From 55d40dcde0b9f68c1a71703f135429e884600530 Mon Sep 17 00:00:00 2001 From: Will-est Date: Sun, 17 Dec 2023 16:09:41 -0600 Subject: [PATCH 01/21] Makes Working Node --- .../ghost_control_examples/CMakeLists.txt | 4 ++ 10_Examples/will_onboarding1/CMakeLists.txt | 32 ++++++++++ 10_Examples/will_onboarding1/package.xml | 21 +++++++ 10_Examples/will_onboarding1/src/main.cpp | 63 +++++++++++++++++++ 4 files changed, 120 insertions(+) create mode 100644 10_Examples/will_onboarding1/CMakeLists.txt create mode 100644 10_Examples/will_onboarding1/package.xml create mode 100644 10_Examples/will_onboarding1/src/main.cpp diff --git a/10_Examples/ghost_control_examples/CMakeLists.txt b/10_Examples/ghost_control_examples/CMakeLists.txt index e04d7499..649aa41f 100644 --- a/10_Examples/ghost_control_examples/CMakeLists.txt +++ b/10_Examples/ghost_control_examples/CMakeLists.txt @@ -63,4 +63,8 @@ casadi_trajectory_generation include_directories(${INCLUDE}) ament_export_include_directories(${INCLUDE}) +##################################### +### Trajectory Generation Example ### +##################################### + ament_package() diff --git a/10_Examples/will_onboarding1/CMakeLists.txt b/10_Examples/will_onboarding1/CMakeLists.txt new file mode 100644 index 00000000..b935dbbe --- /dev/null +++ b/10_Examples/will_onboarding1/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.8) +project(will_onboarding1) + +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(rclcpp REQUIRED) +find_package(std_msgs 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() + +add_executable(math_node src/main.cpp) +ament_target_dependencies(math_node rclcpp std_msgs) + +install(TARGETS + math_node + DESTINATION lib/${PROJECT_NAME}) + +ament_package() diff --git a/10_Examples/will_onboarding1/package.xml b/10_Examples/will_onboarding1/package.xml new file mode 100644 index 00000000..b9c6ceea --- /dev/null +++ b/10_Examples/will_onboarding1/package.xml @@ -0,0 +1,21 @@ + + + + will_onboarding1 + 0.0.0 + TODO: Package description + will + TODO: License declaration + + ament_cmake + + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/10_Examples/will_onboarding1/src/main.cpp b/10_Examples/will_onboarding1/src/main.cpp new file mode 100644 index 00000000..afc29053 --- /dev/null +++ b/10_Examples/will_onboarding1/src/main.cpp @@ -0,0 +1,63 @@ +#include +#include +#include + +#include +#include "rclcpp/rclcpp.hpp" + +using namespace std::chrono_literals; +using namespace std; +using std::placeholders::_1; + +class Mather : public rclcpp::Node { +public: + Mather() : + Node("math_node"), + count_(0), + a(1), + b(1){ + // publisher stuff + publisher_ = this->create_publisher("math/topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&Mather::timer_callback, this)); + + // subscriber stuff + subscription_ = this->create_subscription( + "math/topic", 10, std::bind(&Mather::topic_callback, this, _1)); + } + + int add(){ + return a + b; + } + + int mult(){ + return a * b; + } + +private: + int a; + int b; + + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher ::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr subscription_; + size_t count_; + + void timer_callback(){ + std_msgs::msg::Int32 msg; + msg.data = a + b; + publisher_->publish(msg); + } + + void topic_callback(const std_msgs::msg::Int32::SharedPtr msg) { + this->a = msg->data; + RCLCPP_INFO(this->get_logger(), "the current value is: %d\n",(a + b)); + } +}; + +int main(int argc, char * argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file From dc2452f5e80d60066eb81fa2046a4392bb3af211 Mon Sep 17 00:00:00 2001 From: Will-est Date: Mon, 18 Dec 2023 19:02:56 -0600 Subject: [PATCH 02/21] fixes CMake --- 10_Examples/will_onboarding1/CMakeLists.txt | 72 +++++++++++++++++++-- 1 file changed, 66 insertions(+), 6 deletions(-) diff --git a/10_Examples/will_onboarding1/CMakeLists.txt b/10_Examples/will_onboarding1/CMakeLists.txt index b935dbbe..e285371c 100644 --- a/10_Examples/will_onboarding1/CMakeLists.txt +++ b/10_Examples/will_onboarding1/CMakeLists.txt @@ -6,10 +6,34 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") endif() # find dependencies -find_package(ament_cmake REQUIRED) -find_package(rclcpp REQUIRED) +set(DEPENDENCIES + ament_cmake + ament_cmake_gtest + rclcpp + std_msgs +) + +foreach(pkg ${DEPENDENCIES}) + find_package(${pkg} REQUIRED) +endforeach() + find_package(std_msgs REQUIRED) + +# Tell any packages that depend on us what dependencies we need. +ament_export_dependencies(${DEPENDENCIES}) + +set(INCLUDE + include +) + +# Tells the package where all our header files live +include_directories(${INCLUDE}) + +# Tells any packages that depend on us what include files we use. +ament_export_include_directories(${INCLUDE}) + + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # the following line skips the linter which checks for copyrights @@ -22,11 +46,47 @@ if(BUILD_TESTING) ament_lint_auto_find_test_dependencies() endif() -add_executable(math_node src/main.cpp) -ament_target_dependencies(math_node rclcpp std_msgs) +#Creating a library for the class that I made +add_library(Math_Node SHARED src/Mather.cpp) +ament_target_dependencies(Math_Node +${DEPENDENCIES}) + +#exporting the library +ament_export_targets(Math_Node HAS_LIBRARY_TARGET) +install( + TARGETS Math_Node + EXPORT Math_Node + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +#Main Method Stuff +add_executable(main_executable src/main.cpp) +ament_target_dependencies(main_executable + ${DEPENDENCIES} +) +target_link_libraries(main_executable +Math_Node) install(TARGETS - math_node - DESTINATION lib/${PROJECT_NAME}) +main_executable +DESTINATION lib/${PROJECT} +) + +#Gtest stuff +ament_add_gtest(test_example src/wills_Test_File.cpp) +target_link_libraries(test_example + Math_Node + gtest +) + +install( + DIRECTORY include/ + DESTINATION include +) + + ament_package() From 25de3793aa580a6c91034c7990a830a624d5e588 Mon Sep 17 00:00:00 2001 From: Will-est Date: Tue, 26 Dec 2023 14:22:44 -0600 Subject: [PATCH 03/21] Adds Gtest to Packages.xml --- 10_Examples/will_onboarding1/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/10_Examples/will_onboarding1/package.xml b/10_Examples/will_onboarding1/package.xml index b9c6ceea..08371a23 100644 --- a/10_Examples/will_onboarding1/package.xml +++ b/10_Examples/will_onboarding1/package.xml @@ -11,6 +11,7 @@ rclcpp std_msgs + ament_cmake_gtest ament_lint_auto ament_lint_common From c3128833a1f5c9e26918621dadf5a9e20a5f9333 Mon Sep 17 00:00:00 2001 From: Will-est Date: Tue, 26 Dec 2023 14:23:44 -0600 Subject: [PATCH 04/21] Formats code to hpp/cpp structure --- .../include/will_onboarding1/Mather.hpp | 37 ++++++++++++++ 10_Examples/will_onboarding1/src/Mather.cpp | 51 +++++++++++++++++++ 2 files changed, 88 insertions(+) create mode 100644 10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp create mode 100644 10_Examples/will_onboarding1/src/Mather.cpp diff --git a/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp b/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp new file mode 100644 index 00000000..09ca4391 --- /dev/null +++ b/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp @@ -0,0 +1,37 @@ +#pragma once + +#include +#include +#include + +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/int32.hpp" + +using namespace std::chrono_literals; +using namespace std; +using std::placeholders::_1; + +namespace Math_Space { + +class Mather : public rclcpp::Node { +public: + Mather(int a, int b); + + int decode(int encoded); + + void topic_callback(const std_msgs::msg::Int32::SharedPtr msg); + + void timer_callback(); + +private: + int a; + int b; + int decodeInt; + + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher ::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr subscription_; + size_t count_; +}; + +} \ No newline at end of file diff --git a/10_Examples/will_onboarding1/src/Mather.cpp b/10_Examples/will_onboarding1/src/Mather.cpp new file mode 100644 index 00000000..94631d45 --- /dev/null +++ b/10_Examples/will_onboarding1/src/Mather.cpp @@ -0,0 +1,51 @@ +#include "will_onboarding1/Mather.hpp" + +namespace Math_Space { + +Mather::Mather(int a, int b) : + Node("math_node"), + count_(0), + a(a), + b(b){ + // publisher stuff + publisher_ = this->create_publisher("/output_topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&Mather::timer_callback, this)); + + // subscriber stuff + subscription_ = this->create_subscription( + "/input_topic", 10, std::bind(&Mather::topic_callback, this, _1)); +} + +int Mather::decode(int encoded){ + if(encoded == 1){ + return a + b; + } + else if(encoded == 2){ + return a * b; + } + else if(encoded == 3){ + return a - b; + } + else if(encoded == 4){ + return a % b; + } + else{ + return 0; + } +} + +// publisher callback +void Mather::timer_callback(){ + std_msgs::msg::Int32 msg; + msg.data = decode(decodeInt); + RCLCPP_INFO(this->get_logger(), "the current value is: %d\n",(decode(decodeInt))); + publisher_->publish(msg); +} + +// subscriber callback +void Mather::topic_callback(const std_msgs::msg::Int32::SharedPtr msg) { + this->decodeInt = msg->data; +} + +} \ No newline at end of file From 6d638eece0c492b04019a0d00596dec696e20a91 Mon Sep 17 00:00:00 2001 From: Will-est Date: Tue, 26 Dec 2023 14:24:30 -0600 Subject: [PATCH 05/21] Cleans up main executable --- 10_Examples/will_onboarding1/src/main.cpp | 59 +---------------------- 1 file changed, 2 insertions(+), 57 deletions(-) diff --git a/10_Examples/will_onboarding1/src/main.cpp b/10_Examples/will_onboarding1/src/main.cpp index afc29053..f466e1d3 100644 --- a/10_Examples/will_onboarding1/src/main.cpp +++ b/10_Examples/will_onboarding1/src/main.cpp @@ -1,63 +1,8 @@ -#include -#include -#include - -#include -#include "rclcpp/rclcpp.hpp" - -using namespace std::chrono_literals; -using namespace std; -using std::placeholders::_1; - -class Mather : public rclcpp::Node { -public: - Mather() : - Node("math_node"), - count_(0), - a(1), - b(1){ - // publisher stuff - publisher_ = this->create_publisher("math/topic", 10); - timer_ = this->create_wall_timer( - 500ms, std::bind(&Mather::timer_callback, this)); - - // subscriber stuff - subscription_ = this->create_subscription( - "math/topic", 10, std::bind(&Mather::topic_callback, this, _1)); - } - - int add(){ - return a + b; - } - - int mult(){ - return a * b; - } - -private: - int a; - int b; - - rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher ::SharedPtr publisher_; - rclcpp::Subscription::SharedPtr subscription_; - size_t count_; - - void timer_callback(){ - std_msgs::msg::Int32 msg; - msg.data = a + b; - publisher_->publish(msg); - } - - void topic_callback(const std_msgs::msg::Int32::SharedPtr msg) { - this->a = msg->data; - RCLCPP_INFO(this->get_logger(), "the current value is: %d\n",(a + b)); - } -}; +#include "will_onboarding1/Mather.hpp" int main(int argc, char * argv[]){ rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared()); + rclcpp::spin(std::make_shared(1,1)); rclcpp::shutdown(); return 0; } \ No newline at end of file From fb19bea88af841b8b57a70f6ea19176096183f3d Mon Sep 17 00:00:00 2001 From: Will-est Date: Tue, 26 Dec 2023 14:25:04 -0600 Subject: [PATCH 06/21] Makes Test File --- .../will_onboarding1/src/wills_Test_File.cpp | 42 +++++++++++++++++++ 1 file changed, 42 insertions(+) create mode 100644 10_Examples/will_onboarding1/src/wills_Test_File.cpp diff --git a/10_Examples/will_onboarding1/src/wills_Test_File.cpp b/10_Examples/will_onboarding1/src/wills_Test_File.cpp new file mode 100644 index 00000000..36208b55 --- /dev/null +++ b/10_Examples/will_onboarding1/src/wills_Test_File.cpp @@ -0,0 +1,42 @@ +#include "gtest/gtest.h" +#include "will_onboarding1/Mather.hpp" + +class MyTest : public ::testing::Test { +protected: + + MyTest(){ + node_ = std::make_shared(5,2); + } + + void SetUp() override { + } + + void TearDown() override { + } + std::shared_ptr< Math_Space::Mather> node_; +}; + +TEST_F(MyTest, addTest){ + EXPECT_EQ((node_->decode(1)),7); +} +TEST_F(MyTest, multTest){ + EXPECT_EQ((node_->decode(2)),10); +} +TEST_F(MyTest, subTest){ + EXPECT_EQ((node_->decode(3)),3); +} +TEST_F(MyTest, modTest){ + EXPECT_EQ((node_->decode(4)),1); +} +TEST_F(MyTest, randTest){ + EXPECT_EQ((node_->decode(5)),0); +} + +int main(int argc, char **argv) { + // This line is always required if you are going to instantiate a ROS node. + // For testing regular C++ libraries, it should be excluded. + rclcpp::init(argc, argv); + // Standard GTest main + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file From 5653259013c68256aa144834f18f4d7f7a1780c5 Mon Sep 17 00:00:00 2001 From: Zaara Date: Mon, 1 Jan 2024 02:43:51 -0600 Subject: [PATCH 07/21] Zaara's onboarding II --- 10_Examples/zaara-onboarding/CMakeLists.txt | 80 +++++++++++++++++++ .../trivialmethodssubscriber.hpp | 24 ++++++ 10_Examples/zaara-onboarding/package.xml | 18 +++++ .../src/trivialmethodsmain.cpp | 8 ++ .../src/trivialmethodspublisher.cpp | 45 +++++++++++ .../src/trivialmethodssubscriber.cpp | 26 ++++++ 10_Examples/zaara-onboarding/test/tests.cpp | 31 +++++++ 7 files changed, 232 insertions(+) create mode 100644 10_Examples/zaara-onboarding/CMakeLists.txt create mode 100644 10_Examples/zaara-onboarding/include/zaara-onboarding/trivialmethodssubscriber.hpp create mode 100644 10_Examples/zaara-onboarding/package.xml create mode 100644 10_Examples/zaara-onboarding/src/trivialmethodsmain.cpp