Jett Onboarding

10_Examples/jett-onboarding/CMakeLists.txt

@@ -0,0 +1,72 @@
+cmake_minimum_required(VERSION 3.8)
+project(jett-onboarding)
+
+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)
+
+find_package(ament_cmake_gtest REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+add_executable(listener src/subscriber_member_function.cpp)
+ament_target_dependencies(listener rclcpp std_msgs)
+
+add_executable(talker src/publisher_member_function.cpp)
+ament_target_dependencies(talker rclcpp std_msgs)
+install(TARGETS
+  talker
+  listener
+  DESTINATION lib/${PROJECT_NAME})
+
+add_executable(hello_world src/hello_world.cpp)
+install(TARGETS
+  hello_world
+  DESTINATION lib/${PROJECT_NAME})
+target_link_libraries(hello_world
+talking
+)
+
+# Add Class as Library to allow it to share across files easier probably
+add_library(talking SHARED src/talking.cpp)
+ament_target_dependencies(talking
+  ${DEPENDENCIES}
+)
+ament_export_targets(talking HAS_LIBRARY_TARGET)
+install(
+  TARGETS talking
+  EXPORT talking
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+  )
+
+
+ament_add_gtest(testFile src/testFile.cpp)
+target_link_libraries(testFile
+  talking
+  gtest_main
+)
+
+# 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()

10_Examples/jett-onboarding/package.xml

@@ -0,0 +1,21 @@
+<?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>jett-onboarding</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">jettvanbrocklin</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</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/jett-onboarding/src/hello_world.cpp

@@ -0,0 +1,14 @@
+#include "talking.h"
+#include <iostream>
+#include "string.h"
+
+using namespace std;
+
+int test();
+
+int main(int argc, char ** argv)
+{
+  talking t1;
+  t1.talk("Hello World");
+  return 0;
+}

10_Examples/jett-onboarding/src/publisher_member_function.cpp

@@ -0,0 +1,56 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <chrono>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.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 MinimalPublisher : public rclcpp::Node
+{
+public:
+  MinimalPublisher()
+      : Node("minimal_publisher"), count_(0)
+  {
+    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    timer_ = this->create_wall_timer(
+        500ms, std::bind(&MinimalPublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = std_msgs::msg::String();
+    message.data = "Hello, world! " + std::to_string(count_++);
+    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+    publisher_->publish(message);
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/jett-onboarding/src/subscriber_member_function.cpp

@@ -0,0 +1,45 @@
+// Copyright 2016 Open Source Robotics Foundation, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+using std::placeholders::_1;
+
+class MinimalSubscriber : public rclcpp::Node
+{
+public:
+  MinimalSubscriber()
+      : Node("minimal_subscriber")
+  {
+    subscription_ = this->create_subscription<std_msgs::msg::String>(
+        "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
+  }
+
+private:
+  void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
+  {
+    RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
+  }
+  rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
+};
+
+int main(int argc, char *argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalSubscriber>());
+  rclcpp::shutdown();
+  return 0;
+}

10_Examples/jett-onboarding/src/talking.cpp

@@ -0,0 +1,36 @@
+#include "talking.h"
+#include <iostream>
+#include "string.h"
+
+using namespace std;
+
+talking::talking()
+{
+  this->num1 = 10;
+}
+
+talking::~talking()
+{
+}
+
+string talking::talk(string words)
+{
+  cout << words << endl;
+  return words;
+}
+
+int talking::numberPrint()
+{
+  cout << num1 << endl;
+  return num1;
+}
+
+int talking::twoToPower(int i)
+{
+  int value = 1;
+  while (i > 0) {
+    value *= 2;
+    i--;
+  }
+  return value;
+}

10_Examples/jett-onboarding/src/talking.h

@@ -0,0 +1,23 @@
+#ifndef TALKING_H_
+#define TALKING_H_
+
+#include <iostream>
+#include "string.h"
+
+using namespace std;
+
+class talking
+{
+public:
+  int num1;
+
+  talking();    // constructor
+  ~talking();   // destructor
+
+  string talk(string words);
+  int numberPrint();
+
+  int twoToPower(int i);
+};
+
+#endif

10_Examples/jett-onboarding/src/testFile.cpp

@@ -0,0 +1,43 @@
+#include "gtest/gtest.h"
+#include "talking.h"
+#include "string.h"
+
+class TestExample : public ::testing::Test
+{
+protected:
+  TestExample()
+  {
+    talking_ = std::make_shared<talking>();
+  }
+
+  void SetUp() override
+  {
+  }
+
+  void TearDown() override
+  {
+  }
+
+  std::shared_ptr<talking> talking_;
+
+};
+
+TEST_F(TestExample, testTalk) {
+  //testing the talk function
+  EXPECT_EQ("Test", talking_->talk("Test"));
+}
+
+TEST_F(TestExample, testNumberPrint) {
+  EXPECT_TRUE(talking_->numberPrint() == talking_->num1);
+}
+
+TEST_F(TestExample, testTwoToPower) {
+  EXPECT_EQ(talking_->twoToPower(5) == (2 ^ 5));
+}
+
+
+// int main(int argc, char ** argv)
+// {
+//   ::testing::InitGoogleTest(&argc, argv);
+//   return RUN_ALL_TESTS();
+// }