Dolly package included

dolly/dolly/my_node.py

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+def main():
+ print('Hi from dolly.')
+
+
+if __name__ == '__main__':
+ main()

dolly/launch/1_rviz.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+ urdf = '/home/luqman/beginners_ws/src/dolly/urdf/dolly.urdf'
+ # rviz_config_file=os.path.join(package_dir,'config.rviz')
+
+ return LaunchDescription([
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='screen',
+ arguments=[urdf]),
+ Node(
+ package='joint_state_publisher_gui',
+ executable='joint_state_publisher_gui',
+ name='joint_state_publisher_gui',
+ arguments=[urdf]),
+
+ Node(
+ package='rviz2',
+ executable='rviz2',
+ name='rviz2',
+ # arguments=['-d',rviz_config_file],
+ output='screen'),
+
+
+ ])

dolly/launch/2_gazebo.launch.py

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+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.actions import ExecuteProcess
+def generate_launch_description():
+ urdf = '/home/luqman/beginners_ws/src/dolly/urdf/dolly.urdf'
+
+ return LaunchDescription([
+
+ Node(
+ package='robot_state_publisher',
+ executable='robot_state_publisher',
+ name='robot_state_publisher',
+ output='screen',
+ arguments=[urdf]),
+ Node(
+ package='joint_state_publisher',
+ executable='joint_state_publisher',
+ name='joint_state_publisher',
+ arguments=[urdf]),
+# Gazebo related stuff required to launch the robot in simulation
+ ExecuteProcess(
+ cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
+ output='screen'),
+ Node(
+ package='gazebo_ros',
+ executable='spawn_entity.py',
+ name='urdf_spawner',
+ output='screen',
+ arguments=["-topic", "/robot_description", "-entity", "dolly"])
+ ])

dolly/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http:https://download.ros.org/schema/package_format3.xsd" schematypens="http:https://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+ <name>dolly</name>
+ <version>0.0.0</version>
+ <description>TODO: Package description</description>
+ <maintainer email="[email protected]">luqman</maintainer>
+ <license>TODO: License declaration</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>

dolly/setup.cfg

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+[develop]
+script-dir=$base/lib/dolly
+[install]
+install-scripts=$base/lib/dolly

dolly/setup.py

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+from setuptools import setup
+import os
+from glob import glob
+package_name = 'dolly'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=[package_name],
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ (os.path.join('share', package_name), glob('urdf/*')),
+ (os.path.join('share', package_name), glob('launch/*')),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='luqman',
+ maintainer_email='[email protected]',
+ description='TODO: Package description',
+ license='TODO: License declaration',
+ tests_require=['pytest'],
+ entry_points={
+ 'console_scripts': [
+ 'my_node = dolly.my_node:main'
+ ],
+ },
+)

dolly/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:https://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
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+ rc = main(argv=['.', 'test'])
+ assert rc == 0, 'Found errors'

dolly/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:https://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)

dolly/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:https://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'