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

@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 3.5)
+project(custom_interfaces)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+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)
+find_package(std_msgs REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+
+
+
+
+
+
+# -->
+# ADD THESE LINES: START HERE
+
+find_package(rosidl_default_generators REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CustomMsg1.msg"
+  "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
+ )
+
+# END HERE 
+# <--
+
+
+
+
+
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/custom_interfaces/Readme.md

@@ -0,0 +1,40 @@
+Use this ROS2 package to create custom interfaces, eg. topic (*.msg) and/or service (*.srv) files.  
+This package must only be used for interface files and __no__ Python scripts.  
+
+The following steps describe how to create a new custom topic or service.   
+
+## 1. Create new interface file
+Topic *.msg files got into `msg` directory,  
+Service *.srv files got into `srv` directory.  
+
+Create these files according to the example on this [instructions page](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Py-Service-And-Client.html).
+
+## 2. CMakeLists.txt
+Edit the `CMakeLists.txt` file by adding the newly created *.msg or *.srv files to this part:
+```cmake
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CustomMsg1.msg"
+  "msg/CustomMsg2.msg"
+  "srv/CustomSrv1.srv"
+  DEPENDENCIES builtin_interfaces
+ )
+```
+
+## 3. Build colcon workspace
+Move back to the root of your _colcon_ workspace and rebuild it: `colcon build --symlink-install`  
+It should build without any errors. If you encounter errors fix these before continuing.
+
+After a successful build you must __close and reopen all terminals__ in order to source the newly built workspace. For this to happen you must have edited _.bashrc_ and added your current workspace (`sudo nano ~/.bashrc` and follow [this example](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_overlay.bash)).
+
+## 4. Import interfaces
+Import the newly created interfaces into the Python scripts. These scripts must be located in _Python packages_ inside the same workspace (or another _sourced_ workspace):  
+* Topics:  
+```python
+from custom_interfaces.msg import CustomMsg1
+```
+
+* Services:  
+```python
+from custom_interfaces.srv import CustomSrv1
+```
+Now you can work with your custom interface in order to exchange custom information between nodes.

src/custom_interfaces/msg/CustomMsg1.msg

@@ -0,0 +1,8 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# Sensor Data coming back from an array of atmospheric sensors
+float32[] temperature
+float32[] pressure
+float32[] humidity

src/custom_interfaces/msg/CustomMsg2.msg

@@ -0,0 +1,7 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
+float32 pitch_ctrl
+float32 yaw_ctrl

src/custom_interfaces/package.xml

@@ -0,0 +1,42 @@
+<?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>custom_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="rosmobile@todo.todo">rosmobile</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+  
+  
+  
+  <!-- ADD THESE LINES: START HERE -->
+  
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <!-- END HERE -->
+
+
+
+
+
+
+  <depend>std_msgs</depend>
+  <!-- DO NOT ENTER THIS DEPENDENCY WHEN CREATING NEW PACKAGE -->
+  <!-- <depend>builtin_interfaces</depend> -->
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/custom_interfaces/srv/CustomSrv1.srv

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

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/StateMachineSrv.srv

@@ -0,0 +1,4 @@
+string command
+float32 value
+---
+bool success

src/custom_interfaces/srv/WatchdogSRV.srv

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

src/pubsub/package.xml

@@ -15,9 +15,7 @@
   
   <!-- CUSTOM LINE -->
   <!-- This is custom for the package you depend on -->
-  <!-- <exec_depend>pubsub_msg</exec_depend> -->
-  <exec_depend>custom_interfaces</exec_depend>
-  <!-- test -->
+  <exec_depend>pubsub_msg</exec_depend>
   <!-- END HERE -->
   
   

src/pubsub/pubsub/pubsub_library_v3.py

@@ -166,9 +166,7 @@ class MinimalServiceProvider(Node):
 
     # Insert your callback code here
     def user_defined(self, request, response):
-        """ OLD! Use function parameter srv_callback_fct instead!
-        
-        Write your user defined code here which will be run at every service call
+        """ Write your user defined code here which will be run at every service call
 
         Input:
         * request: srv request class
@@ -203,7 +201,7 @@ class MinimalServiceClientAsync(Node):
     def send_request(self, request):
         """
         Feed request of type "SRV_TYPE.Request()"
-        Access individual variables using 
+        Access variable using 
         * request = SRV_TYPE.Request()
         * request.<var_name> = ....
         """
@@ -248,7 +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):
@@ -260,19 +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...')
@@ -282,7 +280,7 @@ class MinimalActionServer(Node):
         #################
         result = self.ACT_TYPE.Result()
         return result
-    
+
 #******************************************************************************#
 
 class MinimalActionClient(Node):
@@ -294,21 +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

src/pubsub_msg/CMakeLists.txt

@@ -0,0 +1,59 @@
+cmake_minimum_required(VERSION 3.5)
+project(pubsub_msg)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+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)
+
+
+
+
+# -->
+# ADD THESE LINES: START HERE
+
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+
+# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/CustomMsg1.msg"
+  "msg/CustomMsg2.msg"
+  DEPENDENCIES builtin_interfaces
+ )
+
+# END HERE 
+# <--
+
+
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/pubsub_msg/msg/CustomMsg1.msg

@@ -0,0 +1,8 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# Sensor Data coming back from an array of atmospheric sensors
+float32[] temperature
+float32[] pressure
+float32[] humidity

src/pubsub_msg/msg/CustomMsg2.msg

@@ -0,0 +1,7 @@
+# Header data, eg timestamp
+# Problem: "header__struct.hpp: No such file or directory"
+#Header header
+
+# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
+float32 pitch_ctrl
+float32 yaw_ctrl

src/pubsub_msg/package.xml

@@ -0,0 +1,34 @@
+<?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>pubsub_msg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="winterhalder.p@googlemail.com">patrick</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+
+
+
+  <!-- ADD THESE LINES: START HERE -->
+  <build_depend>builtin_interfaces</build_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  
+  <member_of_group>rosidl_interface_packages</member_of_group>
+  <!-- END HERE -->
+
+
+
+
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>