Merge pull request #8 from mROS-base/v0.2.4

V0.2.4

.gitignore

@@ -0,0 +1,6 @@
+log/
+.vscode/
+build/
+install/
+git rm --cached -r mros2_echoback_joint_state
+git rm --cached -r mros2_echoback_odometry

README.md

@@ -16,33 +16,47 @@ Please also check [mROS-base/mros2-asp3-f767zi/workspace](https://github.com/mRO
     - `$ ros2 run mros2_echoback_string sub_node`
 - mros2 application on the embedded device:
   - [echoreply_string](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/echoreply_string)
-  - [pub_string](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/pub_string)
-  - [sub_string](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/sub_string)
 
-## mros2_echoback_uint16
+## mros2_pub_uint16
 
 - Description:
   - The `pub_mros2` node on the host publishes `uint16` (`std_msgs::msg::UInt16`) message to `/to_stm` topic.
-  - (The mros2 node on the embedded device will echoreply this message as it is.)
-  - The `mros2_sub` node on the host subscribes `uint16` message from `/to_linux` topic.
 - Host operation:
-  - `$ ros2 launch mros2_echoback_uint16 launch.py`
+  - `$ ros2 launch mros2_pub_uint16 launch.py`
   - or, at two terminals:
-    - `$ ros2 run mros2_echoback_uint16 pub_node`
-    - `$ ros2 run mros2_echoback_uint16 sub_node`
+    - `$ ros2 run mros2_pub_uint16 pub_node`
 - mros2 application on the embedded device:
-  - [echoreply_uint16](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/echoreply_uint16)
+  - [sub_uint16](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/sub_uint16)
 
-## mros2_echoback_string
+## mros2_sub_float32
 
 - Description:
-  - The `pub_mros2` node on the host publishes `float32` (`std_msgs::msg::Float32`) message to `/to_stm` topic.
-  - (The mros2 node on the embedded device will echoreply this message as it is.)
-  - The `mros2_sub` node on the host subscribes `float32` message from `/to_linux` topic.
+  - The `mros2_sub` node on the host subscribes `float32` (`std_msgs::msg::Float32`) message from `/to_linux` topic.
+- Host operation:
+  - `$ ros2 launch mros2_sub_float32 launch.py`
+  - or, at two terminals:
+    - `$ ros2 run mros2_sub_float32 sub_node`
+- mros2 application on the embedded device:
+  - [pub_float32](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/pub_float32)
+
+## mros2_pub_pose
+
+- Description:
+  - The `pub_pose` node on the host publishes `Pose` (`geometry_msgs::msg::Pose`) message to `cmd_vel` topic.
+- Host operation:
+  - `$ ros2 launch mros2_pub_pose launch.py`
+  - or, at two terminals:
+    - `$ ros2 run mros2_pub_pose pub_node`
+- mros2 application on the embedded device:
+  - [sub_pose](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/sub_pose)
+
+## mros2_sub_twist
+
+- Description:
+  - The `sub_twist` node on the host subscribes `Twist` (`geometry_msgs::msg::Twist`) message from `cmd_vel` topic.
 - Host operation:
-  - `$ ros2 launch mros2_echoback_float32 launch.py`
+  - `$ ros2 launch mros2_sub_twist launch.py`
   - or, at two terminals:
-    - `$ ros2 run mros2_echoback_float32 pub_node`
-    - `$ ros2 run mros2_echoback_float32 sub_node`
+    - `$ ros2 run mros2_sub_twist sub_node`
 - mros2 application on the embedded device:
-  - [echoreply_float32](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/echoreply_float32)
+  - [pub_twist](https://github.com/mROS-base/mros2-asp3-f767zi/workspace/pub_twist)

mros2_pub_pose/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.5)
+project(mros2_pub_pose)
+
+
+# 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()
+
+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(geometry_msgs REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(pub_node src/pub_node.cpp)
+ament_target_dependencies(pub_node rclcpp geometry_msgs)
+
+target_include_directories(pub_node PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+install(TARGETS pub_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

mros2_pub_pose/launch/launch_pubsub.py

@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+# Note: `node_`, `prefix` and `output` will be removed on Foxy
+def generate_launch_description():
+  return LaunchDescription([
+    Node(
+      package='mros2_pub_pose',
+      node_executable='pub_node',
+      node_name='pub_pose',
+			prefix=['stdbuf -o L'],
+			output="screen"
+    )
+  ])

mros2_pub_pose/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>mros2_pub_pose</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="uden@todo.todo">uden</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+<build_depend>rclcpp</build_depend>
+<build_depend>geometry_msgs</build_depend>
+<exec_depend>rclcpp</exec_depend>
+<exec_depend>geometry_msgs</exec_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

