From 29370ed6621dbee6cbd797d2300fef2d362c5270 Mon Sep 17 00:00:00 2001
From: finn <finn.linstrom9@gmail.com>
Date: Fri, 15 Dec 2023 10:21:59 +1100
Subject: [PATCH] updated srv def, src dir, readme
---
README.md | 6 +-
custom_bridge.Dockerfile | 20 ++---
.../src/custom_bridge_msgs/CMakeLists.txt | 33 ++++----
.../src/custom_bridge_msgs/README.md | 6 --
.../custom_bridge_msgs/msg/CustomState.msg | 1 +
.../src/custom_bridge_msgs/msg/Intent.msg | 3 -
.../msg/IntentComponent.msg | 2 -
.../src/custom_bridge_msgs/msg/State.msg | 2 +
.../custom_bridge_msgs/src/custom_service.cpp | 32 --------
.../src/custom_service_one.cpp | 32 ++++++++
.../custom_bridge_msgs/src/custom_talker.cpp | 82 +++++++++++++++++++
.../custom_bridge_msgs/srv/BeginPlanning.srv | 7 --
.../srv/CustomServiceOne.srv | 0
.../srv/CustomServiceTwo.srv | 2 +-
.../custom_bridge_msgs/srv/CustomSrvRes.srv | 8 --
.../src/custom_bridge_msgs/CMakeLists.txt | 73 +++++++++++++----
.../custom_bridge_msgs/msg/CustomState.msg | 1 +
.../src/custom_bridge_msgs/msg/Intent.msg | 3 -
.../msg/IntentComponent.msg | 2 -
.../src/custom_bridge_msgs/msg/State.msg | 2 +
.../src/custom_listener.cpp | 33 ++++++++
.../src/custom_service_two.cpp | 41 ++++++++++
.../srv/CustomServiceOne.srv | 5 ++
.../srv/CustomServiceTwo.srv | 6 ++
run.sh | 51 +++++++++---
25 files changed, 331 insertions(+), 122 deletions(-)
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/README.md
create mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/CustomState.msg
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/Intent.msg
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
create mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/State.msg
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service.cpp
create mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service_one.cpp
create mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_talker.cpp
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv
rename custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv => custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv (100%)
rename custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv => custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv (68%)
delete mode 100644 custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/CustomState.msg
delete mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/Intent.msg
delete mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/State.msg
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_listener.cpp
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_service_two.cpp
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv
create mode 100644 custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
diff --git a/README.md b/README.md
index ff0ac32..ed8e646 100644
--- a/README.md
+++ b/README.md
@@ -3,4 +3,8 @@
1. run `./run.sh -b` to build the docker image, copy custom msgs into the docker image and compile ros1 bridge
-2. `./run.sh` to launch the container and interract with bridge, ros1 and ros2.
+2. `./run.sh -r` to launch the container and interract with bridge, ros1 and ros2.
+
+3. test the bridge
+
+source /home/nx/ros1_bridge_ws/install/setup.bash && source /home/nx/rosbridge_general_update_ament.sh '/home/nx/ros1_bridge_ws/install' 'ros1_bridge' && ros2 run ros1_bridge dynamic_bridge --print-pairs | grep custom
\ No newline at end of file
diff --git a/custom_bridge.Dockerfile b/custom_bridge.Dockerfile
index 5ec2d29..62d102d 100644
--- a/custom_bridge.Dockerfile
+++ b/custom_bridge.Dockerfile
@@ -24,7 +24,7 @@ ARG PW=10
ENV ROS2_DISTRO=humble
-ENV ROS2_INSTALL_PATH=$HOME/ros2_humble
+ENV ROS2_INSTALL_PATH=$HOME/ros2_ws
RUN mkdir -p $ROS2_INSTALL_PATH/src
ENV ROS2_INSTALL=$ROS2_INSTALL_PATH/install/setup.bash
@@ -125,14 +125,11 @@ RUN apt install -y \
WORKDIR $HOME
COPY ./rosbridge_general_update_ament.sh .
