Assignment 1

240590/Readme.md

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+To run the assignment, you need to
+
+1. run the turtle and turtlesim using
+ `ros2 run turtlesim turtlesim_node`
+2. run the `colcon build` command in `240590` folder
+3. run `ros2 run turtle_pub circle_server` in `240590/` folder
+4. install ros2 topics using `sudo apt install ros-humble-ros2topic`
+5. Run the command using `os2 topic pub --once /draw_circle_params geometry_msgs/msg/Vector3 "{x: 5, y: 5, z: 2.0}"`
+
+This will run the desired output

240590/src/turtle_pub/package.xml

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+<?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="[email protected]">lakshya</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>

240590/src/turtle_pub/setup.cfg

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

240590/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']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='lakshya',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    extras_require={
+        'test': [
+            'pytest',
+        ],
+    },
+    entry_points={
+        'console_scripts': [
+            'circle_server = turtle_pub.circle_server:main'
+        ],
+    },
+)

240590/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'

240590/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)

240590/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'

240590/src/turtle_pub/turtle_pub/circle_server.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist, Vector3
+from turtlesim.srv import TeleportAbsolute
+import math
+import time
+
+class CircleSubscriberNode(Node):
+    def __init__(self):
+        super().__init__('circle_subscriber_node')
+        self.get_logger().info("Circle drawing subscriber is now active.")
+
+        # Subscriber to get the circle parameters from cmd line when the user sends it
+        self.subscription = self.create_subscription(
+            Vector3,
+            'draw_circle_params',
+            self.draw_circle_callback,
+            10)
+
+        # To control the turtle
+        self.publisher_ = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+        # teleport the turtle
+        self.teleport_client = self.create_client(TeleportAbsolute, '/turtle1/teleport_absolute')
+        while not self.teleport_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Teleport service not available, waiting again...')
+
+    def draw_circle_callback(self, msg):
+        center_x = msg.x
+        center_y = msg.y
+        radius = msg.z
+
+        self.get_logger().info(f"Received request to draw a circle at ({center_x:.2f}, {center_y:.2f}) with radius {radius:.2f}")
+
+        teleport_request = TeleportAbsolute.Request()
+        teleport_request.x = float(center_x)
+        teleport_request.y = float(center_y)
+        teleport_request.theta = float(math.pi / 2.0)
+        self.teleport_client.call_async(teleport_request)
+
+        time.sleep(1)
+
+        twist_msg = Twist()
+        twist_msg.linear.y = -radius
+        start_time = self.get_clock().now()
+        duration = 1
+        while rclpy.ok() and (self.get_clock().now() - start_time).nanoseconds / 1e9 < duration:
+            self.publisher_.publish(twist_msg)
+            time.sleep(0.05)
+
+        twist_msg = Twist()
+        twist_msg.linear.x = radius
+        twist_msg.angular.z = 1.0    # (1 rad/s)
+
+        # 2*pi / omega
+        duration = 2 * math.pi / twist_msg.angular.z
+        start_time = self.get_clock().now()
+
+        # Publish velocity commands
+        while rclpy.ok() and (self.get_clock().now() - start_time).nanoseconds / 1e9 < duration:
+            self.publisher_.publish(twist_msg)
+            time.sleep(0.05)
+
+        stop_msg = Twist()
+        self.publisher_.publish(stop_msg)
+        self.get_logger().info("Circle drawing complete.")
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CircleSubscriberNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()