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ros2_ws/src/simple_hagrid_demo/package.xml

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+<?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>simple_hagrid_demo</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">hagrid</maintainer>
+  <license>TODO: License declaration</license>
+
+  <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>
+    <exec_depend>rclpy</exec_depend>
+    <exec_depend>std_msgs</exec_depend>
+    <exec_depend>geometry_msgs</exec_depend>
+    <exec_depend>example_interfaces</exec_depend>
+  </export>
+</package>

ros2_ws/src/simple_hagrid_demo/setup.cfg

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+[develop]
+script_dir=$base/lib/simple_hagrid_demo
+[install]
+install_scripts=$base/lib/simple_hagrid_demo

ros2_ws/src/simple_hagrid_demo/setup.py

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+from setuptools import find_packages, setup
+
+package_name = 'simple_hagrid_demo'
+
+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='hagrid',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'simple_hagrid_demo = simple_hagrid_demo.simple_hagrid_demo:main'
+        ],
+    },
+)

ros2_ws/src/simple_hagrid_demo/simple_hagrid_demo/simple_hagrid_demo.py

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+# useful stuff https://docs.ros.org/en/eloquent/Tutorials/Writing-A-Simple-Py-Publisher-And-Subscriber.html
+# hagrid@tablebot:~/ros2_ws/src/simple_hagrid_demo/simple_hagrid_demo$ python3 simple_hagrid_demo.py 
+# sudo docker run -it --rm --net=host microros/micro-ros-agent:iron udp4 --port 8888
+
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import Byte
+from std_msgs.msg import Float32
+from std_msgs.msg import Int32
+
+from geometry_msgs.msg import Twist
+
+from example_interfaces.msg import Bool
+
+class SimpleHagridDemo(Node):
+    def __init__(self):
+        super().__init__('simple_hagrid_demo')
+        self.cmd_vel_publisher=self.create_publisher(Twist,'rcm/cmd_vel',1)
+        self.enable_publisher=self.create_publisher(Bool,'rcm/enabled',1)
+
+        self.batterySubscription=self.create_subscription(Float32,'rcm/battery',self.battery_callback,1)
+        self.batterySubscription # prevent warning
+
+        self.loop_time_period=1.0/10.0
+        self.loop_timer=self.create_timer(self.loop_time_period,self.loop)
+        self.time=0.0
+
+    def battery_callback(self, msg):
+        self.get_logger().info('battery voltage "%d"' % msg.data)
+
+    def loop(self):
+        self.time=self.time+self.loop_time_period
+
+        self.get_logger().info("time: %d"%(self.time))
+
+        enableMsg=Bool()
+        enableMsg.data=True
+        self.enable_publisher.publish(enableMsg)
+
+        velocityMsg=Twist()
+        velocityMsg.linear.z=0.0
+        velocityMsg.angular.x=0.0
+        velocityMsg.angular.y=0.0
+        velocityMsg.linear.y=0.0
+        velocityMsg.angular.z=0.0
+        velocityMsg.linear.x=0.0
+        if self.time>=2 and self.time<4:
+            velocityMsg.linear.x=0.5
+        if self.time>=4 and self.time<7:
+            velocityMsg.linear.x=0.0
+        if self.time>=7 and self.time<9:
+            velocityMsg.linear.x=-0.5
+        if self.time>=9:
+            velocityMsg.linear.x=0.0
+        self.cmd_vel_publisher.publish(velocityMsg)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    simple_hagrid_demo=SimpleHagridDemo()
+
+    rclpy.spin(simple_hagrid_demo)
+
+    simple_hagrid_demo.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

ros2_ws/src/simple_hagrid_demo/test/test_copyright.py

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+# 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'

ros2_ws/src/simple_hagrid_demo/test/test_flake8.py

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+# 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)

ros2_ws/src/simple_hagrid_demo/test/test_pep257.py

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+# 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'