make pacledt-compose'Node'

packet/order/power/packet_power/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_power)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+
+ add_executable(Power
+ src/Power_main.cpp
+ src/Power.cpp
+ )
+
+ ament_target_dependencies(Power
+ rclcpp
+ packet_interfaces
+ )
+
+ target_include_directories(Power
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+ Power
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()

packet/order/power/packet_power/include/packet_power/powerspacket.hpp

@@ -0,0 +1,20 @@
+#ifndef PACKET_POWER_POWERSPACKET_HPP
+#define PACKET_POWER_POWERSPACKET_HPP
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class Power : public rclcpp::Node {
+private:
+
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> _publisher;
+ std::shared_ptr<rclcpp::TimerBase> _timer;
+ unsigned int _count;
+ void _loop();
+
+public:
+ Power();
+};
+
+#endif // PACKET_POWER_POWERSPACKET_HPP

packet/order/power/packet_power/package.xml

@@ -0,0 +1,15 @@
+<?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>packet_power</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">norikonakano</maintainer>
+ <license>MIT</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>packet_interfaces</depend>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

packet/order/power/packet_power/src/power.cpp

@@ -0,0 +1,28 @@
+#include <chrono>
+#include <functional>
+#include <string>
+
+#include "packet_power/powerspacket.hpp"
+
+void Power::_loop() {
+ std::stringstream ss;
+ ss << "Hello, world! " << _count;
+ std_msgs::msg::String msg{};
+ msg.data = ss.str();
+ RCLCPP_INFO(this->get_logger(), "say %s", ss.str().c_str());
+ _publisher->publish(msg);
+ _count++;
+}
+
+
+power::Power() :
+ rclcpp::Node("power"),
+ _publisher(),
+ _timer(), 
+ _count(0) 
+{
+ using namespace std::chrono_literals;
+ _publisher = this->create_publisher<std_msgs::msg::String>("/powerspacket", 10);
+ auto loop = std::bind(&Power::_loop, this);
+ _timer = this->create_wall_timer(500ms, loop);
+}

packet/order/power/packet_power/src/power_main.cpp

@@ -0,0 +1,11 @@
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include "packet_power/powerspacket.hpp" 
+
+int main(int argc, char * argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared<Power>();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}

packet/order/quit/packet_quit/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_quit)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+
+ add_executable(Quit
+ src/quit_main.cpp
+ src/quit.cpp
+ )
+
+ ament_target_dependencies(Quit
+ rclcpp
+ packet_interfaces
+ )
+
+ target_include_directories(Quit
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+ Quit
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()

packet/order/quit/packet_quit/include/packet_quit/quitspacket.hpp

@@ -0,0 +1,21 @@
+#ifndef PACKET_QUIT_QUITSPACKET_HPP
+#define PACKET_QUIT_QUITSPACKET_HPP
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class Quit : public rclcpp::Node {
+private:
+
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> _publisher;
+ std::shared_ptr<rclcpp::TimerBase> _timer;
+ unsigned int _count;
+ void _loop();
+
+public:
+ Quit();
+};
+
+#endif // PACKET_QUIT_QUITSPACKET_HPP
+

packet/order/quit/packet_quit/package.xml

@@ -0,0 +1,15 @@
+<?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>packet_quit</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">norikonakano</maintainer>
+ <license>MIT</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>packet_interfaces</depend>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

packet/order/quit/packet_quit/src/quit.cpp

@@ -0,0 +1,29 @@
+#include <chrono>
+#include <functional>
+#include <string>
+
+#include "packet_quit/quitspacket.hpp"
+
+void Quit::_loop() {
+ std::stringstream ss;
+ ss << "Hello, world! " << _count;
+ std_msgs::msg::String msg{};
+ msg.data = ss.str();
+ RCLCPP_INFO(this->get_logger(), "say %s", ss.str().c_str());
+ _publisher->publish(msg);
+ _count++;
+}
+
+
+Quit::Quit() :
+ rclcpp::Node("quit"),
+ _publisher(),
+ _timer(), 
+ _count(0) 
+{
+ using namespace std::chrono_literals;
+ _publisher = this->create_publisher<std_msgs::msg::String>("/quitspacket", 10);
+ auto loop = std::bind(&Quit::_loop, this);
+ _timer = this->create_wall_timer(500ms, loop);
+}
+

