Assignment 3-2: Car actuators

ros2_ws/src/sinusoidal_wave/package.xml

+<?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>sinusoidal_wave</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="s.wullrich@fu-berlin.de">basti</maintainer>
+  <license>TODO: License declaration</license>
+  
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_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>

ros2_ws/src/sinusoidal_wave/setup.cfg

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

ros2_ws/src/sinusoidal_wave/setup.py

+from setuptools import find_packages, setup
+
+package_name = 'sinusoidal_wave'
+
+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='basti',
+    maintainer_email='s.wullrich@fu-berlin.de',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'talker = sinusoidal_wave.publisher_member_function:main',
+        ],
+    },
+)

ros2_ws/src/sinusoidal_wave/sinusoidal_wave/publisher_member_function.py

+# Copyright 2016 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.
+
+import math
+import rclpy
+
+from rclpy.node import Node
+from autominy_msgs.msg import NormalizedSteeringCommand, SpeedCommand
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_Speed_ = self.create_publisher(SpeedCommand, '/actuators/speed', 10)
+        self.publisher_Steering_ = self.create_publisher(NormalizedSteeringCommand, '/actuators/steering_normalized', 10)
+        timer_period = 0.01  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0.0
+
+    def timer_callback(self):
+        msg_Speed = SpeedCommand()
+        msg_Speed.value = 0.3
+        msg_Steering = NormalizedSteeringCommand()
+        msg_Steering.value = math.sin(self.i)
+        self.publisher_Speed_.publish(msg_Speed)
+        self.publisher_Steering_.publish(msg_Steering)
+        self.i += 0.01
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

ros2_ws/src/sinusoidal_wave/test/test_copyright.py

+# 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'

ros2_ws/src/sinusoidal_wave/test/test_flake8.py

+# 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)

ros2_ws/src/sinusoidal_wave/test/test_pep257.py

+# 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'