Vivekananda 240628

240628/src/turtle_pub/CMakeLists.txt

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+# cmake_minimum_required(VERSION 3.5)
+# project(turtle_pub)
+
+# # Default to C99
+# if(NOT CMAKE_C_STANDARD)
+#   set(CMAKE_C_STANDARD 99)
+# endif()
+
+# # Default to C++14
+# if(NOT CMAKE_CXX_STANDARD)
+#   set(CMAKE_CXX_STANDARD 14)
+# endif()
+
+# find_package(ament_cmake REQUIRED)
+# find_package(rclpy REQUIRED)
+# find_package(geometry_msgs REQUIRED)
+# find_package(rosidl_default_generators REQUIRED)
+
+# # Generate service interfaces
+# rosidl_generate_interfaces(${PROJECT_NAME}
+#   "srv/DrawCircle.srv"
+# )
+
+# ament_export_dependencies(rosidl_default_runtime)
+
+# ament_package()
+
+
+cmake_minimum_required(VERSION 3.5)
+project(turtle_pub)
+
+# Dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+# Generate interfaces
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/DrawCircle.srv"
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+
+ament_package()

240628/src/turtle_pub/package.xml

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+<package format="3">
+  <name>turtle_pub</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="vivekananda@todo.todo">vivekananda</maintainer>
+  <license>TODO: License declaration</license>
+
+  <!-- runtime deps -->
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>std_srvs</depend>
+
+  <!-- srv/msg codegen deps -->
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <!-- test deps -->
+  <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>

240628/src/turtle_pub/setup.cfg

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+[develop]
+script_dir=$base/lib/turtle_pub
+[install]
+install_scripts=$base/lib/turtle_pub

240628/src/turtle_pub/setup.py

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+from setuptools import find_packages, setup
+import os
+from glob import glob
+
+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']),
+        (os.path.join('share', package_name, 'srv'), glob('srv/*.srv'))
+    ],
+    install_requires=['setuptools', 'rosidl_default_generators'],
+    zip_safe=True,
+    maintainer='vivekananda',
+    maintainer_email='vivekananda@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+              'draw_circle_service=turtle_pub.draw_circle_service:main',
+              'move_circle = turtle_pub.move_circle:main',
+        ],
+    },
+)

240628/src/turtle_pub/srv/DrawCircle.srv

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+float64 x
+float64 y
+float64 radius
+---
+bool success
+string message

240628/src/turtle_pub/test/test_copyright.py

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+# 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'

240628/src/turtle_pub/test/test_flake8.py

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+# 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)

240628/src/turtle_pub/test/test_pep257.py

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+# 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'

240628/src/turtle_pub/turtle_pub/draw_circle_service.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+from turtlesim.srv import TeleportAbsolute
+from turtle_pub.srv import DrawCircle
+import math
+import time
+
+class TurtleController(Node):
+    def __init__(self):
+        super().__init__('turtle_controller')
+        self.get_logger().info('Turtle Controller Node started.')
+
+        # Create a publisher for the cmd_vel topic
+        self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+        self.pose = Pose()
+
+        # Subscribe to the pose topic to get the turtle's current position
+        self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+        # Create the service server for drawing the circle
+        self.srv = self.create_service(DrawCircle, 'draw_circle', self.draw_circle_callback)
+        self.teleport_client = self.create_client(TeleportAbsolute, '/turtle1/teleport_absolute')
+
+    def pose_callback(self, msg):
+        self.pose = msg
+
+    def draw_circle_callback(self, request, response):
+        self.get_logger().info(f'Received request to draw a circle at x={request.x}, y={request.y} with radius={request.radius}')
+
+        # Phase 1: Teleport to the specified coordinates
+        self.teleport_turtle(request.x, request.y, 0.0)
+
+        # Phase 2: Move along the positive x-axis
+        self.move_straight(request.radius)
+
+        # Phase 3: Move in a circular path
+        self.move_in_circle(request.radius)
+
+        response.success = True
+        response.message = "Cool success! The TurtleBot completed its movements."
+        self.get_logger().info('TurtleBot completed movements.')
+        return response
+
+    def teleport_turtle(self, x, y, theta):
+        self.get_logger().info(f'Teleporting to x={x}, y={y}, theta={theta}')
+        while not self.teleport_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Teleport service not available, waiting...')
+
+        req = TeleportAbsolute.Request()
+        req.x = x
+        req.y = y
+        req.theta = theta
+        self.teleport_client.call_async(req)
+        time.sleep(1) # Give time for the teleport to complete
+
+    def move_straight(self, distance):
+        self.get_logger().info(f'Moving straight for distance: {distance}')
+
+        start_x = self.pose.x
+        start_y = self.pose.y
+        cmd_vel_msg = Twist()
+        cmd_vel_msg.linear.x = 1.0  # Move forward at a speed of 1.0 m/s
+
+        while self.pose.x < (start_x + distance):
+            self.publisher_.publish(cmd_vel_msg)
+            rclpy.spin_once(self)
+
+        # Stop the turtle
+        cmd_vel_msg.linear.x = 0.0
+        self.publisher_.publish(cmd_vel_msg)
+
+    def move_in_circle(self, radius):
+        self.get_logger().info(f'Moving in a circular path with radius: {radius}')
+
+        cmd_vel_msg = Twist()
+        cmd_vel_msg.linear.x = 1.0
+        cmd_vel_msg.angular.z = 1.0 / radius
+
+        # Move for one full circle. Time = 2*pi*r / v = 2*pi / w
+        duration = (2 * math.pi) / cmd_vel_msg.angular.z
+        start_time = time.time()
+
+        while time.time() - start_time < duration:
+            self.publisher_.publish(cmd_vel_msg)
+            rclpy.spin_once(self)
+
+        # Stop the turtle
+        cmd_vel_msg.linear.x = 0.0
+        cmd_vel_msg.angular.z = 0.0
+        self.publisher_.publish(cmd_vel_msg)
+
+def main(args=None):
+    rclpy.init(args=args)
+    turtle_controller = TurtleController()
+    rclpy.spin(turtle_controller)
+    turtle_controller.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

240628/src/turtle_pub/turtle_pub/move_circle.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+
+class MoveCircle(Node):
+    def __init__(self):
+        super().__init__('move_circle')
+        self.pub = self.create_publisher(Twist, '/cmd_vel', 10)
+        timer_period = 0.1
+        self.timer = self.create_timer(timer_period, self.publish_cmd)
+
+    def publish_cmd(self):
+        vel = Twist()
+        vel.linear.x = 0.2
+        vel.angular.z = 0.2
+        self.pub.publish(vel)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MoveCircle()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()