From 82435fe4e9619278ae1e494985a7d8f1cdbcd71f Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 22 May 2020 14:03:46 -0700 Subject: [PATCH 01/11] fix syntax to be Python 3 compatible (#87) --- rospy_tutorials/002_headers/listener_header.py | 2 +- .../003_listener_with_user_data/listener_with_user_data.py | 2 +- rospy_tutorials/005_add_two_ints/add_two_ints_client | 2 +- .../007_connection_header/client_connection_header.py | 2 +- .../007_connection_header/listener_connection_header.py | 2 +- 5 files changed, 5 insertions(+), 5 deletions(-) diff --git a/rospy_tutorials/002_headers/listener_header.py b/rospy_tutorials/002_headers/listener_header.py index 129e570a..724c2fd8 100755 --- a/rospy_tutorials/002_headers/listener_header.py +++ b/rospy_tutorials/002_headers/listener_header.py @@ -57,6 +57,6 @@ def listener_header(): if __name__ == '__main__': try: listener_header() - except KeyboardInterrupt, e: + except KeyboardInterrupt: pass print("exiting") diff --git a/rospy_tutorials/003_listener_with_user_data/listener_with_user_data.py b/rospy_tutorials/003_listener_with_user_data/listener_with_user_data.py index b5f68bc9..fca11a90 100755 --- a/rospy_tutorials/003_listener_with_user_data/listener_with_user_data.py +++ b/rospy_tutorials/003_listener_with_user_data/listener_with_user_data.py @@ -66,6 +66,6 @@ def listener_with_user_data(): if __name__ == '__main__': try: listener_with_user_data() - except KeyboardInterrupt, e: + except KeyboardInterrupt: pass print("exiting") diff --git a/rospy_tutorials/005_add_two_ints/add_two_ints_client b/rospy_tutorials/005_add_two_ints/add_two_ints_client index 6dc422ab..f7f6825d 100755 --- a/rospy_tutorials/005_add_two_ints/add_two_ints_client +++ b/rospy_tutorials/005_add_two_ints/add_two_ints_client @@ -74,7 +74,7 @@ def add_two_ints_client(x, y): if not resp2.sum == (x + y): raise Exception("test failure, returned sum was %s"%resp2.sum) return resp1.sum - except rospy.ServiceException, e: + except rospy.ServiceException as e: print("Service call failed: %s"%e) def usage(): diff --git a/rospy_tutorials/007_connection_header/client_connection_header.py b/rospy_tutorials/007_connection_header/client_connection_header.py index 08838e5d..00cc5035 100755 --- a/rospy_tutorials/007_connection_header/client_connection_header.py +++ b/rospy_tutorials/007_connection_header/client_connection_header.py @@ -61,7 +61,7 @@ def add_two_ints_client(x, y): print("Server's connection headers were", resp._connection_header) return resp.sum - except rospy.ServiceException, e: + except rospy.ServiceException as e: print("Service call failed: %s"%e) def usage(): diff --git a/rospy_tutorials/007_connection_header/listener_connection_header.py b/rospy_tutorials/007_connection_header/listener_connection_header.py index 320c5e7e..d6805f11 100755 --- a/rospy_tutorials/007_connection_header/listener_connection_header.py +++ b/rospy_tutorials/007_connection_header/listener_connection_header.py @@ -62,6 +62,6 @@ def listener_header(): if __name__ == '__main__': try: listener_header() - except KeyboardInterrupt, e: + except KeyboardInterrupt: pass print("exiting") From 9004b200bcb602c7ad0c350e999bdc18fec9652d Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 22 May 2020 14:04:23 -0700 Subject: [PATCH 02/11] update changelogs --- ros_tutorials/CHANGELOG.rst | 3 +++ roscpp_tutorials/CHANGELOG.rst | 3 +++ rospy_tutorials/CHANGELOG.rst | 4 ++++ turtlesim/CHANGELOG.rst | 3 +++ 4 files changed, 13 insertions(+) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index 0c269d68..fd78a9a1 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.0 (2020-05-12) ------------------- diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index 965a5faa..399a8ab0 