From e6b4c2bc5c342788eb0673ac391e76bbaa0c007b Mon Sep 17 00:00:00 2001
From: Ventsi <udnpp@student.kit.edu>
Date: Tue, 9 Jul 2024 16:55:04 +0200
Subject: [PATCH] Create parameters package and define velocity parameter
---
ros2_ws/src/python_parameters/LICENSE | 202 ++++++++++++++++++
ros2_ws/src/python_parameters/package.xml | 20 ++
.../python_parameters/__init__.py | 0
.../python_parameters/velocity_parameter.py | 27 +++
.../resource/python_parameters | 0
ros2_ws/src/python_parameters/setup.cfg | 4 +
ros2_ws/src/python_parameters/setup.py | 26 +++
.../python_parameters/test/test_copyright.py | 25 +++
.../src/python_parameters/test/test_flake8.py | 25 +++
.../src/python_parameters/test/test_pep257.py | 23 ++
10 files changed, 352 insertions(+)
create mode 100644 ros2_ws/src/python_parameters/LICENSE
create mode 100644 ros2_ws/src/python_parameters/package.xml
create mode 100644 ros2_ws/src/python_parameters/python_parameters/__init__.py
create mode 100644 ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py
create mode 100644 ros2_ws/src/python_parameters/resource/python_parameters
create mode 100644 ros2_ws/src/python_parameters/setup.cfg
create mode 100644 ros2_ws/src/python_parameters/setup.py
create mode 100644 ros2_ws/src/python_parameters/test/test_copyright.py
create mode 100644 ros2_ws/src/python_parameters/test/test_flake8.py
create mode 100644 ros2_ws/src/python_parameters/test/test_pep257.py
diff --git a/ros2_ws/src/python_parameters/LICENSE b/ros2_ws/src/python_parameters/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/ros2_ws/src/python_parameters/LICENSE
@@ -0,0 +1,202 @@
+
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diff --git a/ros2_ws/src/python_parameters/package.xml b/ros2_ws/src/python_parameters/package.xml
new file mode 100644
index 0000000..f3365b2
--- /dev/null
+++ b/ros2_ws/src/python_parameters/package.xml
@@ -0,0 +1,20 @@
+<?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>python_parameters</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="udnpp@student.kit.edu">ventsi</maintainer>
+ <license>Apache-2.0</license>
+
+ <depend>rclpy</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>
diff --git a/ros2_ws/src/python_parameters/python_parameters/__init__.py b/ros2_ws/src/python_parameters/python_parameters/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py b/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py
new file mode 100644
index 0000000..eb9e5a9
--- /dev/null
+++ b/ros2_ws/src/python_parameters/python_parameters/velocity_parameter.py
@@ -0,0 +1,27 @@
+import rclpy
+from rclpy.node import Node
+from rclpy.parameter import Parameter
+
+class VelocityParam(Node):
+ def __init__(self):
+ super().__init__('velocity_param_node')
+ # Declare a parameter named 'velocity' with a default value of 10
+ self.declare_parameter('velocity', 10.0)
+
+ # Create a timer that triggers the timer_callback every second
+ self.timer = self.create_timer(1, self.timer_callback)
+
+ def timer_callback(self):
+ # Get the current value of the 'velocity' parameter
+ velocity = self.get_parameter('velocity').value
+ self.get_logger().info(f'Current velocity: {velocity}')
+
+def main():
+ rclpy.init()
+ node = VelocityParam()
+ rclpy.spin(node)
+ node.destroy_node()
+ rclpy.shutdown()
+
+if __name__ == '__main__':
+ main()
diff --git a/ros2_ws/src/python_parameters/resource/python_parameters b/ros2_ws/src/python_parameters/resource/python_parameters
new file mode 100644
index 0000000..e69de29
diff --git a/ros2_ws/src/python_parameters/setup.cfg b/ros2_ws/src/python_parameters/setup.cfg
new file mode 100644
index 0000000..82e18be
--- /dev/null
+++ b/ros2_ws/src/python_parameters/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/python_parameters
+[install]
+install_scripts=$base/lib/python_parameters
diff --git a/ros2_ws/src/python_parameters/setup.py b/ros2_ws/src/python_parameters/setup.py
new file mode 100644
index 0000000..3d6eff6
--- /dev/null
+++ b/ros2_ws/src/python_parameters/setup.py
@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'python_parameters'
+
+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='ventsi',
+ maintainer_email='udnpp@student.kit.edu',
+ description='TODO: Package description',
+ license='Apache-2.0',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'velocity_param_node = python_parameters.velocity_parameter:main',
+ ],
+ },
+)
diff --git a/ros2_ws/src/python_parameters/test/test_copyright.py b/ros2_ws/src/python_parameters/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/ros2_ws/src/python_parameters/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/ros2_ws/src/python_parameters/test/test_flake8.py b/ros2_ws/src/python_parameters/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/ros2_ws/src/python_parameters/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/ros2_ws/src/python_parameters/test/test_pep257.py b/ros2_ws/src/python_parameters/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/ros2_ws/src/python_parameters/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'
--
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