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Signed-off-by: Amneesh Singh <natto@weirdnatto.in>
This commit is contained in:
Amneesh Singh
2022-12-10 21:05:34 +05:30
commit c37de6bf92
9 changed files with 487 additions and 0 deletions
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.catkin_workspace Normal file
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# This file currently only serves to mark the location of a catkin workspace for tool integration

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.envrc Normal file
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use flake

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.gitignore vendored Normal file
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/target
*~
\#*#
*.hi
*.o
*.in
./devel
./build

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flake.lock generated Normal file
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{
"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
}

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flake.nix Normal file
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{
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
]);
};
};
});
}

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src/CMakeLists.txt Symbolic link
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/nix/store/7fjacbk3bzcmj4rb2v39d4ycdmbp90ab-ros-noetic-catkin-0.8.10-r1/share/catkin/cmake/toplevel.cmake

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src/atom/CMakeLists.txt Normal file
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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}
)

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src/atom/package.xml Normal file
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<?xml version="1.0"?>
<package format="2">
<name>atom</name>
<version>0.0.0</version>
<description>The atom package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="natto@todo.todo">natto</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/atom</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_export_depend>rospy</build_export_depend>
<exec_depend>rospy</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

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src/atom/scripts/solution.py Normal file
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#!/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