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.0 (2020-05-12) ------------------- diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index 042b875d..bda9e6f6 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* fix syntax to be Python 3 compatible (`#87 `_) + 0.10.0 (2020-05-12) ------------------- diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index 8348517c..eb165f3c 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.0 (2020-05-12) ------------------- * add noetic turtle (`#85 `_) From c076583752f13bc90c5ace16b3e6bb4c74e75d76 Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 22 May 2020 14:04:26 -0700 Subject: [PATCH 03/11] 0.10.1 --- ros_tutorials/CHANGELOG.rst | 4 ++-- ros_tutorials/package.xml | 2 +- roscpp_tutorials/CHANGELOG.rst | 4 ++-- roscpp_tutorials/package.xml | 2 +- rospy_tutorials/CHANGELOG.rst | 4 ++-- rospy_tutorials/package.xml | 2 +- turtlesim/CHANGELOG.rst | 4 ++-- turtlesim/package.xml | 2 +- 8 files changed, 12 insertions(+), 12 deletions(-) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index fd78a9a1..48c9ab15 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.1 (2020-05-22) +------------------- 0.10.0 (2020-05-12) ------------------- diff --git a/ros_tutorials/package.xml b/ros_tutorials/package.xml index a1d8a70e..10161373 100644 --- a/ros_tutorials/package.xml +++ b/ros_tutorials/package.xml @@ -1,7 +1,7 @@ ros_tutorials - 0.10.0 + 0.10.1 ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features. diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index 399a8ab0..0e99c1c2 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.1 (2020-05-22) +------------------- 0.10.0 (2020-05-12) ------------------- diff --git a/roscpp_tutorials/package.xml b/roscpp_tutorials/package.xml index 5cd874d7..2eefed85 100644 --- a/roscpp_tutorials/package.xml +++ b/roscpp_tutorials/package.xml @@ -1,7 +1,7 @@ roscpp_tutorials - 0.10.0 + 0.10.1 This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc. diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index bda9e6f6..dd06a720 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.1 (2020-05-22) +------------------- * fix syntax to be Python 3 compatible (`#87 `_) 0.10.0 (2020-05-12) diff --git a/rospy_tutorials/package.xml b/rospy_tutorials/package.xml index 05464f41..b88b1ceb 100644 --- a/rospy_tutorials/package.xml +++ b/rospy_tutorials/package.xml @@ -1,7 +1,7 @@ rospy_tutorials - 0.10.0 + 0.10.1 This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc. These tutorials are compatible with the nodes in roscpp_tutorial. diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index eb165f3c..e1e54c41 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.1 (2020-05-22) +------------------- 0.10.0 (2020-05-12) ------------------- diff --git a/turtlesim/package.xml b/turtlesim/package.xml index 5f255803..666654bf 100644 --- a/turtlesim/package.xml +++ b/turtlesim/package.xml @@ -1,7 +1,7 @@ turtlesim - 0.10.0 + 0.10.1 turtlesim is a tool made for teaching ROS and ROS packages. From 022f24ffa9936119ba67166ce1c0041eb7a9d363 Mon Sep 17 00:00:00 2001 From: Daisuke Sato Date: Sat, 1 Aug 2020 07:20:05 +0900 Subject: [PATCH 04/11] Add holonomic motion for turtlesim (#94) the turtle can move forward by linear.x and linear.y --- turtlesim/include/turtlesim/turtle.h | 3 ++- turtlesim/src/turtle.cpp | 17 +++++++++++------ 2 files changed, 13 insertions(+), 7 deletions(-) diff --git a/turtlesim/include/turtlesim/turtle.h b/turtlesim/include/turtlesim/turtle.h index 82f794f8..648ba633 100644 --- a/turtlesim/include/turtlesim/turtle.h +++ b/turtlesim/include/turtlesim/turtle.h @@ -76,7 +76,8 @@ class Turtle QPointF pos_; qreal orient_; - qreal lin_vel_; + qreal