Mon Feb 21 02:26:41 PM HKT 2022
This commit is contained in:
parent
ff591b7f72
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2
rospackage/tutorial/msg/Num.msg
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2
rospackage/tutorial/msg/Num.msg
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int64 num
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24
rospackage/tutorial/package.xml
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rospackage/tutorial/package.xml
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>tutorial</name>
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<version>0.0.0</version>
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<description>TODO: Package description</description>
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<maintainer email="tmtong@gmail.com">tmtong</maintainer>
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<license>TODO: License declaration</license>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<exec_depend>tutorial_interfaces</exec_depend>
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<exec_depend>rclpy</exec_depend>
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<exec_depend>std_msgs</exec_depend>
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<build_depend>rosidl_default_generators</build_depend>
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<exec_depend>rosidl_default_runtime</exec_depend>
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<member_of_group>rosidl_interface_packages</member_of_group>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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0
rospackage/tutorial/resource/tutorial
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0
rospackage/tutorial/resource/tutorial
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4
rospackage/tutorial/setup.cfg
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4
rospackage/tutorial/setup.cfg
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[develop]
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script-dir=$base/lib/tutorial
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[install]
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install-scripts=$base/lib/tutorial
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29
rospackage/tutorial/setup.py
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rospackage/tutorial/setup.py
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from setuptools import setup
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package_name = 'tutorial'
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setup(
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name=package_name,
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version='0.0.0',
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packages=[package_name],
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data_files=[
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('share/ament_index/resource_index/packages',
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['resource/' + package_name]),
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('share/' + package_name, ['package.xml']),
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],
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install_requires=['setuptools'],
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zip_safe=True,
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maintainer='tmtong',
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maintainer_email='tmtong@gmail.com',
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description='TODO: Package description',
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license='TODO: License declaration',
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tests_require=['pytest'],
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entry_points={
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'console_scripts': [
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'publisher = tutorial.publisher:main',
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'subscriber = tutorial.subscriber:main',
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'service = tutorial.service:main',
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'client = tutorial.client:main',
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],
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},
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)
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5
rospackage/tutorial/srv/AddTwoInts.srv
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5
rospackage/tutorial/srv/AddTwoInts.srv
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int64 a
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int64 b
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---
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int64 sum
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23
rospackage/tutorial/test/test_copyright.py
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rospackage/tutorial/test/test_copyright.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_copyright.main import main
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import pytest
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@pytest.mark.copyright
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@pytest.mark.linter
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def test_copyright():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found errors'
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25
rospackage/tutorial/test/test_flake8.py
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25
rospackage/tutorial/test/test_flake8.py
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# Copyright 2017 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_flake8.main import main_with_errors
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import pytest
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@pytest.mark.flake8
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@pytest.mark.linter
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def test_flake8():
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rc, errors = main_with_errors(argv=[])
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assert rc == 0, \
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'Found %d code style errors / warnings:\n' % len(errors) + \
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'\n'.join(errors)
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23
rospackage/tutorial/test/test_pep257.py
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23
rospackage/tutorial/test/test_pep257.py
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# Copyright 2015 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from ament_pep257.main import main
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import pytest
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@pytest.mark.linter
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@pytest.mark.pep257
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def test_pep257():
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rc = main(argv=['.', 'test'])
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assert rc == 0, 'Found code style errors / warnings'
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0
rospackage/tutorial/tutorial/__init__.py
Normal file
0
rospackage/tutorial/tutorial/__init__.py
Normal file
47
rospackage/tutorial/tutorial/client.py
Normal file
47
rospackage/tutorial/tutorial/client.py
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from tutorial_interfaces.srv import AddTwoInts
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import rclpy
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from rclpy.node import Node
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import sys
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class MinimalClientAsync(Node):
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def __init__(self):
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super().__init__('minimal_client_async')
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self.cli = self.create_client(AddTwoInts, 'add_two_ints')
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while not self.cli.wait_for_service(timeout_sec=1.0):
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self.get_logger().info('service not available, waiting again...')