create mode 100644 10_Examples/zaara-onboarding/src/trivialmethodspublisher.cpp create mode 100644 10_Examples/zaara-onboarding/src/trivialmethodssubscriber.cpp create mode 100644 10_Examples/zaara-onboarding/test/tests.cpp diff --git a/10_Examples/zaara-onboarding/CMakeLists.txt b/10_Examples/zaara-onboarding/CMakeLists.txt new file mode 100644 index 00000000..6343a34e --- /dev/null +++ b/10_Examples/zaara-onboarding/CMakeLists.txt @@ -0,0 +1,80 @@ +cmake_minimum_required(VERSION 3.8) +project(zaara-onboarding) + +# Default to C++14 +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +set(DEPENDENCIES + ament_cmake + ament_cmake_gtest + rclcpp + std_msgs + ) + + +foreach(pkg ${DEPENDENCIES}) + find_package(${pkg} REQUIRED) +endforeach() + +ament_export_dependencies(${DEPENDENCIES}) + +set(INCLUDE + include +) + +include_directories(${INCLUDE}) +ament_export_include_directories(${INCLUDE}) + + +add_executable(triv_method_publisher src/trivialmethodspublisher.cpp) +ament_target_dependencies(triv_method_publisher ${DEPENDENCIES}) +install(TARGETS + triv_method_publisher + DESTINATION lib/${PROJECT_NAME}) + +add_library(triv_method_subscriber SHARED src/trivialmethodssubscriber.cpp) +ament_target_dependencies(triv_method_subscriber + ${DEPENDENCIES} +) +ament_export_targets(triv_method_subscriber HAS_LIBRARY_TARGET) +install( + TARGETS triv_method_subscriber + EXPORT triv_method_subscriber + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include +) + +add_executable(triv_method_main src/trivialmethodsmain.cpp) +ament_target_dependencies(triv_method_main + ${DEPENDENCIES} +) +target_link_libraries(triv_method_main + triv_method_subscriber +) +install(TARGETS + triv_method_main + DESTINATION lib/${PROJECT_NAME}) + + ament_add_gtest(onboarding_test test/tests.cpp) + target_link_libraries(onboarding_test + triv_method_subscriber + gtest + ) + + install( + DIRECTORY include/ + DESTINATION include + ) + + + + +ament_package() \ No newline at end of file diff --git a/10_Examples/zaara-onboarding/include/zaara-onboarding/trivialmethodssubscriber.hpp b/10_Examples/zaara-onboarding/include/zaara-onboarding/trivialmethodssubscriber.hpp new file mode 100644 index 00000000..a19f833a --- /dev/null +++ b/10_Examples/zaara-onboarding/include/zaara-onboarding/trivialmethodssubscriber.hpp @@ -0,0 +1,24 @@ +#pragma once + +#include +#include "std_msgs/msg/string.hpp" +#include "std_msgs/msg/float32.hpp" +#include "rclcpp/rclcpp.hpp" + +using std::placeholders::_1; + +namespace myonboarding{ + class TrivMethodSubscriber : public rclcpp::Node { + public: + TrivMethodSubscriber(); + void topic_callback(const std_msgs::msg::String::SharedPtr msg); + float add_floats(float a, float b); + + + private: + rclcpp::Subscription::SharedPtr subscription_; + }; + + + +} \ No newline at end of file diff --git a/10_Examples/zaara-onboarding/package.xml b/10_Examples/zaara-onboarding/package.xml new file mode 100644 index 00000000..8b1958b7 --- /dev/null +++ b/10_Examples/zaara-onboarding/package.xml @@ -0,0 +1,18 @@ + + + + zaara-onboarding + 0.0.0 + TODO: Package description + zaara + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/10_Examples/zaara-onboarding/src/trivialmethodsmain.cpp b/10_Examples/zaara-onboarding/src/trivialmethodsmain.cpp new file mode 100644 index 00000000..0aed3353 --- /dev/null +++ b/10_Examples/zaara-onboarding/src/trivialmethodsmain.cpp @@ -0,0 +1,8 @@ +#include "zaara-onboarding/trivialmethodssubscriber.hpp" + +int main(int argc, char *argv[]) { + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/10_Examples/zaara-onboarding/src/trivialmethodspublisher.cpp b/10_Examples/zaara-onboarding/src/trivialmethodspublisher.cpp new file mode 100644 index 00000000..3b353eb1 --- /dev/null +++ b/10_Examples/zaara-onboarding/src/trivialmethodspublisher.cpp @@ -0,0 +1,45 @@ +#include +#include +#include +#include +#include "std_msgs/msg/string.hpp" +#include "rclcpp/rclcpp.hpp" + + +//a little confused about what chrono_literals is +using namespace std::chrono_literals; + +class TrivMethodPublisher : public rclcpp::Node +{ + public: + TrivMethodPublisher() + : Node("onboarding_publisher"), count_(0) + { + publisher_ = this->create_publisher("onboarding_topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&TrivMethodPublisher::timer_callback, this)); + } + + private: + void timer_callback() + { + auto message = std_msgs::msg::String(); + //changing counter to be a string + message.data = "Useless Counter: " + std::to_string(count_+=2); + + RCLCPP_INFO(this->get_logger(), "'%s'", message.data.c_str()); + publisher_->publish(message); + } + + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/10_Examples/zaara-onboarding/src/trivialmethodssubscriber.cpp b/10_Examples/zaara-onboarding/src/trivialmethodssubscriber.cpp new file mode 100644 index 00000000..5e1c9316 --- /dev/null +++ b/10_Examples/zaara-onboarding/src/trivialmethodssubscriber.cpp @@ -0,0 +1,26 @@ +#include "zaara-onboarding/trivialmethodssubscriber.hpp" + +namespace myonboarding { + +TrivMethodSubscriber::TrivMethodSubscriber() : Node("onboarding_subscriber") { + subscription_ = this->create_subscription( + "onboarding_topic", 10, std::bind(&TrivMethodSubscriber::topic_callback, this, _1)); +} + +void TrivMethodSubscriber::topic_callback(const std_msgs::msg::String::SharedPtr msg) { + //adds two float values and outputs that along with message gotten from publisher + //made two variables for the floats because I was trying to make it randomly select two values, + //but I couldn't figure out how I would set a range of values to choose from + float float1 = 1.5; + float float2 = 2.5; + float float_addition = add_floats(float1, float2); + + RCLCPP_INFO(this->get_logger(), "Float addition value is: '%f' and message is: '%s'", float_addition, msg->data.c_str()); +} + +float TrivMethodSubscriber::add_floats(float a, float b) { + return a + b; +} + +} + diff --git a/10_Examples/zaara-onboarding/test/tests.cpp b/10_Examples/zaara-onboarding/test/tests.cpp new file mode 100644 index 00000000..8283ca4c --- /dev/null +++ b/10_Examples/zaara-onboarding/test/tests.cpp @@ -0,0 +1,31 @@ +#include "zaara-onboarding/trivialmethodssubscriber.hpp" +#include "gtest/gtest.h" + +class OnboardingTest : public ::testing::Test { +protected: + + OnboardingTest(){ + subscriber_node_ = std::make_shared(); + } + + void SetUp() override { + } + + void TearDown() override { + } + std::shared_ptr subscriber_node_; +}; + +//testing if addition of floats is working +TEST_F(OnboardingTest, testAddFloats){ + EXPECT_FLOAT_EQ(subscriber_node_->add_floats(2, 3), 5.0); +} + +int main(int argc, char **argv) { + + rclcpp::init(argc, argv); + + + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} \ No newline at end of file From 76f0588bcf9112d69cdf23086032e9a4c55ba94a Mon Sep 17 00:00:00 2001 From: Will-est Date: Thu, 4 Jan 2024 16:59:33 -0600 Subject: [PATCH 08/21] fixes formatting issues --- 10_Examples/will_onboarding1/CMakeLists.txt | 24 ++++----- .../include/will_onboarding1/Mather.hpp | 51 ++++++++++++++----- 10_Examples/will_onboarding1/src/Mather.cpp | 24 +++++---- 10_Examples/will_onboarding1/src/main.cpp | 2 +- ...ills_Test_File.cpp => wills_test_file.cpp} | 4 +- 5 files changed, 67 insertions(+), 38 deletions(-) rename 10_Examples/will_onboarding1/src/{wills_Test_File.cpp => wills_test_file.cpp} (89%) diff --git a/10_Examples/will_onboarding1/CMakeLists.txt b/10_Examples/will_onboarding1/CMakeLists.txt index e285371c..514d5bf8 100644 --- a/10_Examples/will_onboarding1/CMakeLists.txt +++ b/10_Examples/will_onboarding1/CMakeLists.txt @@ -47,15 +47,15 @@ if(BUILD_TESTING) endif() #Creating a library for the class that I made -add_library(Math_Node SHARED src/Mather.cpp) -ament_target_dependencies(Math_Node +add_library(math_node SHARED src/Mather.cpp) +ament_target_dependencies(math_node ${DEPENDENCIES}) #exporting the library -ament_export_targets(Math_Node HAS_LIBRARY_TARGET) +ament_export_targets(math_node HAS_LIBRARY_TARGET) install( - TARGETS Math_Node - EXPORT Math_Node + TARGETS math_node + EXPORT math_node LIBRARY DESTINATION lib ARCHIVE DESTINATION lib RUNTIME DESTINATION bin @@ -63,22 +63,22 @@ install( ) #Main Method Stuff -add_executable(main_executable src/main.cpp) -ament_target_dependencies(main_executable +add_executable(math_main_executable src/main.cpp) +ament_target_dependencies(math_main_executable ${DEPENDENCIES} ) -target_link_libraries(main_executable -Math_Node) +target_link_libraries(math_main_executable +math_node) install(TARGETS -main_executable +math_main_executable DESTINATION lib/${PROJECT} ) #Gtest stuff -ament_add_gtest(test_example src/wills_Test_File.cpp) +ament_add_gtest(test_example src/wills_test_file.cpp) target_link_libraries(test_example - Math_Node + math_node gtest ) diff --git a/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp b/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp index 09ca4391..19305865 100644 --- a/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp +++ b/10_Examples/will_onboarding1/include/will_onboarding1/Mather.hpp @@ -7,31 +7,56 @@ #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/int32.hpp" -using namespace std::chrono_literals; -using namespace std; -using std::placeholders::_1; +namespace math_space { -namespace Math_Space { +/* + Class defining the Mather class: + The Mather class is a ROS node that can take in an input and output a corresponding value depending on the initial arguments the Mather + object is constructed with and which operation you want done. + + inputs - operations: + + 1 - addion + 2 - multiplication + 3 - subtraction + 4 - modulus + other - will simply output a 0 + + */ class Mather : public rclcpp::Node { public: - Mather(int a, int b); + /* + Mather Constructor, the parameters are the two argumets of the operation you want to perform + */ + Mather(int m_first, int m_second); + + /* + Parameter is the input value(read from a member variable that gets automatically updated in the subscriber callback function) and output + is the result of the operation + */ int decode(int encoded); + /* + This is the subscriber callback funtion, this function subscribes to the topic "/input_topic" and updates the member variable m_decode_int + */ void topic_callback(const std_msgs::msg::Int32::SharedPtr msg); + /* + This is the publisher callback funtion, this function outputs the result of the function "decode" to the topic "/output_topic" + */ void timer_callback(); private: - int a; - int b; - int decodeInt; - - rclcpp::TimerBase::SharedPtr timer_; - rclcpp::Publisher ::SharedPtr publisher_; - rclcpp::Subscription::SharedPtr subscription_; - size_t count_; + int m_first;// this is the first element of the operation + int m_second;// this is the second element of the operation + int m_decode_int;// this is the member variable that stores the output for the function "decode" + + rclcpp::TimerBase::SharedPtr timer_; // this is a shared pointer to the ROS timer object + rclcpp::Publisher ::SharedPtr publisher_; // this is "Mather"'s publisher + rclcpp::Subscription::SharedPtr subscription_;// this is "Mather"'s subscriber + size_t count_;// I honestly don't know what this does. }; } \ No newline at end of file diff --git a/10_Examples/will_onboarding1/src/Mather.cpp b/10_Examples/will_onboarding1/src/Mather.cpp index 94631d45..d411d2c5 100644 --- a/10_Examples/will_onboarding1/src/Mather.cpp +++ b/10_Examples/will_onboarding1/src/Mather.cpp @@ -1,12 +1,16 @@ #include "will_onboarding1/Mather.hpp" -namespace Math_Space { +using namespace std::chrono_literals; +using namespace std; +using std::placeholders::_1; + +namespace math_space { Mather::Mather(int a, int b) : Node("math_node"), count_(0), - a(a), - b(b){ + m_first(a), + m_second(b){ // publisher stuff publisher_ = this->create_publisher("/output_topic", 10); timer_ = this->create_wall_timer( @@ -19,16 +23,16 @@ Mather::Mather(int a, int b) : int Mather::decode(int encoded){ if(encoded == 1){ - return a + b; + return m_first + m_second; } else if(encoded == 2){ - return a * b; + return m_first * m_second; } else if(encoded == 3){ - return a - b; + return m_first - m_second; } else if(encoded == 4){ - return a % b; + return m_first % m_second; } else{ return 0; @@ -38,14 +42,14 @@ int Mather::decode(int encoded){ // publisher callback void Mather::timer_callback(){ std_msgs::msg::Int32 msg; - msg.data = decode(decodeInt); - RCLCPP_INFO(this->get_logger(), "the current value is: %d\n",(decode(decodeInt))); + msg.data = decode(m_decode_int); + RCLCPP_INFO(this->get_logger(), "the current value is: %d\n",(decode(m_decode_int))); publisher_->publish(msg); } // subscriber callback void Mather::topic_callback(const std_msgs::msg::Int32::SharedPtr msg) { - this->decodeInt = msg->data; + this->m_decode_int = msg->data; } } \ No newline at end of file diff --git a/10_Examples/will_onboarding1/src/main.cpp b/10_Examples/will_onboarding1/src/main.cpp index f466e1d3..513d6415 100644 --- a/10_Examples/will_onboarding1/src/main.cpp +++ b/10_Examples/will_onboarding1/src/main.cpp @@ -2,7 +2,7 @@ int main(int argc, char * argv[]){ rclcpp::init(argc, argv); - rclcpp::spin(std::make_shared(1,1)); + rclcpp::spin(std::make_shared(1,1)); rclcpp::shutdown(); return 0; } \ No newline at end of file diff --git a/10_Examples/will_onboarding1/src/wills_Test_File.cpp b/10_Examples/will_onboarding1/src/wills_test_file.cpp similarity index 