Update 'non-ros-files/rpi_install.bash'

revert revert ed2f2c95c7

revert ROS actionlib start

non-ros-files/rpi_install.bash

@@ -4,22 +4,43 @@
 # Only the password was changed after first boot
 # Everything else is stock
 
-# First Update
+## Reference / Source:
+# https://docs.ros.org/en/foxy/Installation/Ubuntu-Install-Debians.html
+
+## First Update
 sudo apt-get update && sudo apt-get upgrade -y && sudo apt-get dist-upgrade -y
 
-# Install ROS2 Foxy Fitzroy Desktop
-sudo apt update && sudo apt install locales
+### Install ROS2 Foxy Fitzroy for Raspberry Pi
+
+## Check for UTF-8
+locale  # check for UTF-8
+sudo apt install locales
 sudo locale-gen en_US en_US.UTF-8
 sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-sudo apt update && sudo apt install -y curl gnupg2 lsb-release
-curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
-sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
-sudo apt update && sudo apt install -y ros-foxy-ros-base
+export LANG=en_US.UTF-8
+locale  # verify settings
+
+## Setup Sources
+sudo apt install software-properties-common
+sudo add-apt-repository universe
+
+sudo apt update && sudo apt install curl
+sudo apt install -y curl gnupg2 lsb-release
+
+sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
+# OLD: curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
+# OLD: sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
+
+
+## Install ROS2
+sudo apt-get update && sudo apt-get upgrade -y
+sudo apt install -y ros-foxy-ros-base
 source /opt/ros/foxy/setup.bash
 # Check to see if installed correctly
 echo "ROS_VERSION:        "$ROS_VERSION
 
-
+## Install other Tools
 # Install rosdep
 sudo apt install -y python3-rosdep2
 rosdep update
@@ -44,7 +65,6 @@ cd colcon_ws
 colcon build
 
 
-
 # Install network tools
 sudo apt install -y wireless-tools
 
@@ -52,16 +72,16 @@ sudo apt install -y wireless-tools
 # Install Git
 sudo apt install -y git
 
+
 # Setup remote git from inside workspace
 cd ~/colcon_ws
 git init
 
+
 # Change the URL to your Git repository
 git remote add origin https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub.git
 git fetch --all
 git reset --hard origin/master
-
-
 # Install your project specific python packages
 # You can use pip3 as the install tool, eg:
 pip3 install python-can

src/custom_interfaces/CMakeLists.txt

@@ -37,6 +37,12 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/CustomMsg2.msg"
   "srv/CustomSrv1.srv"
   "srv/StateMachineSrv.srv"
+  "srv/InclineControlSRV.srv"
+  "srv/MosfetControlSRV.srv"
+  "srv/PitchControlSRV.srv"
+  "srv/RotationControlSRV.srv"
+  "srv/SensorSRV.srv"
+  "srv/WatchdogSRV.srv"
   DEPENDENCIES builtin_interfaces
  )
 

src/custom_interfaces/srv/InclineControlSRV.srv

@@ -0,0 +1,6 @@
+int32 incline
+bool store
+bool elevate
+bool upright
+---
+bool success

src/custom_interfaces/srv/MosfetControlSRV.srv

@@ -0,0 +1,3 @@
+bool command
+---
+bool success

src/custom_interfaces/srv/PitchControlSRV.srv

@@ -0,0 +1,11 @@
+int32 degree
+uint32 speed
+bool status
+---
+bool success
+string error
+int32 present_position
+int32 present_load
+int32 present_temp
+uint32 present_v
+int32 up_cali

src/custom_interfaces/srv/RotationControlSRV.srv

@@ -0,0 +1,7 @@
+bool abs
+int32 degree
+int32 local_degree
+string center
+---
+bool success
+int32 present_pos

src/custom_interfaces/srv/SensorSRV.srv

@@ -0,0 +1,3 @@
+bool triggered
+---
+bool success

src/custom_interfaces/srv/WatchdogSRV.srv

@@ -0,0 +1,3 @@
+string node_name
+---
+string node_name

src/pubsub/pubsub/pubsub_library_v3.py

@@ -246,7 +246,7 @@ class MinimalActionServer(Node):
     * act_callback_input: action callback function
 
     Return:
-    * 
+    *
     """
 
     def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
@@ -258,19 +258,19 @@ class MinimalActionServer(Node):
             self.execute_callback= self.std_act_callback
         else:
             self.execute_callback = act_callback_input
-        
+
         # Init above laying class "Node" (super class)
         super().__init__(self.NODE_NAME)
         print("\tStarting Action Server:\t%s"%(self.ACT_NAME))
         self._action_server = ActionServer(self, self.ACT_TYPE, self.ACT_NAME, self.execute_callback)
-    
+
 
     # standard action callback
     def std_act_callback(self, goal_handle):
-        """ Standard Action Callback Method  
+        """ Standard Action Callback Method
 
-        Replace this method by inputting a custom callback method using 'act_callback_input'.  
-        This method MUST return a variable of the type 'action result',  
+        Replace this method by inputting a custom callback method using 'act_callback_input'.
+        This method MUST return a variable of the type 'action result',
         eg. result = ACTION_TYPE.Result()
         """
         self.get_logger().info('Executing goal...')
@@ -280,7 +280,7 @@ class MinimalActionServer(Node):
         #################
         result = self.ACT_TYPE.Result()
         return result
-    
+
 #******************************************************************************#
 
 class MinimalActionClient(Node):
@@ -292,21 +292,21 @@ class MinimalActionClient(Node):
     * act_callback_input: action callback function
 
     Return:
-    * 
+    *
     """
 
     def __init__(self, NODE_NAME, ACT_NAME, ACT_TYPE, act_callback_input=None):
         self.NODE_NAME = NODE_NAME
         self.ACT_NAME = ACT_NAME
         self.ACT_TYPE = ACT_TYPE
-        
+
         # Init above laying class "Node" (super class)
         super().__init__(self.NODE_NAME)
         print("\tStarting Action Client for:\t%s"%(self.ACT_NAME))
         self._action_client = ActionClient(self, self.ACT_TYPE, self.ACT_NAME)
-    
+
     def send_goal(self, input):
         return
-    
+
     def abort_goal(self):
         return