lin_vel_x_; + qreal lin_vel_y_; qreal ang_vel_; bool pen_on_; QPen pen_; diff --git a/turtlesim/src/turtle.cpp b/turtlesim/src/turtle.cpp index 48275366..7be5be18 100644 --- a/turtlesim/src/turtle.cpp +++ b/turtlesim/src/turtle.cpp @@ -44,7 +44,8 @@ Turtle::Turtle(const ros::NodeHandle& nh, const QImage& turtle_image, const QPoi , turtle_image_(turtle_image) , pos_(pos) , orient_(orient) -, lin_vel_(0.0) +, lin_vel_x_(0.0) +, lin_vel_y_(0.0) , ang_vel_(0.0) , pen_on_(true) , pen_(QColor(DEFAULT_PEN_R, DEFAULT_PEN_G, DEFAULT_PEN_B)) @@ -66,7 +67,8 @@ Turtle::Turtle(const ros::NodeHandle& nh, const QImage& turtle_image, const QPoi void Turtle::velocityCallback(const geometry_msgs::Twist::ConstPtr& vel) { last_command_time_ = ros::WallTime::now(); - lin_vel_ = vel->linear.x; + lin_vel_x_ = vel->linear.x; + lin_vel_y_ = vel->linear.y; ang_vel_ = vel->angular.z; } @@ -145,7 +147,8 @@ bool Turtle::update(double dt, QPainter& path_painter, const QImage& path_image, if (ros::WallTime::now() - last_command_time_ > ros::WallDuration(1.0)) { - lin_vel_ = 0.0; + lin_vel_x_ = 0.0; + lin_vel_y_ = 0.0; ang_vel_ = 0.0; } @@ -154,8 +157,10 @@ bool Turtle::update(double dt, QPainter& path_painter, const QImage& path_image, orient_ = orient_ + ang_vel_ * dt; // Keep orient_ between -pi and +pi orient_ -= 2*PI * std::floor((orient_ + PI)/(2*PI)); - pos_.rx() += std::cos(orient_) * lin_vel_ * dt; - pos_.ry() += - std::sin(orient_) * lin_vel_ * dt; + pos_.rx() += std::cos(orient_) * lin_vel_x_ * dt + - std::sin(orient_) * lin_vel_y_ * dt; + pos_.ry() -= std::cos(orient_) * lin_vel_y_ * dt + + std::sin(orient_) * lin_vel_x_ * dt; // Clamp to screen size if (pos_.x() < 0 || pos_.x() > canvas_width || @@ -172,7 +177,7 @@ bool Turtle::update(double dt, QPainter& path_painter, const QImage& path_image, p.x = pos_.x(); p.y = canvas_height - pos_.y(); p.theta = orient_; - p.linear_velocity = lin_vel_; + p.linear_velocity = std::sqrt(lin_vel_x_ * lin_vel_x_ + lin_vel_y_ * lin_vel_y_); p.angular_velocity = ang_vel_; pose_pub_.publish(p); From 62115f65d44d3b05058a80c62c51c8215cba117a Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 31 Jul 2020 15:21:28 -0700 Subject: [PATCH 05/11] update changelogs --- ros_tutorials/CHANGELOG.rst | 3 +++ roscpp_tutorials/CHANGELOG.rst | 3 +++ rospy_tutorials/CHANGELOG.rst | 3 +++ turtlesim/CHANGELOG.rst | 4 ++++ 4 files changed, 13 insertions(+) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index 48c9ab15..4e8f71a8 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.1 (2020-05-22) ------------------- diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index 0e99c1c2..efc61ded 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.1 (2020-05-22) ------------------- diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index dd06a720..831895f6 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,6 +2,9 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- + 0.10.1 (2020-05-22) ------------------- * fix syntax to be Python 3 compatible (`#87 `_) diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index e1e54c41..9ab9f2d2 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,6 +2,10 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* add holonomic motion for turtlesim (`#94 `_) + 0.10.1 (2020-05-22) ------------------- From 91d2764ebd2344acf8e6754323f5b937b836d218 Mon Sep 17 00:00:00 2001 From: Dirk Thomas Date: Fri, 31 Jul 2020 15:21:32 -0700 Subject: [PATCH 06/11] 0.10.2 --- ros_tutorials/CHANGELOG.rst | 4 ++-- ros_tutorials/package.xml | 2 +- roscpp_tutorials/CHANGELOG.rst | 4 ++-- roscpp_tutorials/package.xml | 2 +- rospy_tutorials/CHANGELOG.rst | 4 ++-- rospy_tutorials/package.xml | 2 +- turtlesim/CHANGELOG.rst | 4 ++-- turtlesim/package.xml | 2 +- 8 files changed, 12 insertions(+), 12 deletions(-) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index 4e8f71a8..b112f836 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.2 (2020-07-31) +------------------- 0.10.1 (2020-05-22) ------------------- diff --git a/ros_tutorials/package.xml b/ros_tutorials/package.xml index 10161373..a16d1e4b 100644 --- a/ros_tutorials/package.xml +++ b/ros_tutorials/package.xml @@ -1,7 +1,7 @@ ros_tutorials - 0.10.1 + 0.10.2 ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features. diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index efc61ded..18db8f6f 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.2 (2020-07-31) +------------------- 0.10.1 (2020-05-22) ------------------- diff --git a/roscpp_tutorials/package.xml b/roscpp_tutorials/package.xml index 2eefed85..f75b3381 100644 --- a/roscpp_tutorials/package.xml +++ b/roscpp_tutorials/package.xml @@ -1,7 +1,7 @@ roscpp_tutorials - 0.10.1 + 0.10.2 This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc. diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index 831895f6..0ea155f0 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.2 (2020-07-31) +------------------- 0.10.1 (2020-05-22) ------------------- diff --git a/rospy_tutorials/package.xml b/rospy_tutorials/package.xml index b88b1ceb..a928d830 100644 --- a/rospy_tutorials/package.xml +++ b/rospy_tutorials/package.xml @@ -1,7 +1,7 @@ rospy_tutorials - 0.10.1 + 0.10.2 This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc. These tutorials are compatible with the nodes in roscpp_tutorial. diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index 9ab9f2d2..b82083a6 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.2 (2020-07-31) +------------------- * add holonomic motion for turtlesim (`#94 `_) 0.10.1 (2020-05-22) diff --git a/turtlesim/package.xml b/turtlesim/package.xml index 666654bf..30c3179f 100644 --- a/turtlesim/package.xml +++ b/turtlesim/package.xml @@ -1,7 +1,7 @@ turtlesim - 0.10.1 + 0.10.2 turtlesim is a tool made for teaching ROS and ROS packages. From e90266b3b9aee34efc96267658a502fbbbded574 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Tue, 13 Oct 2020 08:51:29 -0700 Subject: [PATCH 07/11] Update maintainers (#102) Previous: Dirk Thomas Current: Mabel Zhang ; Shane Loretz Signed-off-by: Shane Loretz Signed-off-by: Shane Loretz --- ros_tutorials/package.xml | 4 +++- roscpp_tutorials/package.xml | 4 +++- rospy_tutorials/package.xml | 4 +++- turtlesim/package.xml | 4 +++- 4 files changed, 12 insertions(+), 4 deletions(-) diff --git a/ros_tutorials/package.xml b/ros_tutorials/package.xml index a16d1e4b..d9d3be8f 100644 --- a/ros_tutorials/package.xml +++ b/ros_tutorials/package.xml @@ -6,7 +6,8 @@ ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features. - Dirk Thomas + Mabel Zhang + Shane Loretz BSD http://www.ros.org/wiki/ros_tutorials @@ -14,6 +15,7 @@ https://github.com/ros/ros_tutorials Josh Faust Ken Conley + Dirk Thomas catkin diff --git a/roscpp_tutorials/package.xml b/roscpp_tutorials/package.xml index f75b3381..fdd2740e 100644 --- a/roscpp_tutorials/package.xml +++ b/roscpp_tutorials/package.xml @@ -6,13 +6,15 @@ This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc. - Dirk Thomas + Mabel Zhang + Shane Loretz BSD http://www.ros.org/wiki/roscpp_tutorials https://github.com/ros/ros_tutorials/issues https://github.com/ros/ros_tutorials Morgan Quigley + Dirk Thomas catkin diff --git a/rospy_tutorials/package.xml b/rospy_tutorials/package.xml index a928d830..0bfc4776 100644 --- a/rospy_tutorials/package.xml +++ b/rospy_tutorials/package.xml @@ -6,13 +6,15 @@ This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc. These