std::cout << myObj.add(100,200);
+    return 0;
+}

10_Examples/Johnny_Shen_onboarding/test/c.cpp

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+/*
+ *   Copyright (c) 2024 Maxx Wilson
+ *   All rights reserved.
+
+ *   Permission is hereby granted, free of charge, to any person obtaining a copy
+ *   of this software and associated documentation files (the "Software"), to deal
+ *   in the Software without restriction, including without limitation the rights
+ *   to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ *   copies of the Software, and to permit persons to whom the Software is
+ *   furnished to do so, subject to the following conditions:
+
+ *   The above copyright notice and this permission notice shall be included in all
+ *   copies or substantial portions of the Software.
+
+ *   THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ *   IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ *   FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ *   AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ *   LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ *   OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+ *   SOFTWARE.
+ */
+
+#include "Johnny_Shen_onboarding/hello_world.hpp"
+#include "gtest/gtest.h"
+
+
+class TestMathUtil : public ::testing::Test
+{
+public:
+  TestMathUtil()
+  {
+  }
+};
+
+TEST_F(TestMathUtil, testAdd) {
+  Add adder;
+
+
+
+  EXPECT_EQ(adder.add(7, 9), 16);        // (-inf,1]
+  EXPECT_EQ(adder.add(3, 2), 5);        // [1,2]
+
+}
+int main(int argc, char ** argv)
+{
+  ::testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

10_Examples/my_package/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(my_package)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(my_node src/my_node.cpp)
+target_include_directories(my_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(my_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS my_node
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()