review

.gitignore

@@ -0,0 +1,5 @@
+build/
+install/
+log/
+venv/
+__pycache__/

graph_pwm.py

@@ -0,0 +1,27 @@
+import matplotlib.pyplot as plt
+import numpy as np
+from scipy import signal
+
+clock_speed = 84000000  
+prescaler = 839
+period = 1999
+pulse = 1000
+
+# okay so pwm_freq = clock_speed / prescaler * period
+# duty cycle = pulse / period
+
+timer_tick_freq = clock_speed / (prescaler + 1)
+pwm_freq = timer_tick_freq / (period + 1)
+duty_cycle = (pulse / (period + 1)) * 100
+
+time = np.linspace(0, 0.06, 1000) 
+wave = signal.square(2 * np.pi * pwm_freq * time, duty=duty_cycle/100)
+
+plt.figure(figsize=(10, 4))
+plt.plot(time * 1000, wave, color='green', linewidth=2)
+plt.title(f'PWM Output ({pwm_freq}Hz, {duty_cycle}% Duty Cycle)')
+plt.xlabel('Time (ms)')
+plt.ylabel('On/Off')
+plt.ylim(-1.5, 1.5)
+plt.grid(True)
+plt.show()

software_training_assignment/uwrt_software_trainining/.devcontainer/devcontainer.json

@@ -0,0 +1,27 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
+{
+	"name": "Existing Dockerfile",
+	"build": {
+		// Sets the run context to one level up instead of the .devcontainer folder.
+		"context": "..",
+		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
+		"dockerfile": "../Dockerfile.dev"
+	},
+	"containerEnv": { "DISPLAY": "host.docker.internal:0.0" }
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line to run commands after the container is created.
+	// "postCreateCommand": "cat /etc/os-release",
+
+	// Configure tool-specific properties.
+	// "customizations": {},
+
+	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "devcontainer"
+}

software_training_assignment/uwrt_software_trainining/.gitignore

@@ -0,0 +1 @@
+/software_training/launch/__pycache__/

software_training_assignment/uwrt_software_trainining/Dockerfile.dev

@@ -0,0 +1,15 @@
+# Start with the desktop ROS Galactic 20.04 image
+FROM osrf/ros:galactic-desktop
+
+# This dockerfile assumes you'll share your development folder from your computer over to the container,
+# so we don't do `rosdep install` for you, or clone the repository.
+
+# update everything
+RUN sudo apt update -y --no-install-recommends && sudo apt dist-upgrade -y 
+# Ensure rosinstall and rosdep are installed and up to date
+RUN sudo apt install -y python3-rosdep
+
+# build via  docker build -f .\Dockerfile.dev -t uwrt_dev_image .
+# run via docker run --name uwrt_dev_container -e DISPLAY=host.docker.internal:0.0 -it -v uwrt_dev_image
+
+

software_training_assignment/uwrt_software_trainining/README.md

@@ -0,0 +1,29 @@
+# uwrt_software_trainining
+
+This is a solution of the software training with some added bugs that discourages one from copying and pasting the code. This code is meant to 
+serve as a guide to those starting out the training. It makes use of some ROS2 concepts not covered in the training as it is meant to encourage you to 
+go out and learn different features of ROS2.
+
+This code covers core concepts of ROS2 such as 
+components, topic statistic, callback groups, extending rclcpp::Node,
+the creation of pubs/subs, services/clients, action servers, and multi-threaded callbacks.
+
+The use of the turtlesim package is needed to complete this training. https://docs.ros.org/en/foxy/Tutorials/Turtlesim/Introducing-Turtlesim.html
+
+**The training challenge consists of the following:**
+
+**That training relies heavily on components - as this is the newer and better way to go about ROS2 design**
+
+**Write 6 components that do the following: (Note: Some of the components do not need to be made in the following order)**
+1. Clears any existing turtles
+2. Create a component that moves 'turtle1' in a circular motion
+3. Spawns a turtle named "stationary_turtle" at x = 5, y = 5
+   Spawns a second turtle named "moving_turtle" at x = 25, y = 10
+4. Create a service that resets the "moving_turtle" to its starting position. The service response should be whether or not it was successful.
+5. Create a publisher that publishes a custom msg. This custom msgs should have 3 float fields that correspond with the x and y distances of "stationary_turtle" to "moving turtle", as well as the distance between the two turtles.
+
+6. Create an action that moves "moving_turtle" to a waypoint in a straight line by publishing geometry_msgs/Twist msgs to turtleX/cmd_vel.The action's goal command is an absolute position of the waypoint, feedback is distance to the goal, and result is the time it took to reach the goal. You should define a custom action file. 
+
+Lastly, create a launch file that will start up all the components and the turtlesim node (configure the parameters of the turtlesim node to however you see fit). Ensure that the turtlesim node is launched first as the other components are dependent upon it. 
+
+