tutorials are compatible with the nodes in roscpp_tutorial. - Dirk Thomas + Mabel Zhang + Shane Loretz BSD http://www.ros.org/wiki/rospy_tutorials https://github.com/ros/ros_tutorials/issues https://github.com/ros/ros_tutorials Ken Conley + Dirk Thomas catkin diff --git a/turtlesim/package.xml b/turtlesim/package.xml index 30c3179f..bb8c1def 100644 --- a/turtlesim/package.xml +++ b/turtlesim/package.xml @@ -5,13 +5,15 @@ turtlesim is a tool made for teaching ROS and ROS packages. - Dirk Thomas + Mabel Zhang + Shane Loretz BSD http://www.ros.org/wiki/turtlesim https://github.com/ros/ros_tutorials/issues https://github.com/ros/ros_tutorials Josh Faust + Dirk Thomas catkin From 74cc182dce2bb7d221052d1d45fe4ad0e7705843 Mon Sep 17 00:00:00 2001 From: Evan Flynn <6157095+flynneva@users.noreply.github.com> Date: Wed, 17 Feb 2021 08:45:49 -0800 Subject: [PATCH 08/11] added pointcoud2 example (#111) --- .../publish_pointcloud2.launch | 4 ++ .../publish_pointcloud2.py | 40 +++++++++++++++++++ rospy_tutorials/CMakeLists.txt | 9 +++++ 3 files changed, 53 insertions(+) create mode 100644 rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.launch create mode 100755 rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.py diff --git a/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.launch b/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.launch new file mode 100644 index 00000000..63bffd33 --- /dev/null +++ b/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.launch @@ -0,0 +1,4 @@ + + + + diff --git a/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.py b/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.py new file mode 100755 index 00000000..580b5a3d --- /dev/null +++ b/rospy_tutorials/010_publish_pointcloud2/publish_pointcloud2.py @@ -0,0 +1,40 @@ +#!/usr/bin/env python +from __future__ import print_function + +import rospy +import numpy as np +from sensor_msgs import point_cloud2 +from sensor_msgs.msg import PointCloud2 +from sensor_msgs.msg import PointField +from std_msgs.msg import Header + +width = 100 +height = 100 + +def publishPC2(count): + fields = [PointField('x', 0, PointField.FLOAT32, 1), + PointField('y', 4, PointField.FLOAT32, 1), + PointField('z', 8, PointField.FLOAT32, 1), + PointField('intensity', 12, PointField.FLOAT32, 1)] + + header = Header() + header.frame_id = "map" + header.stamp = rospy.Time.now() + + x, y = np.meshgrid(np.linspace(-2,2,width), np.linspace(-2,2,height)) + z = 0.5 * np.sin(2*x - count/10.0) * np.sin(2*y) + points = np.array([x,y,z,z]).reshape(4,-1).T + + pc2 = point_cloud2.create_cloud(header, fields, points) + pub.publish(pc2) + +if __name__ == '__main__': + rospy.init_node('pc2_publisher') + pub = rospy.Publisher('points2', PointCloud2, queue_size=100) + rate = rospy.Rate(10) + + count = 0 + while not rospy.is_shutdown(): + publishPC2(count) + count += 1 + rate.sleep() diff --git a/rospy_tutorials/CMakeLists.txt b/rospy_tutorials/CMakeLists.txt index 6ed09898..19dec932 100644 --- a/rospy_tutorials/CMakeLists.txt +++ b/rospy_tutorials/CMakeLists.txt @@ -98,6 +98,15 @@ install(FILES DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/009_advanced_publish ) +catkin_install_python(PROGRAMS + 010_publish_pointcloud2/publish_pointcloud2.py + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/010_publish_pointcloud2 +) +install(FILES + 010_publish_pointcloud2/publish_pointcloud2.launch + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/010_publish_pointcloud2 +) + if(CATKIN_ENABLE_TESTING) find_package(rostest) foreach(T From db6328879831b4abadac939bd69b43133414c0db Mon Sep 17 00:00:00 2001 From: Lucas Walter Date: Tue, 21 Jun 2022 14:23:24 -0700 Subject: [PATCH 09/11] use boost::placeholders::_1 