From 16e77f524159c7511d7818ea3af4eff40bd772fe Mon Sep 17 00:00:00 2001 From: Marcus Grieger Date: Mon, 5 Feb 2024 20:42:00 +0100 Subject: [PATCH] Initial commit --- .gitignore | 2 ++ LICENSE | 17 +++++++++++++++++ hexapod_python/__init__.py | 0 hexapod_python/jtc_test.py | 30 ++++++++++++++++++++++++++++++ package.xml | 22 ++++++++++++++++++++++ resource/hexapod_python | 0 setup.cfg | 4 ++++ setup.py | 26 ++++++++++++++++++++++++++ test/test_copyright.py | 25 +++++++++++++++++++++++++ test/test_flake8.py | 25 +++++++++++++++++++++++++ test/test_pep257.py | 23 +++++++++++++++++++++++ 11 files changed, 174 insertions(+) create mode 100644 .gitignore create mode 100644 LICENSE create mode 100644 hexapod_python/__init__.py create mode 100644 hexapod_python/jtc_test.py create mode 100644 package.xml create mode 100644 resource/hexapod_python create mode 100644 setup.cfg create mode 100644 setup.py create mode 100644 test/test_copyright.py create mode 100644 test/test_flake8.py create mode 100644 test/test_pep257.py diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a295864 --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +*.pyc +__pycache__ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..30e8e2e --- /dev/null +++ b/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. diff --git a/hexapod_python/__init__.py b/hexapod_python/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/hexapod_python/jtc_test.py b/hexapod_python/jtc_test.py new file mode 100644 index 0000000..de74af3 --- /dev/null +++ b/hexapod_python/jtc_test.py @@ -0,0 +1,30 @@ +from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint +from builtin_interfaces.msg import Duration +import rclpy +from rclpy.node import Node + +class JTCPublisher(Node): + def __init__(self): + super().__init__('jtc_publisher') + self.publisher_ = self.create_publisher(JointTrajectory, "/e1_group_controller/joint_trajectory", 10) + + + trajectory = JointTrajectory( + joint_names = [ "c1_joint", "f1_joint", "t1_joint" ], + points = [ + JointTrajectoryPoint (time_from_start = Duration(nanosec = 500000000), positions = [0, -1, 0]), + JointTrajectoryPoint (time_from_start = Duration(nanosec = 1000000000), positions = [-0.3, -1.3, 0]), + JointTrajectoryPoint (time_from_start = Duration(nanosec = 1500000000), positions = [0, -1, 0.5]), + JointTrajectoryPoint (time_from_start = Duration(nanosec = 2000000000), positions = [-0.3, -1.3, 0]), + ] + ) + self.publisher_.publish(trajectory) + +def main(args = None): + rclpy.init(args=args) + + jtc_publisher = JTCPublisher() + rclpy.spin(jtc_publisher) + jtc_publisher.destroy_node() + rclpy.shutdown() + \ No newline at end of file diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..3486b8b --- /dev/null +++ b/package.xml @@ -0,0 +1,22 @@ + + + + hexapod_python + 0.0.0 + TODO: Package description + wuselfuzz + MIT + + rclpy + std_msgs + trajectory_msgs + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/resource/hexapod_python b/resource/hexapod_python new file mode 100644 index 0000000..e69de29 diff --git a/setup.cfg b/setup.cfg new file mode 100644 index 0000000..e870c2c --- /dev/null +++ b/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/hexapod_python +[install] +install_scripts=$base/lib/hexapod_python diff --git a/setup.py b/setup.py new file mode 100644 index 0000000..9b3a50b --- /dev/null +++ b/setup.py @@ -0,0 +1,26 @@ +from setuptools import find_packages, setup + +package_name = 'hexapod_python' + +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='wuselfuzz', + maintainer_email='marcus@grieger.xyz', + description='TODO: Package description', + license='MIT', + tests_require=['pytest'], + entry_points={ + 'console_scripts': [ + 'jtc_test = hexapod_python.jtc_test:main' + ], + }, +) diff --git a/test/test_copyright.py b/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/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/test/test_flake8.py b/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/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/test/test_pep257.py b/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/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'