Custom nodes for turtlesim package

Shivang/node_for_tertlesim/node_for_tertlesim/move_in_circle.py

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+import rclpy
+from rclpy.node import Node
+from turtlesim.srv import TeleportAbsolute
+from geometry_msgs.msg import Twist
+import time
+import math
+
+class RotateTurtleNode(Node):
+    def __init__(self,x,y,z,a):
+        super().__init__('teleport_turtle_node')
+        self.publisher = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+        self.x=x
+        self.y=y
+        self.z=z
+        self.a=a
+        self.timer=self.create_timer(1,self.move_in_circle)  #for maintaining continuous movement
+
+    def move_in_circle(self):
+        message=Twist()
+        message.linear.x=self.x
+        message.linear.y=self.y
+        message.linear.z=self.z
+        message.angular.z=self.a 
+        self.publisher.publish(message)
+
+
+def main(args=None):
+    speed_x = float(input("Enter speed in x: "))
+    speed_z = float(input("Enter speed in z: "))
+    speed_y = float(input("Enter speed in y: "))
+    radius = float(input("Enter radius: "))
+    rclpy.init(args=args)
+    rotate_turtle_node = RotateTurtleNode(speed_x,speed_y,speed_z,(speed_x**2+speed_y**2+speed_z**2)**(1/2)/radius)
+
+
+    rclpy.spin(rotate_turtle_node)
+
+    rotate_turtle_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

Shivang/node_for_tertlesim/node_for_tertlesim/move_to_location.py

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+# import rclpy
+# from rclpy.node import Node
+# from turtlesim.srv import TeleportAbsolute
+# from turtlesim.msg import Pose
+# import math
+
+# class TeleportTurtleNode(Node):
+#     def __init__(self):
+#         super().__init__('teleport_turtle_node')
+#         self.teleport_client = self.create_client(TeleportAbsolute, 'turtle1/teleport_absolute')
+#         self.pose_subscription = self.create_subscription(Pose, 'turtle1/pose', self.pose_callback, 10)
+#         self.teleported_pose = None
+
+#     def teleport_turtle(self, x, y, theta):
+#         """Teleports the turtle to the given position and orientation."""
+#         while not self.teleport_client.wait_for_service(timeout_sec=1.0):
+#             self.get_logger().info('service not available, waiting again...')
+
+#         request = TeleportAbsolute.Request()
+#         request.x = float(x)
+#         request.y = float(y)
+#         request.theta = float(theta)
+
+#         future = self.teleport_client.call_async(request)
+#         rclpy.spin_until_future_complete(self, future)
+
+#         if future.result() is not None:
+#             self.get_logger().info('Turtle teleported successfully!')
+#             self.teleported_pose = Pose()
+#             self.teleported_pose.x = float(x)
+#             self.teleported_pose.y = float(y)
+#             self.teleported_pose.theta = float(theta)
+#             return True
+#         else:
+#             self.get_logger().error('Failed to call service teleport_absolute: %r' % future.exception())
+#             return False
+
+#     def pose_callback(self, pose_msg):
+#         """Callback function to verify the turtle's pose."""
+#         if self.teleported_pose is not None:
+#             if (abs(pose_msg.x - self.teleported_pose.x) < 0.01 and 
+#                abs(pose_msg.y - self.teleported_pose.y) < 0.01 and 
+#                abs(pose_msg.theta - self.teleported_pose.theta) < 0.01):
+#                 self.get_logger().info('Turtle pose verified!')
+#                 rclpy.shutdown()  # Stop the node
+#             else:
+
+#                 self.get_logger().warn(f'Turtle pose does not match teleported pose.\ndelta_x={pose_msg.x - self.teleported_pose.x}\ndelta_y={pose_msg.y - self.teleported_pose.y}\ndelta_theta={pose_msg.theta - self.teleported_pose.theta}\n{pose_msg.theta}')
+
+# def main(args=None):
+#     rclpy.init(args=args)
+#     teleport_turtle_node = TeleportTurtleNode()
+
+#     x = float(input("Enter x coordinate: "))
+#     y = float(input("Enter y coordinate: "))
+#     theta = float(input("Enter theta (orientation): "))
+
+#     if teleport_turtle_node.teleport_turtle(x, y, theta):
+#         # rclpy.spin(teleport_turtle_node)
+#         teleport_turtle_node.get_logger().info("Taken the node")
+
+#     teleport_turtle_node.destroy_node()
+#     rclpy.shutdown()
+
+# if __name__ == '__main__':
+#     main()
+
+
+
+
+
+
+
+
+
+import rclpy
+from rclpy.node import Node
+from turtlesim.srv import TeleportAbsolute
+from turtlesim.msg import Pose
+import math
+
+class TeleportTurtleNode(Node):
+    def __init__(self):
+        super().__init__('teleport_turtle_node')
+        self.teleport_client = self.create_client(TeleportAbsolute, 'turtle1/teleport_absolute')
+        # self.pose_subscription = self.create_subscription(Pose, 'turtle1/pose', self.pose_callback, 10)
+        self.teleported_pose = None
+
+    def teleport_turtle(self, x, y, theta):
+        """Teleports the turtle to the given position and orientation."""
+        while not self.teleport_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('service not available, waiting again...')
+
+        request = TeleportAbsolute.Request()
+        request.x = float(x)
+        request.y = float(y)
+        request.theta = float(theta)
+
+        future = self.teleport_client.call_async(request)
+        rclpy.spin_until_future_complete(self, future)
+
+        if future.result() is not None:
+            self.get_logger().info('Turtle teleported successfully!')
+            self.teleported_pose = Pose()
+            self.teleported_pose.x = float(x)
+            self.teleported_pose.y = float(y)
+            self.teleported_pose.theta = float(theta)
+            return True
+        else:
+            self.get_logger().error('Failed to call service teleport_absolute: %r' % future.exception())
+            return False
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    teleport_turtle_node = TeleportTurtleNode()
+
+    x = float(input("Enter x coordinate: "))
+    y = float(input("Enter y coordinate: "))
+    theta = float(input("Enter theta (orientation): "))
+
+    is_moved_succesfully=teleport_turtle_node.teleport_turtle(x, y, theta)
+
+    while is_moved_succesfully:
+        # rclpy.spin(teleport_turtle_node)
+        x = float(input("Enter x coordinate: "))
+        y = float(input("Enter y coordinate: "))
+        theta = float(input("Enter theta (orientation): "))
+
+        is_moved_succesfully=teleport_turtle_node.teleport_turtle(x, y, theta)
+
+
+    teleport_turtle_node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

Shivang/node_for_tertlesim/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>node_for_tertlesim</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="shivang@todo.todo">shivang</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>example_interfaces</depend>
+
+  <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>

Shivang/node_for_tertlesim/setup.cfg

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

Shivang/node_for_tertlesim/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'node_for_tertlesim'
+
+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='shivang',
+    maintainer_email='shivang@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "mtl=node_for_tertlesim.move_to_location:main",
+            "mic=node_for_tertlesim.move_in_circle:main"
+        ],
+    },
+)

Shivang/node_for_tertlesim/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'

Shivang/node_for_tertlesim/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)

Shivang/node_for_tertlesim/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'