89% rename from 10_Examples/will_onboarding1/src/wills_Test_File.cpp rename to 10_Examples/will_onboarding1/src/wills_test_file.cpp index 36208b55..08863375 100644 --- a/10_Examples/will_onboarding1/src/wills_Test_File.cpp +++ b/10_Examples/will_onboarding1/src/wills_test_file.cpp @@ -5,7 +5,7 @@ class MyTest : public ::testing::Test { protected: MyTest(){ - node_ = std::make_shared(5,2); + node_ = std::make_shared(5,2); } void SetUp() override { @@ -13,7 +13,7 @@ class MyTest : public ::testing::Test { void TearDown() override { } - std::shared_ptr< Math_Space::Mather> node_; + std::shared_ptr node_; }; TEST_F(MyTest, addTest){ From 770670b23b5f0b43486ede36e8e3dad61ef9ea40 Mon Sep 17 00:00:00 2001 From: linh567 <146789181+linh567@users.noreply.github.com> Date: Thu, 30 May 2024 16:53:30 -0500 Subject: [PATCH 09/21] Feature/linh (#63) ### Description software onboarding II ### Reviewers Tag reviewers. - Required:@MaxxWilson --- ### Changelog - added linh-onboarding ### Testing #### Automatic - tests works #### Manual - na ### Checklist - [x] Confirmed all tests pass on a clean build - [x] Added reviewers in Github - [x] Posted PR Summary to Discord PR's Channel - [ ] Ran uncrustify on any modified C++ files - [ ] Ran Colcon Lint for any modified CMakeLists.txt or Package.xml --------- Co-authored-by: Maxx Wilson --- 03_ROS/rviz_animators/CMakeLists.txt | 90 +++++++++++++++ .../rviz_animators/include/config/test.yaml | 3 + .../include/rviz_animators/subscriber.hpp | 21 ++++ .../rviz_animators/launch/pub_sub.launch.py | 32 ++++++ 03_ROS/rviz_animators/package.xml | 19 ++++ 03_ROS/rviz_animators/src/publisher.cpp | 83 ++++++++++++++ 03_ROS/rviz_animators/src/subscriber.cpp | 52 +++++++++ 03_ROS/rviz_animators/src/subscriber_main.cpp | 8 ++ .../src/ros_publisher_example.cpp | 4 +- 10_Examples/linh-onboarding/CMakeLists.txt | 104 ++++++++++++++++++ .../include/linh-onboarding/subscriber.hpp | 26 +++++ 10_Examples/linh-onboarding/package.xml | 18 +++ 10_Examples/linh-onboarding/src/publisher.cpp | 45 ++++++++ .../linh-onboarding/src/subscriber.cpp | 29 +++++ .../linh-onboarding/src/subscriber_main.cpp | 8 ++ 10_Examples/linh-onboarding/test/test.cpp | 37 +++++++ Testing/Temporary/CTestCostData.txt | 1 + Testing/Temporary/LastTest.log | 3 + 18 files changed, 580 insertions(+), 3 deletions(-) create mode 100644 03_ROS/rviz_animators/CMakeLists.txt create mode 100644 03_ROS/rviz_animators/include/config/test.yaml create mode 100644 03_ROS/rviz_animators/include/rviz_animators/subscriber.hpp create mode 100644 03_ROS/rviz_animators/launch/pub_sub.launch.py create mode 100644 03_ROS/rviz_animators/package.xml create mode 100644 03_ROS/rviz_animators/src/publisher.cpp create mode 100644 03_ROS/rviz_animators/src/subscriber.cpp create mode 100644 03_ROS/rviz_animators/src/subscriber_main.cpp create mode 100644 10_Examples/linh-onboarding/CMakeLists.txt create mode 100644 10_Examples/linh-onboarding/include/linh-onboarding/subscriber.hpp create mode 100644 10_Examples/linh-onboarding/package.xml create mode 100644 10_Examples/linh-onboarding/src/publisher.cpp create mode 100644 10_Examples/linh-onboarding/src/subscriber.cpp create mode 100644 10_Examples/linh-onboarding/src/subscriber_main.cpp create mode 100644 10_Examples/linh-onboarding/test/test.cpp create mode 100644 Testing/Temporary/CTestCostData.txt create mode 100644 Testing/Temporary/LastTest.log diff --git a/03_ROS/rviz_animators/CMakeLists.txt b/03_ROS/rviz_animators/CMakeLists.txt new file mode 100644 index 00000000..1ce18827 --- /dev/null +++ b/03_ROS/rviz_animators/CMakeLists.txt @@ -0,0 +1,90 @@ + +cmake_minimum_required(VERSION 3.8) +project(rviz_animators) + +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(visualization_msgs REQUIRED) +find_package(rclcpp REQUIRED) +#find_package(ghost_msgs REQUIRED) + + +set(DEPENDENCIES + ament_cmake + rclcpp + visualization_msgs +) + +# uncomment the following section in order to fill in +# further dependencies manually. +# find_package( 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_export_dependencies(${DEPENDENCIES}) + +set(INCLUDE + include +) +include_directories(${INCLUDE}) +ament_export_include_directories(${INCLUDE}) + + +add_executable(publisher src/publisher.cpp) +ament_target_dependencies(publisher ${DEPENDENCIES}) +install(TARGETS + publisher + DESTINATION lib/${PROJECT_NAME}) + + add_library(subscriber SHARED src/subscriber.cpp) + ament_target_dependencies(subscriber + ${DEPENDENCIES} + ) + ament_export_targets(subscriber HAS_LIBRARY_TARGET) + install( + TARGETS subscriber + EXPORT subscriber + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include + ) + + add_executable(subscriber_main src/subscriber_main.cpp) + ament_target_dependencies(subscriber_main + ${DEPENDENCIES} +) +target_link_libraries(subscriber_main + subscriber +) + +install(TARGETS + subscriber_main + DESTINATION lib/${PROJECT_NAME}) + +install( + DIRECTORY include/ + DESTINATION include +) + +install(DIRECTORY + launch config + DESTINATION share/${PROJECT_NAME}) + +ament_package() \ No newline at end of file diff --git a/03_ROS/rviz_animators/include/config/test.yaml b/03_ROS/rviz_animators/include/config/test.yaml new file mode 100644 index 00000000..49de4d98 --- /dev/null +++ b/03_ROS/rviz_animators/include/config/test.yaml @@ -0,0 +1,3 @@ +subscriber_node: + ros__parameters: + test_param: "test" \ No newline at end of file diff --git a/03_ROS/rviz_animators/include/rviz_animators/subscriber.hpp b/03_ROS/rviz_animators/include/rviz_animators/subscriber.hpp new file mode 100644 index 00000000..367fd992 --- /dev/null +++ b/03_ROS/rviz_animators/include/rviz_animators/subscriber.hpp @@ -0,0 +1,21 @@ +#pragma once + +#include +#include "visualization_msgs/msg/marker_array.hpp" +// #include "ghost_msgs/msg/labeled_vector.hpp" +// #include "ghost_msgs/msg/labeled_vector_map.hpp" +#include "rclcpp/rclcpp.hpp" + + +namespace rviz{ + class ROSSubscriber : public rclcpp::Node { + public: + ROSSubscriber(); + void topic_callback(const visualization_msgs::msg::MarkerArray::SharedPtr msg); + // void vector_topic_callback(const ghost_msgs::msg::LabeledVectorMap::SharedPtr msg); + + private: + rclcpp::Subscription::SharedPtr subscription_; + // rclcpp::Subscription::SharedPtr vector_subscription_; + }; +} diff --git a/03_ROS/rviz_animators/launch/pub_sub.launch.py b/03_ROS/rviz_animators/launch/pub_sub.launch.py new file mode 100644 index 00000000..17d2e08f --- /dev/null +++ b/03_ROS/rviz_animators/launch/pub_sub.launch.py @@ -0,0 +1,32 @@ +import launch +import launch_ros + +import os + +def generate_launch_description(): + + home_dir = os.path.expanduser('~') + rviz_animators_dir = os.path.join(home_dir, "VEXU_GHOST", "03_ROS", "rviz_animators") + + # This contains all the parameters for our ROS nodes + ros_config_file = os.path.join(rviz_animators_dir, "config/test.yaml") + + publisher_node = launch_ros.actions.Node( + name = "publisher_node", + package = 'rviz_animators', + # This name is specified in the CmakeLists.txt file of this package + executable = 'publisher', + ) + + subscriber_node = launch_ros.actions.Node( + name='subscriber_node', + package= 'rviz_animators', + # This name is specified in the CmakeLists.txt file of this package + executable='subscriber_main', + parameters=[ros_config_file] + ) + + return launch.LaunchDescription([ + publisher_node, + subscriber_node + ]) \ No newline at end of file diff --git a/03_ROS/rviz_animators/package.xml b/03_ROS/rviz_animators/package.xml new file mode 100644 index 00000000..5160f73f --- /dev/null +++ b/03_ROS/rviz_animators/package.xml @@ -0,0 +1,19 @@ + + + + rviz_animators + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + ghost_msgs + + + ament_cmake + + diff --git a/03_ROS/rviz_animators/src/publisher.cpp b/03_ROS/rviz_animators/src/publisher.cpp new file mode 100644 index 00000000..b2a2f736 --- /dev/null +++ b/03_ROS/rviz_animators/src/publisher.cpp @@ -0,0 +1,83 @@ +#include +#include +#include +#include +#include "visualization_msgs/msg/marker_array.hpp" +#include "visualization_msgs/msg/marker.hpp" +// #include +// #include +#include "rclcpp/rclcpp.hpp" +#include + +using namespace std::chrono_literals; + +class ROSPublisher : public rclcpp::Node +{ +public: + ROSPublisher() : Node("marker_publisher"), + count_(0) + { + publisher_ = this->create_publisher("visualization_marker", 10); + timer_ = this->create_wall_timer(500ms, std::bind(&ROSPublisher::timer_callback, this)); + } + +private: + void timer_callback() + { + auto marker_array_msg = std::make_shared(); + for (int i = 0; i < 10; i++) + { + visualization_msgs::msg::Marker marker; + createSphereMarker(i, marker); // Create and fill marker directly + marker_array_msg->markers.push_back(marker); + } + publisher_->publish(*marker_array_msg); + } + + void createSphereMarker(int id, visualization_msgs::msg::Marker &marker) + { + marker.header.frame_id = "map"; + marker.header.stamp = this->get_clock()->now(); + marker.ns = "basic_shapes"; + marker.id = id; + marker.type = visualization_msgs::msg::Marker::SPHERE; + marker.action = visualization_msgs::msg::Marker::ADD; + + // Define a function of time for position calculation + //auto t = this->get_clock()->now(); // Current time in seconds + // Current time in seconds + double x = 0; // Example function: x = t * cos(t + id) + double y = 0; // Example function: y = t * sin(t + id) + double z = 0; // Example function: z = t + + marker.pose.position.x = x; + marker.pose.position.y = y; + marker.pose.position.z = z; + + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + + marker.color.a = 1.0; + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + } + + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + int count_; +}; + +int main(int argc, char *argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/03_ROS/rviz_animators/src/subscriber.cpp b/03_ROS/rviz_animators/src/subscriber.cpp new file mode 100644 index 00000000..bb9a73d2 --- /dev/null +++ b/03_ROS/rviz_animators/src/subscriber.cpp @@ -0,0 +1,52 @@ +#include "rviz_animators/subscriber.hpp" + +namespace rviz +{ + + ROSSubscriber::ROSSubscriber() : Node("subscribers") + { + + this->declare_parameter("test_param", "/estimation/pose"); + std::string test_param = this->get_parameter("test_param").as_string(); + + std::cout << test_param << std::endl; + + // Create a subscription to the "marker_topic" topic with a queue size of 10 + subscription_ = this->create_subscription( + "marker_topic", 10, std::bind(&ROSSubscriber::topic_callback, this, std::placeholders::_1)); + + // vector_subscription_ = this->create_subscription( + // "vector_topic", 10, std::bind(&ROSSubscriber::vector_topic_callback, this, std::placeholders::_1)); + // Uncomment the following lines if you want to subscribe to a trajectory topic + // trajectory_subscription_ = this->create_subscription( + // "trajectory_topic", 10, std::bind(&ROSSubscriber::trajectory_topic_callback, this, std::placeholders::_1)); + } + + void ROSSubscriber::topic_callback(const visualization_msgs::msg::MarkerArray::SharedPtr msg) + { + auto now = this->get_clock()->now(); + auto diff = now - msg->markers[0].header.stamp; + // Log the X-coordinate of the first marker in the array + RCLCPP_INFO(this->get_logger(), "X-coord is: %f", msg->markers[0].pose.position.x); + } + + // void ROSSubscriber::vector_topic_callback(const ghost_msgs::msg::LabeledVectorMap::SharedPtr msg) + // { + // // plays message back in rviz + // // auto now = this->get_clock()->now(); + // // auto diff = now - msg->markers[0].header.stamp; + // // Log the X-coordinate of the first marker in the array + // RCLCPP_INFO(this->get_logger(), "X-coord is: %f", msg->markers[0].pose.position.x); + // } + rclcpp::Subscription::SharedPtr subscription_; + // rclcpp::Subscription::SharedPtr vector_subscription_; + + // Uncomment the following function if you want to handle messages of type trajectory_msgs::msg::JointTrajectoryPoint + // void ROSSubscriber::topic_callback(const trajectory_msgs::msg::JointTrajectoryPoint::SharedPtr msg) { + // auto now = this->get_clock()->now(); + // auto diff = now - msg->header.stamp; + // // Log the X-coordinate of the received trajectory point + // RCLCPP_INFO(this->get_logger(), "X-coord is: %f", msg->positions[0]); + // } + +} // namespace rviz diff --git a/03_ROS/rviz_animators/src/subscriber_main.cpp b/03_ROS/rviz_animators/src/subscriber_main.cpp new file mode 100644 index 00000000..cc26312d --- /dev/null +++ b/03_ROS/rviz_animators/src/subscriber_main.cpp @@ -0,0 +1,8 @@ +#include "rviz_animators/subscriber.hpp" + +int main(int argc, char * argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/10_Examples/ghost_examples/src/ros_publisher_example.cpp b/10_Examples/ghost_examples/src/ros_publisher_example.cpp index fa694401..9e237984 100644 --- a/10_Examples/ghost_examples/src/ros_publisher_example.cpp +++ b/10_Examples/ghost_examples/src/ros_publisher_example.cpp @@ -2,10 +2,8 @@ #include #include #include - -#include "geometry_msgs/msg/pose_with_covariance_stamped.hpp" +#include "std_msgs/msg/string.hpp" #include "rclcpp/rclcpp.hpp" -#include "sensor_msgs/msg/laser_scan.hpp" using namespace std::chrono_literals; diff --git a/10_Examples/linh-onboarding/CMakeLists.txt b/10_Examples/linh-onboarding/CMakeLists.txt new file mode 100644 index 00000000..7c14a64b --- /dev/null +++ b/10_Examples/linh-onboarding/CMakeLists.txt @@ -0,0 +1,104 @@ +cmake_minimum_required(VERSION 3.8) +project(linh-onboarding) + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +#find_package( REQUIRED) +find_package(ament_cmake REQUIRED) +find_package(rclcpp REQUIRED) +find_package(std_msgs REQUIRED) +find_package(ament_cmake_gtest REQUIRED) + +set(DEPENDENCIES + ament_cmake + rclcpp + std_msgs + ament_cmake_gtest +) + + +#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_export_dependencies(${DEPENDENCIES}) + +set(INCLUDE + include +) + +include_directories(${INCLUDE}) +ament_export_include_directories(${INCLUDE}) + + +add_executable(publisher src/publisher.cpp) +ament_target_dependencies(publisher ${DEPENDENCIES}) +install(TARGETS + publisher + DESTINATION lib/${PROJECT_NAME}) + + + + add_library(subscriber SHARED src/subscriber.cpp) + ament_target_dependencies(subscriber + ${DEPENDENCIES} + ) + ament_export_targets(subscriber HAS_LIBRARY_TARGET) + install( + TARGETS subscriber + EXPORT subscriber + LIBRARY DESTINATION lib + ARCHIVE DESTINATION lib + RUNTIME DESTINATION bin + INCLUDES DESTINATION include + ) + + add_executable(subscriber_main src/subscriber_main.cpp) + ament_target_dependencies(subscriber_main + ${DEPENDENCIES} +) +target_link_libraries(subscriber_main + subscriber +) +install(TARGETS + subscriber_main + DESTINATION lib/${PROJECT_NAME}) + + +ament_add_gtest(onboard_test test/test.cpp) +target_link_libraries(onboard_test + subscriber + gtest +) + +install( + DIRECTORY include/ + DESTINATION include +) + +ament_package() + + + + + + + + + + + + + + + diff --git a/10_Examples/linh-onboarding/include/linh-onboarding/subscriber.hpp b/10_Examples/linh-onboarding/include/linh-onboarding/subscriber.hpp new file mode 100644 index 00000000..3c39edf0 --- /dev/null +++ b/10_Examples/linh-onboarding/include/linh-onboarding/subscriber.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include +#include "std_msgs/msg/string.hpp" +#include "std_msgs/msg/float32.hpp" +#include "rclcpp/rclcpp.hpp" + +using std::placeholders::_1; + +namespace onboarding{ + class Subscriber : public rclcpp::Node { + public: + Subscriber(); + void topic_callback(const std_msgs::msg::Float32::SharedPtr msg); + int add(int a, int b); + int subtract(int a, int b); + void do_nothing(); + + + private: + rclcpp::Subscription::SharedPtr subscription_; + }; + + + +} \ No newline at end of file diff --git a/10_Examples/linh-onboarding/package.xml b/10_Examples/linh-onboarding/package.xml new file mode 100644 index 00000000..c7c05fc5 --- /dev/null +++ b/10_Examples/linh-onboarding/package.xml @@ -0,0 +1,18 @@ + + + + linh-onboarding + 0.0.0 + TODO: Package description + root + TODO: License declaration + + ament_cmake + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/10_Examples/linh-onboarding/src/publisher.cpp b/10_Examples/linh-onboarding/src/publisher.cpp new file mode 100644 index 00000000..d7f6657e --- /dev/null +++ b/10_Examples/linh-onboarding/src/publisher.cpp @@ -0,0 +1,45 @@ +#include +#include +#include +#include +#include "rclcpp/rclcpp.hpp" +#include "std_msgs/msg/string.hpp" +#include "std_msgs/msg/float32.hpp" + + +using namespace std::chrono_literals; + +/* This example creates a subclass of Node and uses std::bind() to register a +* member function as a callback from the timer. */ + +class Publisher : public rclcpp::Node +{ + public: + Publisher() + : Node("onboarding_publisher"), count_(0) + { + publisher_ = this->create_publisher("topic", 10); + timer_ = this->create_wall_timer( + 500ms, std::bind(&Publisher::timer_callback, this)); + } + + private: + void timer_callback() + { + auto message = std_msgs::msg::Float32(); + message.data = static_cast(count_++); + RCLCPP_INFO(this->get_logger(), "Publishing: '%f'", message.data); + publisher_->publish(message); + } + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::Publisher::SharedPtr publisher_; + size_t count_; +}; + +int main(int argc, char * argv[]) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/10_Examples/linh-onboarding/src/subscriber.cpp b/10_Examples/linh-onboarding/src/subscriber.cpp new file mode 100644 index 00000000..5fab326d --- /dev/null +++ b/10_Examples/linh-onboarding/src/subscriber.cpp @@ -0,0 +1,29 @@ +#include "linh-onboarding/subscriber.hpp" + +namespace onboarding { + +Subscriber::Subscriber() : + Node("onboarding_subsriber"){ + subscription_ = this->create_subscription( + "onboarding_topic", 10, std::bind(&Subscriber::topic_callback, this, _1)); + +} + +void Subscriber::topic_callback(const std_msgs::msg::Float32::SharedPtr msg){ + RCLCPP_INFO(this->get_logger(), "The message is: '%f'",msg->data); +} + + rclcpp::Subscription::SharedPtr subscription_; + +int Subscriber::add(int a, int b){ + return a + b; +} +int Subscriber::subtract(int a, int b){ + return a - b; +} + +void Subscriber::do_nothing(){ +} + + +} \ No newline at end of file diff --git a/10_Examples/linh-onboarding/src/subscriber_main.cpp b/10_Examples/linh-onboarding/src/subscriber_main.cpp new file mode 100644 index 00000000..d7e41eaf --- /dev/null +++ b/10_Examples/linh-onboarding/src/subscriber_main.cpp @@ -0,0 +1,8 @@ +#include "linh-onboarding/subscriber.hpp" + +int main(int argc, char * argv[]){ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/10_Examples/linh-onboarding/test/test.cpp b/10_Examples/linh-onboarding/test/test.cpp new file mode 100644 index 00000000..3814d79e --- /dev/null +++ b/10_Examples/linh-onboarding/test/test.cpp @@ -0,0 +1,37 @@ +#include +#include "linh-onboarding/subscriber.hpp" +#include + + +class TestExample : public ::testing::Test { +protected: + + TestExample(){ + subscriber_node_ = std::make_shared(); + } + + void SetUp() override { + } + + void TearDown() override { + } + std::shared_ptr subscriber_node_; +}; + +TEST_F(TestExample, testAdd){ + EXPECT_EQ(subscriber_node_->add(2, 3), 5); + EXPECT_TRUE(subscriber_node_->add(2, 3) == 5); + EXPECT_FALSE(subscriber_node_->add(2, 3) == 4); +} + +TEST_F(TestExample, testSubtract){ + EXPECT_EQ(subscriber_node_->subtract(2, 3), -1); + EXPECT_TRUE(subscriber_node_->subtract(5, 3) == 2); + EXPECT_FALSE(subscriber_node_->subtract(2, 3) == 4); +} + +int main(int argc, char **argv) { + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + return RUN_ALL_TESTS(); +} diff --git a/Testing/Temporary/CTestCostData.txt b/Testing/Temporary/CTestCostData.txt new file mode 100644 index 00000000..ed97d539 --- /dev/null +++ b/Testing/Temporary/CTestCostData.txt @@ -0,0 +1 @@ +--- diff --git a/Testing/Temporary/LastTest.log b/Testing/Temporary/LastTest.log new file mode 100644 index 00000000..d12ac8fa --- /dev/null +++ b/Testing/Temporary/LastTest.log @@ -0,0 +1,3 @@ +Start testing: Mar 02 00:39 CST +---------------------------------------------------------- +End