diff --git a/homework/mover/__init__.py b/homework/mover/__init__.py new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/homework/mover/first_letter.py b/homework/mover/first_letter.py new file mode 100644 index 0000000000000000000000000000000000000000..d4f73a58e57c21d4fdb1ed67b54a6f4f65c27648 --- /dev/null +++ b/homework/mover/first_letter.py @@ -0,0 +1,49 @@ +import math +import rclpy +from rclpy.node import Node +from rclpy.duration import Duration + + +from geometry_msgs.msg import Twist + + +class RurMover(Node): + def __init__(self): + super().__init__('rur_mover') + self.publisher_twist = self.create_publisher(Twist, 'turtle1/cmd_vel', 10) + self.main() + + def publish_twist(self, linear, angular): + msg = Twist() + msg.linear.x = float (linear) + msg.angular.z = math.radians(float(angular)) + self.publisher_twist.publish(msg) + self.get_clock().sleep_for(Duration(seconds=1.0)) + + + def main(self): + self.publish_twist(1, 0) + self.publish_twist(0, -60) + self.publish_twist(2, 0) + self.publish_twist(0, 180) + self.publish_twist(4, 0) + self.publish_twist(0, 120) + self.publish_twist(4, 0) + self.publish_twist(0, 180) + self.publish_twist(2,0) + self.publish_twist(0, -60) + self.publish_twist(1,0) + +def main(args=None): + rclpy.init(args=args) + + mover = RurMover() + + rclpy.spin(mover) + + mover.destroy_node() + rclpy.shutdown() + + +if __name__ == '__main__': + main() \ No newline at end of file diff --git a/homework/package.xml b/homework/package.xml new file mode 100644 index 0000000000000000000000000000000000000000..082b85697ef51f3e155c7e520e86691a1dfa29dc --- /dev/null +++ b/homework/package.xml @@ -0,0 +1,18 @@ + + + + mover + 0.0.0 + TODO: Package description + alex2 + TODO: License declaration + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/homework/resource/mover b/homework/resource/mover new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/homework/setup.cfg b/homework/setup.cfg new file mode 100644 index 0000000000000000000000000000000000000000..b148e80e5fc1115472fd8e735869400a536d9593 --- /dev/null +++ b/homework/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/mover +[install] +install_scripts=$base/lib/mover diff --git a/homework/setup.py b/homework/setup.py new file mode 100644 index 0000000000000000000000000000000000000000..3cc8bd9142389e0be844a3ea82390d75565a4e05 --- /dev/null +++ b/homework/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'mover' + +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='alex2', + maintainer_email='alexzhandarov@nomail.com', + description='TODO: Package description', + license='TODO: License declaration', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'first_letter = mover.first_letter:main' + ], + }, +) diff --git a/homework/test/test_copyright.py b/homework/test/test_copyright.py new file mode 100644 index 0000000000000000000000000000000000000000..97a39196e84db97954341162a6d2e7f771d938c0 --- /dev/null +++ b/homework/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' diff --git a/homework/test/test_flake8.py b/homework/test/test_flake8.py new file mode 100644 index 0000000000000000000000000000000000000000..27ee1078ff077cc3a0fec75b7d023101a68164d1 --- /dev/null +++ b/homework/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) diff --git a/homework/test/test_pep257.py b/homework/test/test_pep257.py new file mode 100644 index 0000000000000000000000000000000000000000..b234a3840f4c5bd38f043638c8622b8f240e1185 --- /dev/null +++ b/homework/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'