instead of deprecated _1, and boost/bind/bind.hpp instead of bind.hpp (#142) --- .../listener_with_userdata/listener_with_userdata.cpp | 6 +++--- turtlesim/tutorials/draw_square.cpp | 4 ++-- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/roscpp_tutorials/listener_with_userdata/listener_with_userdata.cpp b/roscpp_tutorials/listener_with_userdata/listener_with_userdata.cpp index be0b257e..29f0ae6c 100644 --- a/roscpp_tutorials/listener_with_userdata/listener_with_userdata.cpp +++ b/roscpp_tutorials/listener_with_userdata/listener_with_userdata.cpp @@ -48,9 +48,9 @@ class Listener void init() { - subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 1"))); - subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 2"))); - subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, _1, "User 3"))); + subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, boost::placeholders::_1, "User 1"))); + subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, boost::placeholders::_1, "User 2"))); + subs_.push_back(node_handle_.subscribe("chatter", 1000, boost::bind(&Listener::chatterCallback, this, boost::placeholders::_1, "User 3"))); } void chatterCallback(const std_msgs::String::ConstPtr& msg, std::string user_string) diff --git a/turtlesim/tutorials/draw_square.cpp b/turtlesim/tutorials/draw_square.cpp index acee4664..60aaa8ec 100644 --- a/turtlesim/tutorials/draw_square.cpp +++ b/turtlesim/tutorials/draw_square.cpp @@ -1,4 +1,4 @@ -#include +#include #include #include #include @@ -154,7 +154,7 @@ int main(int argc, char** argv) ros::Subscriber pose_sub = nh.subscribe("turtle1/pose", 1, poseCallback); ros::Publisher twist_pub = nh.advertise("turtle1/cmd_vel", 1); ros::ServiceClient reset = nh.serviceClient("reset"); - ros::Timer timer = nh.createTimer(ros::Duration(0.016), boost::bind(timerCallback, _1, twist_pub)); + ros::Timer timer = nh.createTimer(ros::Duration(0.016), boost::bind(timerCallback, boost::placeholders::_1, twist_pub)); std_srvs::Empty empty; reset.call(empty); From 3199cbb7333d3ce757d0bc1637a1365efd0723c5 Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Thu, 10 Apr 2025 21:45:33 +0000 Subject: [PATCH 10/11] changelogs Signed-off-by: Shane Loretz --- ros_tutorials/CHANGELOG.rst | 5 +++++ roscpp_tutorials/CHANGELOG.rst | 6 ++++++ rospy_tutorials/CHANGELOG.rst | 6 ++++++ turtlesim/CHANGELOG.rst | 6 ++++++ 4 files changed, 23 insertions(+) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index b112f836..4dc4f826 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,6 +2,11 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* Update maintainers (`#102 `_) +* Contributors: Shane Loretz + 0.10.2 (2020-07-31) ------------------- diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index 18db8f6f..d5e99437 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* use boost::placeholders::_1 instead of deprecated _1, and boost/bind/bind.hpp instead of bind.hpp (`#142 `_) +* Update maintainers (`#102 `_) +* Contributors: Lucas Walter, Shane Loretz + 0.10.2 (2020-07-31) ------------------- diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index 0ea155f0..f61fba68 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* added pointcoud2 example (`#111 `_) +* Update maintainers (`#102 `_) +* Contributors: Evan Flynn, Shane Loretz + 0.10.2 (2020-07-31) ------------------- diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index b82083a6..2ce830f2 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,6 +2,12 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Forthcoming +----------- +* use boost::placeholders::_1 instead of deprecated _1, and boost/bind/bind.hpp instead of bind.hpp (`#142 `_) +* Update maintainers (`#102 `_) +* Contributors: Lucas Walter, Shane Loretz + 0.10.2 (2020-07-31) ------------------- * add holonomic motion for turtlesim (`#94 `_) From dbf2dc3c89f26a5cad3b7f26f4838bb1fd618bba Mon Sep 17 00:00:00 2001 From: Shane Loretz Date: Thu, 10 Apr 2025 21:45:45 +0000 Subject: [PATCH 11/11] 0.10.3 --- ros_tutorials/CHANGELOG.rst | 4 ++-- ros_tutorials/package.xml | 2 +- roscpp_tutorials/CHANGELOG.rst | 4 ++-- roscpp_tutorials/package.xml | 2 +- rospy_tutorials/CHANGELOG.rst | 4 ++-- rospy_tutorials/package.xml | 2 +- turtlesim/CHANGELOG.rst | 4 ++-- turtlesim/package.xml | 2 +- 8 files changed, 12 insertions(+), 12 deletions(-) diff --git a/ros_tutorials/CHANGELOG.rst b/ros_tutorials/CHANGELOG.rst index 4dc4f826..c71594b2 100644 --- a/ros_tutorials/CHANGELOG.rst +++ b/ros_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package ros_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.3 (2025-04-10) +------------------- * Update maintainers (`#102 `_) * Contributors: Shane Loretz diff --git a/ros_tutorials/package.xml b/ros_tutorials/package.xml index d9d3be8f..75cbf01e 100644 --- a/ros_tutorials/package.xml +++ b/ros_tutorials/package.xml @@ -1,7 +1,7 @@ ros_tutorials - 0.10.2 + 0.10.3 ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features. diff --git a/roscpp_tutorials/CHANGELOG.rst b/roscpp_tutorials/CHANGELOG.rst index d5e99437..866a085b 100644 --- a/roscpp_tutorials/CHANGELOG.rst +++ b/roscpp_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package roscpp_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.3 (2025-04-10) +------------------- * use boost::placeholders::_1 instead of deprecated _1, and boost/bind/bind.hpp instead of bind.hpp (`#142 `_) * Update maintainers (`#102 `_) * Contributors: Lucas Walter, Shane Loretz diff --git a/roscpp_tutorials/package.xml b/roscpp_tutorials/package.xml index fdd2740e..1f923ca0 100644 --- a/roscpp_tutorials/package.xml +++ b/roscpp_tutorials/package.xml @@ -1,7 +1,7 @@ roscpp_tutorials - 0.10.2 + 0.10.3 This package attempts to show the features of ROS step-by-step, including using messages, servers, parameters, etc. diff --git a/rospy_tutorials/CHANGELOG.rst b/rospy_tutorials/CHANGELOG.rst index f61fba68..e06cca93 100644 --- a/rospy_tutorials/CHANGELOG.rst +++ b/rospy_tutorials/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package rospy_tutorials ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.3 (2025-04-10) +------------------- * added pointcoud2 example (`#111 `_) * Update maintainers (`#102 `_) * Contributors: Evan Flynn, Shane Loretz diff --git a/rospy_tutorials/package.xml b/rospy_tutorials/package.xml index 0bfc4776..a6f12e13 100644 --- a/rospy_tutorials/package.xml +++ b/rospy_tutorials/package.xml @@ -1,7 +1,7 @@ rospy_tutorials - 0.10.2 + 0.10.3 This package attempts to show the features of ROS python API step-by-step, including using messages, servers, parameters, etc. These tutorials are compatible with the nodes in roscpp_tutorial. diff --git a/turtlesim/CHANGELOG.rst b/turtlesim/CHANGELOG.rst index 2ce830f2..edf63ba4 100644 --- a/turtlesim/CHANGELOG.rst +++ b/turtlesim/CHANGELOG.rst @@ -2,8 +2,8 @@ Changelog for package turtlesim ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Forthcoming ------------ +0.10.3 (2025-04-10) +------------------- * use boost::placeholders::_1 instead of deprecated _1, and boost/bind/bind.hpp instead of bind.hpp (`#142 `_) * Update maintainers (`#102 `_) * Contributors: Lucas Walter, Shane Loretz diff --git a/turtlesim/package.xml b/turtlesim/package.xml index bb8c1def..a064dfcb 100644 --- a/turtlesim/package.xml +++ b/turtlesim/package.xml @@ -1,7 +1,7 @@ turtlesim - 0.10.2 + 0.10.3 turtlesim is a tool made for teaching ROS and ROS packages.