Initial commit

.gitignore

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+*.pyc
+__pycache__

LICENSE

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+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.

hexapod_python/jtc_test.py

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+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()
+    

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>hexapod_python</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="marcus@grieger.xyz">wuselfuzz</maintainer>
+  <license>MIT</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+
+  <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>
+  </export>
+</package>

setup.cfg

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

setup.py

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+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'
+        ],
+    },
+)

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'

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)

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'