From c37de6bf922e633469ac0bb1a92439d68f2f9719 Mon Sep 17 00:00:00 2001 From: Amneesh Singh Date: Sat, 10 Dec 2022 21:05:34 +0530 Subject: [PATCH] init Signed-off-by: Amneesh Singh --- .catkin_workspace | 1 + .envrc | 1 + .gitignore | 8 ++ flake.lock | 94 ++++++++++++++++ flake.nix | 38 +++++++ src/CMakeLists.txt | 1 + src/atom/CMakeLists.txt | 208 +++++++++++++++++++++++++++++++++++ src/atom/package.xml | 62 +++++++++++ src/atom/scripts/solution.py | 74 +++++++++++++ 9 files changed, 487 insertions(+) create mode 100644 .catkin_workspace create mode 100644 .envrc create mode 100644 .gitignore create mode 100644 flake.lock create mode 100644 flake.nix create mode 120000 src/CMakeLists.txt create mode 100644 src/atom/CMakeLists.txt create mode 100644 src/atom/package.xml create mode 100644 src/atom/scripts/solution.py diff --git a/.catkin_workspace b/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/.envrc b/.envrc new file mode 100644 index 0000000..3550a30 --- /dev/null +++ b/.envrc @@ -0,0 +1 @@ +use flake diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..e4e267d --- /dev/null +++ b/.gitignore @@ -0,0 +1,8 @@ +/target +*~ +\#*# +*.hi +*.o +*.in +./devel +./build \ No newline at end of file diff --git a/flake.lock b/flake.lock new file mode 100644 index 0000000..285dfe2 --- /dev/null +++ b/flake.lock @@ -0,0 +1,94 @@ +{ + "nodes": { + "flake-utils": { + "locked": { + "lastModified": 1667395993, + "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + }, + "nixpkgs": { + "locked": { + "lastModified": 1670663254, + "narHash": "sha256-Y1dedRP66YnwUySEO9gRZixmTSjFv25AKxfmNb6eHaY=", + "owner": "nixos", + "repo": "nixpkgs", + "rev": "145b32b98325ad47958002536f37d24432b60a43", + "type": "github" + }, + "original": { + "owner": "nixos", + "ref": "release-22.11", + "repo": "nixpkgs", + "type": "github" + } + }, + "nixpkgs_2": { + "locked": { + "lastModified": 1668192777, + "narHash": "sha256-C/koqhRmkV2hRCENfDUAK6HP7HTDwLAmhyP5QOy1jtI=", + "owner": "lopsided98", + "repo": "nixpkgs", + "rev": "cb892295b6674f6d942ce78df3a27f2f219972e0", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "ref": "nix-ros", + "repo": "nixpkgs", + "type": "github" + } + }, + "root": { + "inputs": { + "nixpkgs": "nixpkgs", + "ros": "ros", + "utils": "utils" + } + }, + "ros": { + "inputs": { + "flake-utils": "flake-utils", + "nixpkgs": "nixpkgs_2" + }, + "locked": { + "lastModified": 1668204344, + "narHash": "sha256-P0b2Ni04SNQiAq/D3JP6tBNZJm4hhlAwgS8GL791J00=", + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "rev": "a3356d8de174554df19c2f7435e3dae196a6bdb4", + "type": "github" + }, + "original": { + "owner": "lopsided98", + "repo": "nix-ros-overlay", + "type": "github" + } + }, + "utils": { + "locked": { + "lastModified": 1667395993, + "narHash": "sha256-nuEHfE/LcWyuSWnS8t12N1wc105Qtau+/OdUAjtQ0rA=", + "owner": "numtide", + "repo": "flake-utils", + "rev": "5aed5285a952e0b949eb3ba02c12fa4fcfef535f", + "type": "github" + }, + "original": { + "owner": "numtide", + "repo": "flake-utils", + "type": "github" + } + } + }, + "root": "root", + "version": 7 +} diff --git a/flake.nix b/flake.nix new file mode 100644 index 0000000..f95d9ed --- /dev/null +++ b/flake.nix @@ -0,0 +1,38 @@ +{ + description = "ATOM stuff"; + inputs = + rec { + ros.url = github:lopsided98/nix-ros-overlay; + utils.url = github:numtide/flake-utils; + nixpkgs.url = github:nixos/nixpkgs/release-22.11; + }; + + outputs = { self, utils, ros, nixpkgs }: + utils.lib.eachDefaultSystem + (system: + let + pkgs = import nixpkgs { + inherit system; + }; + rosPkgs = ros.legacyPackages.