Add solution for Home Work 1 of Intelligent Robotics

Prompt:
Make a program that makes the rosturtle in turtlesim
run at velocity=v=0.5 m/s and turn with angular_velocity=ω=t/100 where t is time (in seconds);
don't worry about the units too much.

.gitignore

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+build/
+install/
+log/

LICENSE

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+DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE
+Version 2, December 2004
+
+Copyright (C) 2004 Sam Hocevar <sam@hocevar.net>
+
+Everyone is permitted to copy and distribute verbatim or modified copies of this license document, and changing it is allowed as long as the name is changed.
+
+DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE
+TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+  0. You just DO WHAT THE FUCK YOU WANT TO.

README.md

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+## Home Work 1
+Make a program that makes the rosturtle in turtlesim run at velocity=v=0.5 m/s and turn with angular_velocity=ω=t/100 where t is time (in seconds); don't worry about the units too much.
+
+[Solution](ros2_turtlesim_shapes/publisher_member_function.py)

launch/turtlesim_draw.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='turtlesim',
+            executable='turtlesim_node'
+        ),
+        Node(
+            package='ros2_turtlesim_shapes',
+            executable='talker',
+            name='cmd_vel_publisher',
+            output='screen'
+        ),
+
+    ])

package.xml

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+<?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>ros2_turtlesim_shapes</name>
+  <version>0.0.0</version>
+  <description>Simple package to draw an ellipse with ROS turtle.</description>
+  <maintainer email="mail@diogo.site">Diogo Peralta Cordeiro</maintainer>
+  <license>DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE</license>
+
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <exec_depend>ros2launch</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_turtlesim_shapes/publisher_member_function.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+
+from turtlesim.srv import TeleportAbsolute
+from turtlesim.srv import SetPen
+
+delta_t = 0.1
+v = 0.5
+t = 0
+
+
+def robot_angular_v(tt):
+    return tt / 100
+
+
+def timed_callback():
+    global t, node, pub
+    t += delta_t
+
+    w = robot_angular_v(t)
+
+    msg = Twist()
+    msg.linear.x = v
+    msg.angular.z = w
+    pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    global node, pub
+
+    node = Node('my_favourite_turtle')
+
+    cli = node.create_client(SetPen, "/turtle1/set_pen")
+    req = SetPen.Request()
+    req.off = True
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('1: set_pen service not available, waiting again...')
+    future = cli.call_async(req)
+    rclpy.spin_until_future_complete(node, future)
+
+    cli = node.create_client(TeleportAbsolute, "/turtle1/teleport_absolute")
+    req = TeleportAbsolute.Request()
+    req.x = 0.0
+    req.y = 0.0
+    req.theta = 0.0
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('2: teleport_absolute service not available, waiting again...')
+    future = cli.call_async(req)
+    rclpy.spin_until_future_complete(node, future)
+
+    cli = node.create_client(SetPen, "/turtle1/set_pen")
+    req = SetPen.Request()
+    req.off = False
+    req.r = 255
+    while not cli.wait_for_service(timeout_sec=1.0):
+        node.get_logger().info('3: set_pen service not available, waiting again...')
+    future = cli.call_async(req)
+    rclpy.spin_until_future_complete(node, future)
+
+    pub = node.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+    node.create_timer(delta_t, timed_callback)
+
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

setup.cfg

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+[develop]
+script_dir=$base/lib/ros2_turtlesim_shapes
+[install]
+install_scripts=$base/lib/ros2_turtlesim_shapes

setup.py

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+from setuptools import setup
+import os
+from glob import glob
+
+package_name = 'ros2_turtlesim_shapes'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.py')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Diogo Peralta Cordeiro',
+    maintainer_email='mail@diogo.site',
+    description='Simple package to draw an ellipse with ROS turtle.',
+    license='DO WHAT THE FUCK YOU WANT TO PUBLIC LICENSE',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'talker = ros2_turtlesim_shapes.publisher_member_function:main',
+        ],
+    },
+)

test/test_copyright.py

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+# 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'

test/test_flake8.py

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+# 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)

test/test_pep257.py

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+# 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'