Rudraksh Kumawat 240891

240891/readme.md

@@ -0,0 +1,17 @@
+# Assignment 1
+
+## Instructions to Run the Code
+
+### Terminal 1
+Start the **turtlesim node**:
+
+```bash
+ros2 run turtlesim turtlesim_node
+```
+### Terminal 2
+
+```bash
+colcon build
+source install/setup.bash
+ros2 run turtle_pub client
+```

240891/src/turtle_pub/package.xml

@@ -0,0 +1,18 @@
+<?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>turtle_pub</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="rudrakshkumawat919@gmail.com">astroboy</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

240891/src/turtle_pub/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/turtle_pub
+[install]
+install_scripts=$base/lib/turtle_pub

240891/src/turtle_pub/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'turtle_pub'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='astroboy',
+    maintainer_email='rudrakshkumawat919@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'client = turtle_pub.client:main'
+        ],
+    },
+)

240891/src/turtle_pub/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

240891/src/turtle_pub/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

240891/src/turtle_pub/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'

240891/src/turtle_pub/turtle_pub/client.py

@@ -0,0 +1,64 @@
+import rclpy
+from rclpy.node import Node
+from turtlesim.srv import TeleportAbsolute
+from geometry_msgs.msg import Twist
+
+
+class TurtleController(Node):
+    def __init__(self):
+        super().__init__('turtle_controller')
+
+        # Service client for teleportation
+        self.teleport_cli = self.create_client(TeleportAbsolute, '/turtle1/teleport_absolute')
+        while not self.teleport_cli.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Waiting for teleport service...')
+
+        # Publisher for circular motion
+        self.pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+    def teleport(self, x, y, theta):
+        request = TeleportAbsolute.Request()
+        request.x = float(x)
+        request.y = float(y)
+        request.theta = float(theta)
+
+        future = self.teleport_cli.call_async(request)
+        rclpy.spin_until_future_complete(self, future)
+
+        if future.result() is not None:
+            self.get_logger().info(f"Turtle teleported to x={x}, y={y}, theta={theta}")
+        else:
+            self.get_logger().error("Teleportation failed")
+
+    def move_in_circle(self, r, v):
+        twist = Twist()
+        twist.linear.x = float(v)
+        twist.angular.z = float(v) / float(r)
+
+        self.get_logger().info(f"Starting circular motion: radius={r}, velocity={v}, angular={twist.angular.z}")
+
+        while rclpy.ok():  # Keep publishing until shutdown
+            self.pub.publish(twist)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TurtleController()
+
+    # Step 1: Teleport the turtle
+    x = input("Enter x : ")
+    y = input("Enter y : ")
+    theta = input("Enter theta : ")
+    node.teleport(x, y, theta)
+
+    # Step 2: Move in a circle
+    r = float(input("Enter radius: "))
+    v = float(input("Enter velocity: "))
+    node.move_in_circle(r, v)
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()