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self.req = AddTwoInts.Request()
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def send_request(self):
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self.req.a = int(sys.argv[1])
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self.req.b = int(sys.argv[2])
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self.future = self.cli.call_async(self.req)
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def main(args=None):
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rclpy.init(args=args)
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minimal_client = MinimalClientAsync()
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minimal_client.send_request()
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while rclpy.ok():
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rclpy.spin_once(minimal_client)
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if minimal_client.future.done():
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try:
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response = minimal_client.future.result()
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except Exception as e:
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minimal_client.get_logger().info(
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'Service call failed %r' % (e,))
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else:
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minimal_client.get_logger().info(
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'Result of add_two_ints: for %d + %d = %d' %
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(minimal_client.req.a, minimal_client.req.b, response.sum))
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break
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minimal_client.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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41
rospackage/tutorial/tutorial/publisher.py
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41
rospackage/tutorial/tutorial/publisher.py
Normal file
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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class MinimalPublisher(Node):
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def __init__(self):
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super().__init__('minimal_publisher')
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self.publisher_ = self.create_publisher(String, 'topic', 10)
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timer_period = 0.5 # seconds
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self.timer = self.create_timer(timer_period, self.timer_callback)
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self.i = 0
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def timer_callback(self):
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msg = String()
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msg.data = 'Hello World: %d' % self.i
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self.publisher_.publish(msg)
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self.get_logger().info('Publishing: "%s"' % msg.data)
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self.i += 1
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def main(args=None):
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rclpy.init(args=args)
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minimal_publisher = MinimalPublisher()
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rclpy.spin(minimal_publisher)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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minimal_publisher.destroy_node()
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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31
rospackage/tutorial/tutorial/service.py
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31
rospackage/tutorial/tutorial/service.py
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from tutorial_interfaces.srv import AddTwoInts
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import rclpy
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from rclpy.node import Node
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class MinimalService(Node):
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def __init__(self):
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super().__init__('minimal_service')
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self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback)
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def add_two_ints_callback(self, request, response):
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response.sum = request.a + request.b
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self.get_logger().info('Incoming request\na: %d b: %d' % (request.a, request.b))
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return response
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def main(args=None):
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rclpy.init(args=args)
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minimal_service = MinimalService()
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rclpy.spin(minimal_service)
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rclpy.shutdown()
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if __name__ == '__main__':
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main()
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38
rospackage/tutorial/tutorial/subscriber.py
Normal file
38
rospackage/tutorial/tutorial/subscriber.py
Normal file
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import rclpy
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from rclpy.node import Node
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from std_msgs.msg import String
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class MinimalSubscriber(Node):
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def __init__(self):
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super().__init__('minimal_subscriber')
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self.subscription = self.create_subscription(
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String,
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'topic',
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self.listener_callback,
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10)
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self.subscription # prevent unused variable warning
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def listener_callback(self, msg):
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self.get_logger().info('I heard: "%s"' % msg.data)
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|
def main(args=None):
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rclpy.init(args=args)
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minimal_subscriber = MinimalSubscriber()
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rclpy.spin(minimal_subscriber)
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# Destroy the node explicitly
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# (optional - otherwise it will be done automatically
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# when the garbage collector destroys the node object)
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minimal_subscriber.destroy_node()
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rclpy.shutdown()
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|
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if __name__ == '__main__':
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main()
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39
rospackage/tutorial_interfaces/CMakeLists.txt
Normal file
39
rospackage/tutorial_interfaces/CMakeLists.txt
Normal file
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cmake_minimum_required(VERSION 3.5)
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|
project(tutorial_interfaces)
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|
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# Default to C99
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|
if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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|
endif()
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|
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# Default to C++14
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|
if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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|
endif()
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|
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||||||
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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|
endif()
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|
|
||||||
|
# find dependencies
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find_package(ament_cmake REQUIRED)
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# uncomment the following section in order to fill in
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||||||
|
# further dependencies manually.
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||||||
|
# find_package(<dependency> REQUIRED)
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||||||
|
|
||||||
|
if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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|
# the following line skips the linter which checks for copyrights
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||||||
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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||||||
|
endif()
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find_package(rosidl_default_generators REQUIRED)
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|
rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Num.msg"
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|
"srv/AddTwoInts.srv"
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||||||
|
)
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ament_package()
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2
rospackage/tutorial_interfaces/msg/Num.msg
Normal file
2
rospackage/tutorial_interfaces/msg/Num.msg
Normal file
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|
int64 num
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|
|
20
rospackage/tutorial_interfaces/package.xml
Normal file
20
rospackage/tutorial_interfaces/package.xml
Normal file
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|||||||
|
<?xml version="1.0"?>
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||||||
|
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
|
||||||
|
<package format="3">
|
||||||
|
<name>tutorial_interfaces</name>
|
||||||
|
<version>0.0.0</version>
|
||||||
|
<description>TODO: Package description</description>
|
||||||
|
<maintainer email="tmtong@gmail.com">tmtong</maintainer>
|
||||||
|
<license>TODO: License declaration</license>
|
||||||
|
|
||||||
|
<buildtool_depend>ament_cmake</buildtool_depend>
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||||||
|
<build_depend>rosidl_default_generators</build_depend>
|
||||||
|
<exec_depend>rosidl_default_runtime</exec_depend>
|
||||||
|
<member_of_group>rosidl_interface_packages</member_of_group>
|
||||||
|
<test_depend>ament_lint_auto</test_depend>
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||||||
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<test_depend>ament_lint_common</test_depend>
|
||||||
|
|
||||||
|
<export>
|
||||||
|
<build_type>ament_cmake</build_type>
|
||||||
|
</export>
|
||||||
|
</package>
|
6
rospackage/tutorial_interfaces/srv/AddTwoInts.srv
Normal file
6
rospackage/tutorial_interfaces/srv/AddTwoInts.srv
Normal file
@ -0,0 +1,6 @@
|
|||||||
|
int64 a
|
||||||
|
int64 b
|
||||||
|
int64 c
|
||||||
|
---
|
||||||
|
int64 sum
|
||||||
|
|
Loading…
Reference in New Issue
Block a user