Setting Up Vision Packages (#420)

* vision package initial commit

* removed license

Author: 0frankie

controls/sae_2025_ws/src/vision_manager/CMakeLists.txt

@@ -0,0 +1,23 @@
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+cmake_minimum_required(VERSION 3.8)
+project(vision_manager)
+
+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(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(vision_manager src/vision_manager.cpp)
+ament_target_dependencies(vision_manager rclcpp std_msgs)
+
+install(TARGETS
+  vision_manager
+  DESTINATION lib/${PROJECT_NAME})
+
+
+ament_package()

controls/sae_2025_ws/src/vision_manager/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>vision_manager</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="flin0@seas.upenn.edu">ubuntu</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

controls/sae_2025_ws/src/vision_manager/src/vision_manager.cpp

@@ -0,0 +1,52 @@
+// Copyright 2016 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.
+
+#include <chrono>
+#include <memory>
+#include <string>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/string.hpp"
+
+using namespace std::chrono_literals;
+
+/* This example creates a subclass of Node and uses a fancy C++11 lambda
+ * function to shorten the callback syntax, at the expense of making the
+ * code somewhat more difficult to understand at first glance. */
+
+class MinimalPublisher : public rclcpp::Node {
+ public:
+  MinimalPublisher() : Node("minimal_publisher"), count_(0) {
+    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
+    auto timer_callback = [this]() -> void {
+      auto message = std_msgs::msg::String();
+      message.data = "Hello, world! " + std::to_string(this->count_++);
+      RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
+      this->publisher_->publish(message);
+    };
+    timer_ = this->create_wall_timer(500ms, timer_callback);
+  }
+
+ private:
+  rclcpp::TimerBase::SharedPtr timer_;
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+  size_t count_;
+};
+
+int main(int argc, char* argv[]) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<MinimalPublisher>());
+  rclcpp::shutdown();
+  return 0;
+}