RoboBuggy

# toplevel CMakeLists.txt for a catkin workspace

# catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 2.8.3)

set(CATKIN_TOPLEVEL TRUE)

# include catkin directly or via find_package()

if(EXISTS "${CMAKE_SOURCE_DIR}/catkin/cmake/all.cmake" AND EXISTS "${CMAKE_SOURCE_DIR}/catkin/CMakeLists.txt")

  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/catkin/cmake")

  # include all.cmake without add_subdirectory to let it operate in same scope

  include(catkin/cmake/all.cmake NO_POLICY_SCOPE)

  add_subdirectory(catkin)

else()

  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument

  # or CMAKE_PREFIX_PATH from the environment

  if(NOT DEFINED CMAKE_PREFIX_PATH)

    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")

      string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})

    endif()

  endif()

  # list of catkin workspaces

  set(catkin_search_path "")

  foreach(path ${CMAKE_PREFIX_PATH})

    if(EXISTS "${path}/.catkin")

      list(FIND catkin_search_path ${path} _index)

      if(_index EQUAL -1)

        list(APPEND catkin_search_path ${path})

      endif()

    endif()

  endforeach()

  # search for catkin in all workspaces

  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)

  find_package(catkin QUIET

    NO_POLICY_SCOPE

    PATHS ${catkin_search_path}

    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)

  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)

  if(NOT catkin_FOUND)

    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")

  endif()

endif()

catkin_workspace()

/opt/ros/groovy/share/catkin/cmake/toplevel.cmake

cmake_minimum_required(VERSION 2.8.3)

project(buggycommon)

## Find catkin macros and libraries

## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)

## is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS

  roscpp

  rospy

  std_msgs

  message_generation

)

## System dependencies are found with CMake's conventions

# find_package(Boost REQUIRED COMPONENTS system)

## Uncomment this if the package has a setup.py. This macro ensures

## modules and global scripts declared therein get installed

## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

# catkin_python_setup()

################################################

## Declare ROS messages, services and actions ##

################################################

## To declare and build messages, services or actions from within this

## package, follow these steps:

## * Let MSG_DEP_SET be the set of packages whose message types you use in

##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).

## * In the file package.xml:

##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET

##   * If MSG_DEP_SET isn't empty the following dependencies might have been

##     pulled in transitively but can be declared for certainty nonetheless:

##     * add a build_depend tag for "message_generation"

##     * add a run_depend tag for "message_runtime"

## * In this file (CMakeLists.txt):

##   * add "message_generation" and every package in MSG_DEP_SET to

##     find_package(catkin REQUIRED COMPONENTS ...)

##   * add "message_runtime" and every package in MSG_DEP_SET to

##     catkin_package(CATKIN_DEPENDS ...)

##   * uncomment the add_*_files sections below as needed

##     and list every .msg/.srv/.action file to be processed

##   * uncomment the generate_messages entry below

##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder

add_message_files(

  FILES

  Pose.msg

  Direction.msg

)

## Generate services in the 'srv' folder

# add_service_files(

#   FILES

#   Service1.srv

#   Service2.srv

# )

## Generate actions in the 'action' folder

# add_action_files(

#   FILES

#   Action1.action

#   Action2.action

# )

## Generate added messages and services with any dependencies listed here

generate_messages(

  DEPENDENCIES

  std_msgs

)

###################################

## catkin specific configuration ##

###################################

## The catkin_package macro generates cmake config files for your package

## Declare things to be passed to dependent projects

## INCLUDE_DIRS: uncomment this if you package contains header files

## LIBRARIES: libraries you create in this project that dependent projects also need

## CATKIN_DEPENDS: catkin_packages dependent projects also need

## DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

#  INCLUDE_DIRS include

#  LIBRARIES buggymsgs

   CATKIN_DEPENDS roscpp rospy std_msgs message_runtime

#  DEPENDS system_lib

)

###########

## Build ##

###########

## Specify additional locations of header files

## Your package locations should be listed before other locations

# include_directories(include)

include_directories(

  ${catkin_INCLUDE_DIRS}

)