testing: Mar 02 00:39 CST From 00cf272ba45de4b7221afc74fdab112d8b2f571f Mon Sep 17 00:00:00 2001 From: Karmanyaah Malhotra Date: Sun, 15 Sep 2024 12:54:48 -0700 Subject: [PATCH 10/21] Fix README docs (#92) # PR Summary PR Link: INSERT-LINK-HERE Issue Link: INSERT-LINK-HERE ### Description Add a single line summary describing the purpose of this PR. ### Reviewers Tag reviewers. - Required: - Optional: --- ### Changelog - Add a bulleted list of major changes ### Reviewer Guide This is the most important part! - No one is going to read every line of every PR, so you need to tell the reviewers what they are looking for. - Point out lines you want feedback on or feel unsure about. - Highlight major changes that other members need to know about. ### Testing #### Automatic - Describe test cases that are covered by unit tests #### Manual - Describe any manual testing (launch files, visualizations, etc.) ### Documentation - Link any relevant documentation ### Checklist - [ ] Confirmed all tests pass on a clean build - [ ] Added reviewers in Github - [ ] Posted PR Summary to Discord PR's Channel - [ ] Ran uncrustify on any modified C++ files - [ ] Ran Colcon Lint for any modified CMakeLists.txt or Package.xml --- README.md | 3 --- 1 file changed, 3 deletions(-) diff --git a/README.md b/README.md index 414f11ff..12b84b76 100644 --- a/README.md +++ b/README.md @@ -31,9 +31,6 @@ git submodule update --recursive #### Add Setup to ~/.bashrc (which "configures" a new terminal when you open it) ```sh echo "export VEXU_HOME=\"/home/$(whoami)/VEXU_GHOST\"" >> ~/.bashrc -source "$VEXU_HOME/scripts/setup_env.sh" - -``` echo 'source "$VEXU_HOME/scripts/setup_env.sh"' >> ~/.bashrc ``` Close this terminal, and open a new one to load new settings. From be5ee4720ec5770852908799084b8158d6afc57e Mon Sep 17 00:00:00 2001 From: Karmanyaah Malhotra Date: Sun, 15 Sep 2024 13:00:46 -0700 Subject: [PATCH 11/21] Update .gitignore - don't commit compiled submodule (#93) # PR Summary PR Link: INSERT-LINK-HERE Issue Link: INSERT-LINK-HERE ### Description Add a single line summary describing the purpose of this PR. ### Reviewers Tag reviewers. - Required: - Optional: --- ### Changelog - Add a bulleted list of major changes ### Reviewer Guide This is the most important part! - No one is going to read every line of every PR, so you need to tell the reviewers what they are looking for. - Point out lines you want feedback on or feel unsure about. - Highlight major changes that other members need to know about. ### Testing #### Automatic - Describe test cases that are covered by unit tests #### Manual - Describe any manual testing (launch files, visualizations, etc.) ### Documentation - Link any relevant documentation ### Checklist - [ ] Confirmed all tests pass on a clean build - [ ] Added reviewers in Github - [ ] Posted PR Summary to Discord PR's Channel - [ ] Ran uncrustify on any modified C++ files - [ ] Ran Colcon Lint for any modified CMakeLists.txt or Package.xml --- .gitignore | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/.gitignore b/.gitignore index 5244084b..fbf84a03 100644 --- a/.gitignore +++ b/.gitignore @@ -18,5 +18,7 @@ log 02_V5/ghost_pros/src/ghost_control/** 02_V5/ghost_pros/src/ghost_util/** +09_External/*deb + # Auto-generated -02_V5/ghost_pros/include/robot_config.hpp \ No newline at end of file +02_V5/ghost_pros/include/robot_config.hpp From d544049b2f30c8f95195da8e249854b71ad91a7a Mon Sep 17 00:00:00 2001 From: Karmanyaah Malhotra Date: Sun, 15 Sep 2024 14:36:06 -0700 Subject: [PATCH 12/21] Update README.md (#94) # PR Summary PR Link: INSERT-LINK-HERE Issue Link: INSERT-LINK-HERE ### Description Add a single line summary describing the purpose of this PR. ### Reviewers Tag reviewers. - Required: - Optional: --- ### Changelog - Add a bulleted list of major changes ### Reviewer Guide This is the most important part! - No one is going to read every line of every PR, so you need to tell the reviewers what they are looking for. - Point out lines you want feedback on or feel unsure about. - Highlight major changes that other members need to know about. ### Testing #### Automatic - Describe test cases that are covered by unit tests #### Manual - Describe any manual testing (launch files, visualizations, etc.) ### Documentation - Link any relevant documentation ### Checklist - [ ] Confirmed all tests pass on a clean build - [ ] Added reviewers in Github - [ ] Posted PR Summary to Discord PR's Channel - [ ] Ran uncrustify on any modified C++ files - [ ] Ran Colcon Lint for any modified CMakeLists.txt or Package.xml --- README.md | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/README.md b/README.md index 12b84b76..d1d30999 100644 --- a/README.md +++ b/README.md @@ -34,6 +34,12 @@ echo "export VEXU_HOME=\"/home/$(whoami)/VEXU_GHOST\"" >> ~/.bashrc echo 'source "$VEXU_HOME/scripts/setup_env.sh"' >> ~/.bashrc ``` Close this terminal, and open a new one to load new settings. +#### Go to the VEXU_GHOST directory (every time you open a new terminal) + +``` +cd ~/VEXU_GHOST +``` + #### Update Dependencies ```sh ./scripts/update_dependencies.sh From e963deb45c8dac9dc29202addcaa8c2d6f226024 Mon Sep 17 00:00:00 2001 From: Corey Nguyen Date: Sat, 21 Sep 2024 21:40:06 -0500 Subject: [PATCH 13/21] Corey Onboarding --- 09_External/ghost-btcpp-amd64.deb | Bin 0 -> 577092 bytes 10_Examples/corey-onboarding/CMakeLists.txt | 31 ++++++++++++ 10_Examples/corey-onboarding/CMakieLists.txt | 4 ++ 10_Examples/corey-onboarding/package.xml | 18 +++++++ .../corey-onboarding/src/helloworld.cpp | 6 +++ 10_Examples/corey-onboarding/src/main.cpp | Bin 0 -> 24504 bytes 10_Examples/corey-onboarding/src/person.cpp | 16 +++++++ 10_Examples/corey-onboarding/src/person.h | 26 ++++++++++ .../src/sub_pub/CMakeLists.txt | 40 ++++++++++++++++ .../corey-onboarding/src/sub_pub/package.xml | 21 ++++++++ .../src/sub_pub/src/publisher.cpp | 45 ++++++++++++++++++ .../src/sub_pub/src/subscriber.cpp | 35 ++++++++++++++ .../corey-onboarding/src/test_person.cpp | 16 +++++++ 10_Examples/corey-onboarding/src/test_program | Bin 0 -> 24504 bytes 14 files changed, 258 insertions(+) create mode 100644 09_External/ghost-btcpp-amd64.deb create mode 100755 10_Examples/corey-onboarding/CMakeLists.txt create mode 100755 10_Examples/corey-onboarding/CMakieLists.txt create mode 100755 10_Examples/corey-onboarding/package.xml create mode 100755 10_Examples/corey-onboarding/src/helloworld.cpp create mode 100755 10_Examples/corey-onboarding/src/main.cpp create mode 100755 10_Examples/corey-onboarding/src/person.cpp create mode 100755 10_Examples/corey-onboarding/src/person.h create mode 100644 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