software_training_assignment/uwrt_software_trainining/software_training/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(software_training)
+
+# 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_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(turtlesim REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rcutils REQUIRED)
+find_package(rcl REQUIRED)
+find_package(rclcpp_action REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+include_directories(include)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+	"msg/Software.msg"
+	"srv/Software.srv"
+	"action/Software.action"
+	DEPENDENCIES std_msgs geometry_msgs builtin_interfaces
+)
+ament_export_dependencies(rosidl_default_runtime)
+
+set(node_plugins "")
+
+add_library(turtle_request SHARED src/turtle_neutralize.cpp)
+target_compile_definitions(turtle_request PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(turtle_request "rclcpp" "rclcpp_components" "turtlesim" "std_msgs")
+rclcpp_components_register_nodes(turtle_request "composition::turtle_service_request_node")
+set(node_plugins "${node_plugins}composition::turtle_service_request_node;\\$<TARGET_FILE:turtle_request>\n")
+
+add_library(turtle_spawn SHARED src/spawn_turtle_nodelet.cpp)
+target_compile_definitions(turtle_spawn PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(turtle_spawn "rclcpp" "rclcpp_components" "turtlesim" "std_msgs")
+rclcpp_components_register_nodes(turtle_spawn "composition::spawn_turtle_nodelet")
+set(node_plugins "${node_plugins}composition::spawn_turtle_nodelet;\\$<TARGET_FILE:turtle_spawn>\n")
+
+add_library(turtle_pub SHARED src/turtle_publisher.cpp)
+target_compile_definitions(turtle_pub PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(turtle_pub "rclcpp" "rclcpp_components" "turtlesim" "std_msgs")
+rosidl_target_interfaces(turtle_pub ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_components_register_nodes(turtle_pub "composition::turtle_publisher")
+set(node_plugins "${node_plugins}composition::turtle_publisher;\\$<TARGET_FILE:turtle_pub>\n")
+
+add_library(turtle_service SHARED src/reset_moving_turtle_service.cpp)
+target_compile_definitions(turtle_service PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(turtle_service "rclcpp" "rclcpp_components" "turtlesim" "std_msgs")
+rosidl_target_interfaces(turtle_service ${PROJECT_NAME} "rosidl_typesupport_cpp") 
+rclcpp_components_register_nodes(turtle_service "composition::reset_moving_turtle_service")
+set(node_plugins "${node_plugins}composition::reset_moving_turtle_service;\\$<TARGET_FILE:turtle_service>\n")
+
+add_library(cmd_vel_publisher SHARED src/cmd_vel_moving_turt_publisher.cpp)
+target_compile_definitions(cmd_vel_publisher PRIVATE "COMPOSITION_BUILDING_DLL")
+ament_target_dependencies(cmd_vel_publisher "rclcpp" "rclcpp_components" "turtlesim" "geometry_msgs" "std_msgs")
+rclcpp_components_register_nodes(cmd_vel_publisher "composition::cmd_vel_moving_turt_publisher")
+set(node_plugins "${node_plugins}composition::cmd_vel_moving_turt_publisher;\\$<TARGET_FILE:cmd_vel_publisher>\n")
+
+add_library(turtle_action_server SHARED src/moving_turtle_action_server.cpp)
+target_compile_definitions(turtle_action_server PRIVATE "SOFTWARE_TRAINING_DLL")
+ament_target_dependencies(turtle_action_server "rclcpp" "rclcpp_components" "turtlesim" "rclcpp_action" "std_msgs" "geometry_msgs")
+rosidl_target_interfaces(turtle_action_server ${PROJECT_NAME} "rosidl_typesupport_cpp")
+rclcpp_components_register_node(turtle_action_server PLUGIN "composition::moving_turtle_action_server" EXECUTABLE moving_action_server)
+
+install(TARGETS
+	turtle_request
+	turtle_spawn
+	turtle_pub
+	turtle_service
+	turtle_action_server
+	cmd_vel_publisher
+	ARCHIVE DESTINATION lib
+	LIBRARY DESTINATION lib 
+	RUNTIME DESTINATION bin)
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
+
+ament_package()

software_training_assignment/uwrt_software_trainining/software_training/action/Software.action

@@ -0,0 +1,16 @@
+# Goal Request /moving_turtle/cmd_vel
+geometry_msgs/Vector3 linear_pos 
+geometry_msgs/Vector3 angular_pos
+
+# Result - time
+---
+uint64 duration
+
+---
+# Feedback /moving_turtle/pose
+float32 x_pos 
+float32 y_pos
+float32 theta_pos
+
+
+

software_training_assignment/uwrt_software_trainining/software_training/include/software_training/cmd_vel_moving_turt_publisher.hpp

