Merge pull request #12 from SoonerRobotics/feat/manual

Feat/manual

.gitignore

@@ -21,3 +21,6 @@ Zone.Identifier
 
 deps/songs
 autonav_ws/src/scr/include/scr/websocketpp/**/*:Zone.Identifier
+
+# python
+**/venv

autonav_ws/src/autonav_launch/launch/manual24.xml

@@ -0,0 +1,9 @@
+<launch>
+  <!-- Manual controller -->
+  <node pkg="autonav_manual" exec="controller_input.py"/>
+  <node pkg="autonav_manual" exec="manual_24.py"/>
+  <node pkg="autonav_manual" exec="motormessage_listener.py"/>
+
+  <!-- Other -->
+  <node pkg="autonav_display" exec="display.py" />
+</launch>

autonav_ws/src/autonav_launch/launch/manual24sim.xml

@@ -0,0 +1,11 @@
+<launch>
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
+
+  <!-- xbox manual control -->
+  <node pkg="autonav_manual" exec="controller_input.py"/>
+  <node pkg="autonav_manual" exec="manual_24.py"/>
+  <!-- <node pkg="autonav_manual" exec="motormessage_listener.py"/> -->
+
+  <!-- Other -->
+  <!-- <node pkg="autonav_display" exec="display.py" /> -->
+</launch>

autonav_ws/src/autonav_launch/launch/manual25.xml

@@ -0,0 +1,9 @@
+<launch>
+  <!-- Manual controller -->
+  <node pkg="autonav_manual" exec="controller_input.py"/>
+  <node pkg="autonav_manual" exec="manual_25.py"/>
+  <!-- <node pkg="autonav_manual" exec="motormessage_listener.py"/> -->
+
+  <!-- Other -->
+  <!-- <node pkg="autonav_display" exec="display.py" /> -->
+</launch>

autonav_ws/src/autonav_launch/launch/manual25sim.xml

@@ -0,0 +1,11 @@
+<launch>
+  <include file="$(find-pkg-share rosbridge_server)/launch/rosbridge_websocket_launch.xml" />
+
+  <!-- xbox manual control -->
+  <node pkg="autonav_manual" exec="controller_input.py"/>
+  <node pkg="autonav_manual" exec="manual_25.py"/>
+  <!-- <node pkg="autonav_manual" exec="motormessage_listener.py"/> -->
+
+  <!-- Other -->
+  <!-- <node pkg="autonav_display" exec="display.py" /> -->
+</launch>

autonav_ws/src/autonav_manual/CMakeLists.txt

@@ -0,0 +1,73 @@
+cmake_minimum_required(VERSION 3.8)
+
+project(autonav_manual)
+
+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(rclpy REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(autonav_msgs REQUIRED)
+find_package(autonav_shared REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+# msgs and srvs 
+#rosidl_generate_interfaces(${PROJECT_NAME}
+  # add message types here
+  #"path_to_message/message.msg"
+#)
+
+# C++
+
+# Inlcude Cpp "include" directory
+include_directories(include)
+
+# Create Cpp executables
+#add_executable(executable_name path_to_executable/executable.cpp)
+#ament_target_dependencies(executable_name rclcpp other_dependencies)
+
+# Install Cpp executables
+install(TARGETS
+  # install executables by name
+  # executable_name
+  DESTINATION lib/${PROJECT_NAME}
+ )
+
+# Python
+
+ # Use only if not using rosidl_generate_interfaces
+ # Install Python modules
+ #ament_python_install_package(${PROJECT_NAME})
+
+ # Install Python programs
+ install(PROGRAMS
+   # add programs in format:
+   #/path_to_program/program.py
+   src/controller_input.py
+   src/controller_listener.py
+   src/manual_24.py
+   src/manual_25.py
+   src/motormessage_listener.py
+   DESTINATION lib/${PROJECT_NAME}
+)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

autonav_ws/src/autonav_manual/LICENSE

@@ -0,0 +1,17 @@
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in
+all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
+THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+THE SOFTWARE.

autonav_ws/src/autonav_manual/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>autonav_manual</name>
+  <version>2025.0.1</version>
+  <description>Contains nodes for reading, using, and debugging controller input</description>
+  <maintainer email="[email protected]">tony</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>autonav_msgs</depend>
+  <depend>autonav_shared</depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <exec_depend>evdev</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>time</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>