mros2_pub_pose/src/pub_node.cpp

@@ -0,0 +1,56 @@
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/quaternion.hpp"
+#include "geometry_msgs/msg/pose.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("pub_pose"), count_(0)
+  {
+    publisher_ = this->create_publisher<geometry_msgs::msg::Pose>("cmd_vel", 10);
+    timer_ = this->create_wall_timer(1000ms, std::bind(&Publisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto point = geometry_msgs::msg::Point();
+    auto quaternion = geometry_msgs::msg::Quaternion();
+    auto pose = geometry_msgs::msg::Pose();
+    point.x = count_/1.0;
+    point.y = count_/1.0;
+    point.z = count_/1.0;
+    quaternion.x = count_/1.0;
+    quaternion.y = count_/1.0;
+    quaternion.z = count_/1.0;
+    quaternion.w = count_/1.0;
+    pose.position = point;
+    pose.orientation = quaternion;
+    RCLCPP_INFO(this->get_logger(), "Publishing msg: { position: {x: %f, y: %f, z: %f }, orientation: {x: %f, y: %f, z: %f, w: %f } }" , pose.position.x, pose.position.y, pose.position.z, pose.orientation.x, pose.orientation.y, pose.orientation.z, pose.orientation.w );
+    publisher_->publish(pose);
+    count_++;
+  }
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<geometry_msgs::msg::Pose>::SharedPtr publisher_;
+  uint16_t count_;
+};
+
+int main(int argc, char * argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<Publisher>());
+  rclcpp::shutdown();
+  return 0;
+}

mros2_echoback_uint16/CMakeLists.txt → mros2_pub_uint16/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mros2_echoback_uint16)
+project(mros2_pub_uint16)
 
 
 # Default to C99
@@ -27,21 +27,12 @@ find_package(std_msgs REQUIRED)
 add_executable(pub_node src/pub_node.cpp)
 ament_target_dependencies(pub_node rclcpp std_msgs)
 
-add_executable(sub_node src/sub_node.cpp)
-ament_target_dependencies(sub_node rclcpp std_msgs)
-
 target_include_directories(pub_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
 
-target_include_directories(sub_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
 install(TARGETS pub_node
   DESTINATION lib/${PROJECT_NAME})
-install(TARGETS sub_node
-  DESTINATION lib/${PROJECT_NAME})
 
 install(DIRECTORY
   launch

mros2_echoback_uint16/launch/launch_pubsub.py → mros2_pub_uint16/launch/launch_pubsub.py

@@ -10,12 +10,5 @@ def generate_launch_description():
       name='pub_mros2',
       prefix=['stdbuf -o L'],
       output="screen"
-    ),
-    Node(
-      package='mros2_echoback_uint16',
-      executable='sub_node',
-      name='mros2_sub',
-      prefix=['stdbuf -o L'],
-      output="screen"
     )
   ])

mros2_echoback_uint16/package.xml → mros2_pub_uint16/package.xml

@@ -1,7 +1,7 @@
 <?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>mros2_echoback_uint16</name>
+  <name>mros2_pub_uint16</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
   <maintainer email="uden@todo.todo">uden</maintainer>

mros2_echoback_float32/CMakeLists.txt → mros2_sub_float32/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(mros2_echoback_float32)
+project(mros2_sub_float32)
 
 
 # Default to C99
@@ -24,22 +24,13 @@ find_package(std_msgs REQUIRED)
 # further dependencies manually.
 # find_package(<dependency> REQUIRED)
 
-add_executable(pub_node src/pub_node.cpp)
-ament_target_dependencies(pub_node rclcpp std_msgs)
-
 add_executable(sub_node src/sub_node.cpp)
 ament_target_dependencies(sub_node rclcpp std_msgs)
 
-target_include_directories(pub_node PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-
 target_include_directories(sub_node PUBLIC
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>)
-
-install(TARGETS pub_node
-  DESTINATION lib/${PROJECT_NAME})
+
 install(TARGETS sub_node
   DESTINATION lib/${PROJECT_NAME})
 

mros2_echoback_float32/launch/launch_pubsub.py → mros2_sub_float32/launch/launch_pubsub.py

@@ -10,12 +10,5 @@ def generate_launch_description():
       name='pub_mros2',
       prefix=['stdbuf -o L'],
       output="screen"
-    ),
-    Node(
-      package='mros2_echoback_float32',
-      executable='sub_node',
-      name='mros2_sub',
-      prefix=['stdbuf -o L'],
-      output="screen"
     )
   ])