${system}; + in + { + devShells = { + default = pkgs.mkShell { + buildInputs = + (with pkgs.python3Packages; [ + python-lsp-server + pyls-flake8 + ]) ++ + (with rosPkgs.noetic; [ + roslaunch + rosbash + rospy + turtlesim + geometry-msgs + catkin + ]); + }; + }; + }); +} diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 120000 index 0000000..a7b0990 --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1 @@ +/nix/store/7fjacbk3bzcmj4rb2v39d4ycdmbp90ab-ros-noetic-catkin-0.8.10-r1/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/atom/CMakeLists.txt b/src/atom/CMakeLists.txt new file mode 100644 index 0000000..2d5d441 --- /dev/null +++ b/src/atom/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 3.0.2) +project(atom) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + rospy +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES atom +# CATKIN_DEPENDS rospy +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/atom.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/atom_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_atom.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) + +catkin_install_python(PROGRAMS scripts/solution.py + DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +) diff --git a/src/atom/package.xml b/src/atom/package.xml new file mode 100644 index 0000000..034dce8 --- /dev/null +++ b/src/atom/package.xml @@ -0,0 +1,62 @@ + + + atom + 0.0.0 + The atom package + + + + + natto + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + rospy + rospy + rospy + + + + + + + + diff --git a/src/atom/scripts/solution.py b/src/atom/scripts/solution.py new file mode 100644 index 0000000..a2afad8 --- /dev/null +++ b/src/atom/scripts/solution.py @@ -0,0 +1,74 @@ +#!/usr/bin/env python3 + +import rospy +import math +from geometry_msgs.msg import Twist +from turtlesim.msg import Pose + + +class Solution: + speed = 0.05 + + def __init__(self, radius): + rospy.init_node('turtle', anonymous=True) + self.pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10) + self.sub = rospy.Subscriber('/turtle1/pose', Pose) + self.rate = rospy.Rate(10) + self.vel = Twist() + self.radius = radius + + def move_semicircle(self): + self.vel.linear.x = self.radius * self.speed + self.vel.angular.z = self.speed + req_time = math.pi / self.speed + t = rospy.Time.now() + + while rospy.Time.now() <= t + rospy.Duration.from_sec(req_time): + self.pub.publish(self.vel) + rospy.loginfo("wheeee") + self.rate.sleep() + + self.vel.linear.x = 0 + self.vel.angular.z = 0 + self.pub.publish(self.vel) + + def rotate(self): + self.vel.angular.z = self.speed + req_time = math.pi / (2 * self.speed) + t = rospy.Time.now() + + while rospy.Time.now() <= t + rospy.Duration.from_sec(req_time): + self.pub.publish(self.vel) + rospy.loginfo("khhhhh") + self.rate.sleep() + + self.vel.angular.z = 0 + self.pub.publish(self.vel) + + def move_straight(self): + self.vel.linear.x = self.speed * self.radius + req_time = 2 * radius / (self.vel.linear.x) + rospy.loginfo("acha %f\n", req_time) + t = rospy.Time.now() + + while rospy.Time.now() <= t + rospy.Duration.from_sec(req_time): + self.pub.publish(self.vel) + rospy.loginfo("drrrrr") + self.rate.sleep() + + self.vel.linear.x = 0 + self.pub.publish(self.vel) + + def move_turtle(self): + self.move_semicircle() + self.rotate() + self.move_straight() + + +if __name__ == '__main__': + radius = 1 + try: + solution = Solution(radius) + solution.move_turtle() + except rospy.ROSInterruptException: + pass