## Declare a cpp library

# add_library(buggymsgs

#   src/${PROJECT_NAME}/buggymsgs.cpp

# )

## Declare a cpp executable

# add_executable(buggymsgs_node src/buggymsgs_node.cpp)

## Add cmake target dependencies of the executable/library

## as an example, message headers may need to be generated before nodes

# add_dependencies(buggymsgs_node buggymsgs_generate_messages_cpp)

## Specify libraries to link a library or executable target against

# target_link_libraries(buggymsgs_node

#   ${catkin_LIBRARIES}

# )

#############

## Install ##

#############

# all install targets should use catkin DESTINATION variables

# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation

## in contrast to setup.py, you can choose the destination

# install(PROGRAMS

#   scripts/my_python_script

#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark executables and/or libraries for installation

# install(TARGETS buggymsgs buggymsgs_node

#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

# )

## Mark cpp header files for installation

# install(DIRECTORY include/${PROJECT_NAME}/

#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}

#   FILES_MATCHING PATTERN "*.h"

#   PATTERN ".svn" EXCLUDE

# )

## Mark other files for installation (e.g. launch and bag files, etc.)

# install(FILES

#   # myfile1

#   # myfile2

#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

# )

#############

## Testing ##

#############

## Add gtest based cpp test target and link libraries

# catkin_add_gtest(${PROJECT_NAME}-test test/test_buggymsgs.cpp)

# if(TARGET ${PROJECT_NAME}-test)

#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})

# endif()

## Add folders to be run by python nosetests

# catkin_add_nosetests(test)

float32 turnAngle

float32 x

float32 y

float32 angle

float32 linear_velocity

float32 angular_velocity

<?xml version="1.0"?>

<package>

  <name>buggycommon</name>

  <version>0.0.2</version>

  <description>The buggycommon package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag --> 

  <!-- Example:  -->

  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->

  <maintainer email="tahm@todo.todo">tahm</maintainer>

  <!-- One license tag required, multiple allowed, one license per tag -->

  <!-- Commonly used license strings: -->

  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->

  <license>TODO</license>

  <!-- Url tags are optional, but mutiple are allowed, one per tag -->

  <!-- Optional attribute type can be: website, bugtracker, or repository -->

  <!-- Example: -->

  <!-- <url type="website">http://wiki.ros.org/buggymsgs</url> -->

  <!-- Author tags are optional, mutiple are allowed, one per tag -->

  <!-- Authors do not have to be maintianers, but could be -->

  <!-- Example: -->

  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

  <!-- The *_depend tags are used to specify dependencies -->

  <!-- Dependencies can be catkin packages or system dependencies -->

  <!-- Examples: -->

  <!-- Use build_depend for packages you need at compile time: -->

  <!--   <build_depend>message_generation</build_depend> -->

  <!-- Use buildtool_depend for build tool packages: -->

  <!--   <buildtool_depend>catkin</buildtool_depend> -->

  <!-- Use run_depend for packages you need at runtime: -->

  <!--   <run_depend>message_runtime</run_depend> -->

  <!-- Use test_depend for packages you need only for testing: -->

  <!--   <test_depend>gtest</test_depend> -->

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>roscpp</build_depend>

  <build_depend>rospy</build_depend>

  <build_depend>std_msgs</build_depend>

  <build_depend>message_generation</build_depend>

  <run_depend>roscpp</run_depend>

  <run_depend>rospy</run_depend>

  <run_depend>std_msgs</run_depend>

  <run_depend>message_runtime</run_depend>

  <!-- The export tag contains other, unspecified, tags -->

  <export>

    <!-- You can specify that this package is a metapackage here: -->

    <!-- <metapackage/> -->

    <!-- Other tools can request additional information be placed here -->

  </export>

</package>

find_package(catkin REQUIRED COMPONENTS message_generation roscpp roslib rosconsole std_msgs std_srvs rostime roscpp_serialization buggycommon)

add_message_files(DIRECTORY msg FILES 

                  Velocity.msg)

catkin_package(CATKIN_DEPENDS message_runtime buggycommon std_msgs std_srvs)