packet/order/quit/packet_quit/src/quit_main.cpp

@@ -0,0 +1,11 @@
+#include <memory>
+#include <rclcpp/rclcpp.hpp>
+#include "packet_quit/quitspacket.hpp" 
+
+int main(int argc, char * argv[]) {
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared<Quit>();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}

packet/packet_composed/.vscode/c_cpp_properties.json

@@ -0,0 +1,23 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "${default}",
+ "limitSymbolsToIncludedHeaders": false
+ },
+ "includePath": [
+ "/home/norikonakano/24jam_ws/install/packet_interfaces/include/**",
+ "/opt/ros/iron/include/**",
+ "/home/norikonakano/24jam_ws/src/2024_cavolinia/packet/packet_composed/include/**",
+ "include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS",
+ "intelliSenseMode": "gcc-x64",
+ "compilerPath": "/usr/bin/gcc",
+ "cStandard": "gnu11",
+ "cppStandard": "c++14"
+ }
+ ],
+ "version": 4
+}

packet/packet_composed/.vscode/settings.json

@@ -0,0 +1,16 @@
+{
+ "python.autoComplete.extraPaths": [
+ "/home/norikonakano/24jam_ws/install/pi_i2c/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/nucleo_communicate_py/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/packet_interfaces/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/joystick/lib/python3.10/site-packages",
+ "/opt/ros/iron/lib/python3.10/site-packages"
+ ],
+ "python.analysis.extraPaths": [
+ "/home/norikonakano/24jam_ws/install/pi_i2c/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/nucleo_communicate_py/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/packet_interfaces/lib/python3.10/site-packages",
+ "/home/norikonakano/24jam_ws/install/joystick/lib/python3.10/site-packages",
+ "/opt/ros/iron/lib/python3.10/site-packages"
+ ]
+}

packet/packet_composed/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_composed)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+
+ add_executable(Composed
+ src/composed_main.cpp
+ src/composed.cpp
+ )
+
+ ament_target_dependencies(Composed
+ rclcpp
+ packet_interfaces
+ )
+
+ target_include_directories(Composed
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+ Composed
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()
+

packet/packet_composed/include/packet_composed/sensorspacket.hpp

@@ -0,0 +1,20 @@
+#ifndef PACKET_COMPOSED_SENSORSPACKET_HPP
+#define PACKET_COMPOSED_SENSORSPACKET_HPP
+
+#include <memory>
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+class Composed : public rclcpp::Node {
+private:
+
+ std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> _publisher;
+ std::shared_ptr<rclcpp::TimerBase> _timer;
+ unsigned int _count;
+ void _loop();
+
+public:
+ Composed();
+};
+
+#endif // PACKET_COMPOSED_SENSORPACKET_HPP

packet/packet_composed/package.xml

@@ -0,0 +1,15 @@
+<?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>packet_composed</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">norikonakano</maintainer>
+ <license>MIT</license>
+ <buildtool_depend>ament_cmake</buildtool_depend>
+ <depend>rclcpp</depend>
+ <depend>packet_interfaces</depend>
+ <export>
+ <build_type>ament_cmake</build_type>
+ </export>
+</package>

packet/packet_composed/sensors/current/packet_current/CMakeLists.txt

@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.8)
+project(packet_current)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(packet_interfaces REQUIRED)
+
+ add_executable(Current
+ src/current_main.cpp
+ src/current.cpp
+ )
+
+ ament_target_dependencies(Current
+ rclcpp
+ packet_interfaces
+ )
+
+ target_include_directories(Current
+ PUBLIC
+ $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+ $<INSTALL_INTERFACE:include>
+ )
+ install(TARGETS
+ Current
+ DESTINATION lib/${PROJECT_NAME}
+ )
+
+ament_package()