UJJWAL CHANDAK [F2024A3PS0379H]

README.md

@@ -98,10 +98,15 @@ The goal is not only to make the turtle move but also to get familiar with the t
    * [Linux Command Line Basics](https://ubuntu.com/tutorials/command-line-for-beginners#1-overview)
 
 ---
-
 ### Steps
 
-#### 1. Clone the Repository
+#### 1.1. Fork this repository. 
+
+**[DO NOT PULL OR MAKE CHANGES ON THIS REPO]**
+
+#### 1.2. Clone the Repository. 
+
+**[Make sure that you are cloning your own fork and not this repo.]**
 
 ```bash
 git clone <repository-url>

src/task2/src/turtle_draw/package.xml

@@ -0,0 +1,21 @@
+<?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>turtle_draw</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</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>

src/task2/src/turtle_draw/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/turtle_draw
+[install]
+install_scripts=$base/lib/turtle_draw

src/task2/src/turtle_draw/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'turtle_draw'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+    'console_scripts': [
+        'circle_drawer = turtle_draw.circle_drawer:main',
+    ],
+}
+)

src/task2/src/turtle_draw/test/test_copyright.py

@@ -0,0 +1,25 @@
+# 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'

src/task2/src/turtle_draw/test/test_flake8.py

@@ -0,0 +1,25 @@
+# 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)

src/task2/src/turtle_draw/test/test_pep257.py

@@ -0,0 +1,23 @@
+# 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'

src/task2/src/turtle_draw/turtle_draw/circle_drawer.py

@@ -0,0 +1,79 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+import math
+import time
+
+
+class CircleDrawer(Node):
+    def __init__(self):
+        super().__init__('circle_drawer')
+
+        # Publisher to turtle velocities
+        self.cmd_pub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+
+        # Subscriber to turtle pose
+        self.pose_sub = self.create_subscription(Pose, '/turtle1/pose', self.pose_callback, 10)
+
+        self.pose = None
+
+        self.radius = 2.0
+        self.center_x = 5.5
+        self.center_y = 5.5
+        self.num_points = 36
+        self.points = self.generate_circle_points()
+
+        self.current_goal_index = 0
+        self.reached_goal = True
+
+        self.timer = self.create_timer(0.1, self.control_loop)
+
+    def generate_circle_points(self):
+        points = []
+        for i in range(self.num_points):
+            theta = 2 * math.pi * i / self.num_points
+            x = self.center_x + self.radius * math.cos(theta)
+            y = self.center_y + self.radius * math.sin(theta)
+            points.append((x, y))
+        return points
+
+    def pose_callback(self, msg):
+        self.pose = msg
+
+    def control_loop(self):
+        if self.pose is None:
+            return
+
+        goal_x, goal_y = self.points[self.current_goal_index]
+        dx = goal_x - self.pose.x
+        dy = goal_y - self.pose.y
+        distance = math.sqrt(dx**2 + dy**2)
+
+        msg = Twist()
+
+        if distance > 0.1:
+            angle_to_goal = math.atan2(dy, dx)
+            angle_diff = angle_to_goal - self.pose.theta
+
+            angle_diff = math.atan2(math.sin(angle_diff), math.cos(angle_diff))
+
+            msg.linear.x = 1.5 * distance
+            msg.angular.z = 6.0 * angle_diff
+        else:
+            self.current_goal_index = (self.current_goal_index + 1) % self.num_points
+
+        self.cmd_pub.publish(msg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CircleDrawer()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

src/task3/task3_link.txt

@@ -0,0 +1 @@
+https://youtu.be/WZpvjGgCNSw

src/task3/turtle_swarm/package.xml

@@ -0,0 +1,22 @@
+<?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>turtle_swarm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>turtlesim</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>

src/task3/turtle_swarm/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/turtle_swarm
+[install]
+install_scripts=$base/lib/turtle_swarm

src/task3/turtle_swarm/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'turtle_swarm'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': ['swarm_node = turtle_swarm.swarm_node:main'
+        ],
+    },
+)

src/task3/turtle_swarm/test/test_copyright.py

@@ -0,0 +1,25 @@
+# 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'

src/task3/turtle_swarm/test/test_flake8.py

@@ -0,0 +1,25 @@
+# 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)

src/task3/turtle_swarm/test/test_pep257.py

@@ -0,0 +1,23 @@
+# 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'