add_executable(buggy_teleop_key tutorials/teleop_turtle_key.cpp)

target_link_libraries(buggy_teleop_key ${catkin_LIBRARIES})

add_dependencies(buggy_teleop_key turtlesim_gencpp)

add_executable(buggy_draw_square tutorials/draw_square.cpp)

target_link_libraries(buggy_draw_square ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_dependencies(buggy_draw_square turtlesim_gencpp)

add_executable(buggy_mimic tutorials/mimic.cpp)

target_link_libraries(buggy_mimic ${catkin_LIBRARIES})

add_dependencies(buggy_mimic turtlesim_gencpp)

install(TARGETS buggysim_node buggy_teleop_key buggy_draw_square buggy_mimic

  <build_depend>buggycommon</build_depend>

  <run_depend>buggycommon</run_depend>

#include <turtlesim/Pose.h>

#include <turtlesim/Velocity.h>

void poseCallback(const turtlesim::PoseConstPtr& pose)

add_dependencies(turtle_teleop_key turtlesim_gencpp)

add_dependencies(draw_square turtlesim_gencpp)

add_dependencies(mimic turtlesim_gencpp)

# include <turtlesim/Pose.h>

#include <turtlesim/Velocity.h>

# include <turtlesim/SetPen.h>

# include <turtlesim/TeleportRelative.h>

# include <turtlesim/TeleportAbsolute.h>

# include <turtlesim/Color.h>

namespace turtlesim

  void velocityCallback(const VelocityConstPtr& vel);

  bool setPenCallback(turtlesim::SetPen::Request&, turtlesim::SetPen::Response&);

  bool teleportRelativeCallback(turtlesim::TeleportRelative::Request&, turtlesim::TeleportRelative::Response&);

  bool teleportAbsoluteCallback(turtlesim::TeleportAbsolute::Request&, turtlesim::TeleportAbsolute::Response&);

# include <turtlesim/Spawn.h>

# include <turtlesim/Kill.h>

namespace turtlesim

  bool spawnCallback(turtlesim::Spawn::Request&, turtlesim::Spawn::Response&);

  bool killCallback(turtlesim::Kill::Request&, turtlesim::Kill::Response&);

namespace turtlesim

bool Turtle::setPenCallback(turtlesim::SetPen::Request& req, turtlesim::SetPen::Response&)

bool Turtle::teleportRelativeCallback(turtlesim::TeleportRelative::Request& req, turtlesim::TeleportRelative::Response&)

bool Turtle::teleportAbsoluteCallback(turtlesim::TeleportAbsolute::Request& req, turtlesim::TeleportAbsolute::Response&)

namespace turtlesim

bool TurtleFrame::spawnCallback(turtlesim::Spawn::Request& req, turtlesim::Spawn::Response& res)

bool TurtleFrame::killCallback(turtlesim::Kill::Request& req, turtlesim::Kill::Response&)

    turtlesim::TurtleFrame frame;

#include <turtlesim/Pose.h>

#include <turtlesim/Velocity.h>

turtlesim::PoseConstPtr g_pose;

turtlesim::Pose g_goal;

void poseCallback(const turtlesim::PoseConstPtr& pose)

  turtlesim::Velocity vel;

  ros::Publisher vel_pub = nh.advertise<turtlesim::Velocity>("turtle1/command_velocity", 1);

#include <turtlesim/Pose.h>

#include <turtlesim/Velocity.h>

  void poseCallback(const turtlesim::PoseConstPtr& pose);

  vel_pub_ = output_nh.advertise<turtlesim::Velocity>("command_velocity", 1);

  pose_sub_ = input_nh.subscribe<turtlesim::Pose>("pose", 1, &Mimic::poseCallback, this);

void Mimic::poseCallback(const turtlesim::PoseConstPtr& pose)

  turtlesim::Velocity vel;

#include <turtlesim/Velocity.h>

  vel_pub_ = nh_.advertise<turtlesim::Velocity>("turtle1/command_velocity", 1);

    turtlesim::Velocity vel;