@@ -0,0 +1,43 @@
+#ifndef CMD_VEL_MOVING_TURT_PUBLISHER_HPP_
+#define CMD_VEL_MOVING_TURT_PUBLISHER_HPP_
+
+#include <chrono>
+#include <cstdlib>
+#include <memory>
+#include <string>
+
+#include <rclcpp/rclcpp.hpp>
+#include <geometry_msgs/msg/twist.hpp>
+#include <software_training/visibility.h>
+
+namespace composition {
+
+class cmd_vel_moving_turt_publisher : public rclcpp::Node {
+
+public:
+  SOFTWARE_TRAINING_PUBLIC
+  explicit cmd_vel_moving_turt_publisher(const rclcpp::NodeOptions &options);
+
+private:
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+  rclcpp::TimerBase::SharedPtr timer;
+
+  static constexpr unsigned int QUEUE{10};
+
+  struct coordinates {
+    struct linear {
+      static constexpr float x = 2.0; 
+      static constexpr float y = 0.0;
+      static constexpr float z = 0.0;
+    };
+    struct angular {
+      static constexpr float x = 0.0;
+      static constexpr float y = 0.0;
+      static constexpr float z = 2.0; 
+    };
+  };
+};
+
+} // namespace composition
+
+#endif //  CMD_VEL_MOVING_TURT_PUBLISHER_HPP_

software_training_assignment/uwrt_software_trainining/software_training/include/software_training/moving_turtle_action_server.hpp

@@ -0,0 +1,58 @@
+#ifndef MOVING_TURTLE_ACTION_SERVER_HPP_
+#define MOVING_TURTLE_ACTION_SERVER_HPP_
+
+#include <chrono>
+#include <functional>
+#include <memory>
+#include <thread>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp/time.hpp>                 // ros2 time header
+#include <rclcpp_action/rclcpp_action.hpp> // ros2 action header
+#include <software_training/action/software.hpp>
+#include <software_training/visibility.h>
+
+#include <geometry_msgs/msg/twist.hpp> // cmd_vel publisher message
+#include <turtlesim/msg/pose.hpp> // header for message to get moving turt position
+
+namespace composition{
+
+class moving_turtle_action_server : public rclcpp::Node {
+public:
+  SOFTWARE_TRAINING_PUBLIC
+  explicit moving_turtle_action_server(const rclcpp::NodeOptions &options);
+
+  using GoalHandleActionServer =
+      rclcpp_action::ServerGoalHandle<software_training::action::Software>;
+
+private:
+  rclcpp_action::Server<software_training::action::Software>::SharedPtr action_server;
+  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher;
+  rclcpp::Subscription<turtlesim::msg::Pose>::SharedPtr subscriber;
+
+  SOFTWARE_TRAINING_LOCAL
+  rclcpp_action::GoalResponse handle_goal(
+      const rclcpp_action::GoalUUID &uuid,
+      std::shared_ptr<const software_training::action::Software::Goal> goal);
+
+  SOFTWARE_TRAINING_LOCAL
+  rclcpp_action::CancelResponse
+  handle_cancel(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  SOFTWARE_TRAINING_LOCAL
+  void handle_accepted(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  void execute(const std::shared_ptr<GoalHandleActionServer> goal_handle);
+
+  float x{0.0f};
+  float y{0.0f};
+  float theta{0.0f};
+  float linear_velocity{0.0f};
+  float angular_velocity{0.0f};
+
+  static constexpr unsigned int QUEUE{10};
+};
+
+} // namespace composition
+
+#endif // MOVING_TURTLE_ACTION_SERVER_HPP_

software_training_assignment/uwrt_software_trainining/software_training/include/software_training/reset_moving_turtle_service.hpp

@@ -0,0 +1,44 @@
+#ifndef RESET_MOVING_TURTLE_SERVICE_HPP_
+#define RESET_MOVING_TURTLE_SERVICE_HPP_
+
+#include <cstdlib>
+#include <functional>
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <software_training/srv/software.hpp>
+#include <software_training/visibility.h>
+#include <turtlesim/srv/teleport_absolute.hpp>
+
+namespace composition {
+
+class reset_moving_turtle_service : public rclcpp::Node {
+
+public:
+  SOFTWARE_TRAINING_PUBLIC
+  explicit reset_moving_turtle_service(const rclcpp::NodeOptions &options);
+
+private:
+  // create service that will reset turtle to starting point
+  rclcpp::Service<software_training::srv::Software>::SharedPtr service;
+
+  // create client
+  rclcpp::Client<turtlesim::srv::TeleportAbsolute>::SharedPtr client;
+
+  // server callback
+  SOFTWARE_TRAINING_LOCAL
+  void service_callback(
+      const std::shared_ptr<software_training::srv::Software::Request> request,
+      std::shared_ptr<software_training::srv::Software::Response> response);
+
+  struct reset_coordinates {
+    static constexpr float x = 25.0;
+    static constexpr float y = 10.0;
+    static constexpr float theta = 0.0;
+  };
+};
+
+} // namespace composition
+
+#endif // RESET_MOVING_TURTLE_SERVICE_HPP_