-RUN bash -c "./rosbridge_general_update_ament.sh"
-
-
#### COPY CUSTOM_BRIDGE
WORKDIR $HOME
-COPY ./custom_bridge_ros1_ws $HOME/custom_bridge_ros1_ws/src
+COPY ./custom_bridge_ros1_ws $HOME/custom_bridge_ros1_ws
WORKDIR $HOME/custom_bridge_ros1_ws
RUN bash -c "catkin_make"
@@ -142,7 +139,7 @@ RUN bash -c "catkin_make"
#### COPY NEW BRIDGE WS
COPY ./custom_bridge_ros2_ws $HOME/custom_bridge_ros2_ws
WORKDIR $HOME/custom_bridge_ros2_ws
-RUN bash -c "source $HOME/ros2_humble/install/setup.bash && colcon build --symlink-install"
+RUN bash -c "source $HOME/ros2_ws/install/setup.bash && colcon build --symlink-install"
RUN mkdir -p $HOME/.ros/log && \
@@ -159,7 +156,7 @@ RUN chown -R $USERNAME:$USERNAME $HOME/custom_bridge_ros2_ws && \
#### INSTALL ROS1_BRIDGE
-ARG ROS1_BRIDGE_ROOT_DIR=/ros1_bridge_ws
+ARG ROS1_BRIDGE_ROOT_DIR=$HOME/ros1_bridge_ws
ENV ROS1_BRIDGE_ROOT_DIR=$ROS1_BRIDGE_ROOT_DIR
ARG ROS1_BRIDGE_INSTALL_DIR=$ROS1_BRIDGE_ROOT_DIR/src
@@ -175,10 +172,9 @@ WORKDIR $ROS1_BRIDGE_ROOT_DIR
#### BUILD/COMPILE ROS1_BRIDGE
-# RUN bash -c "cd ${HOME}/ht_planner_ws \
-# && source ./scripts/rosbridge_source.sh \
-# && cd ${ROS1_BRIDGE_ROOT_DIR} \
-# && colcon build --packages-select ros1_bridge --cmake-force-configure --parallel-workers $PW \
-# "
+RUN bash -c "source $HOME/custom_bridge_ros1_ws/devel/setup.bash &&\
+ source $HOME/ros2_ws/install/setup.bash &&\
+ source $HOME/custom_bridge_ros2_ws/install/setup.bash &&\
+ colcon build --packages-select ros1_bridge --cmake-force-configure --parallel-workers 12"
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/CMakeLists.txt b/custom_bridge_ros1_ws/src/custom_bridge_msgs/CMakeLists.txt
index 531d473..20bae42 100644
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/CMakeLists.txt
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/CMakeLists.txt
@@ -23,15 +23,15 @@ find_package(catkin REQUIRED COMPONENTS
## Generate messages in the 'msg' folder
add_message_files(
FILES
- Intent.msg
- IntentComponent.msg
+ State.msg
+ CustomState.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
- BeginPlanning.srv
- CustomSrvRes.srv
+ CustomServiceOne.srv
+ CustomServiceTwo.srv
)
## Generate added messages and services with any dependencies listed here
@@ -55,19 +55,18 @@ include_directories(
${catkin_INCLUDE_DIRS}
)
+# Declare a C++ executable
+add_executable(custom_talker src/custom_talker.cpp)
+add_executable(custom_service_one src/custom_service_one.cpp)
+# Specify the dependencies for this executable
+add_dependencies(custom_talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(custom_service_one ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-# # Declare a C++ executable
-# add_executable(dummy_start_planning_service src/custom_service.cpp)
-
-# # Specify the dependencies for this executable
-# add_dependencies(dummy_start_planning_service ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-
-# target_link_libraries(dummy_start_planning_service ${catkin_LIBRARIES})
-
-# # Install the executable
-# install(TARGETS dummy_start_planning_service
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+target_link_libraries(custom_talker ${catkin_LIBRARIES})
+target_link_libraries(custom_service_one ${catkin_LIBRARIES})
+# Install the executable
+install(TARGETS custom_talker custom_service_one
+ RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/README.md b/custom_bridge_ros1_ws/src/custom_bridge_msgs/README.md
deleted file mode 100644
index 2b8712e..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/README.md
+++ /dev/null
@@ -1,6 +0,0 @@
-# custom_bridge_msgs
-
-## custom_bridge_msgs for ros1 (and ros1_bridge)
-
-mount this directory into custom jammy docker image to bridge custom interfaces on 22.04
-
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/CustomState.msg b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/CustomState.msg
new file mode 100644
index 0000000..4f617d9
--- /dev/null
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/CustomState.msg
@@ -0,0 +1 @@
+State state
\ No newline at end of file
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/Intent.msg b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/Intent.msg
deleted file mode 100644
index 67ba7d7..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/Intent.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-std_msgs/Header header
-IntentComponent[] components
-
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/IntentComponent.msg b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
deleted file mode 100644
index 9506b2d..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float32 prob
-nav_msgs/Path path
\ No newline at end of file
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/State.msg b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/State.msg
new file mode 100644
index 0000000..fb82a2b
--- /dev/null
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/msg/State.msg
@@ -0,0 +1,2 @@
+float64[] rewards
+int64 value
\ No newline at end of file
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service.cpp b/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service.cpp
deleted file mode 100644
index 22cc6ae..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service.cpp
+++ /dev/null
@@ -1,32 +0,0 @@
-// #include "ros/ros.h"
-// #include "custom_bridge_msgs/BeginPlanning.h"
-
-// class DummyStartPlanning
-// {
-// public:
-// DummyStartPlanning()
-// {
-// service_ = nh_.advertiseService("dummy_start_planning", &DummyStartPlanning::handle_service, this);
-// }
-
-// private:
-// bool handle_service(custom_bridge_msgs::BeginPlanning::Request &request, custom_bridge_msgs::BeginPlanning::Response &response)
-// {
-// ROS_INFO_STREAM("Received request: " << request.start_pose.pose.position.x);
-// response.start = true;
-// // response.message = std::to_string(request.spose); // Commented out as in the original code
-// return true;
-// }
-
-// ros::NodeHandle nh_;
-// ros::ServiceServer service_;
-// };
-
-// int main(int argc, char **argv)
-// {
-// ros::init(argc, argv, "dummy_start_planning");
-// DummyStartPlanning dummyStartPlanning;
-// ros::spin();
-// return 0;
-// }
-
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service_one.cpp b/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service_one.cpp
new file mode 100644
index 0000000..98575bd
--- /dev/null
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_service_one.cpp
@@ -0,0 +1,32 @@
+#include "ros/ros.h"
+#include "custom_bridge_msgs/CustomServiceOne.h"
+
+class DummyCustomServiceOne
+{
+public:
+ DummyCustomServiceOne()
+ {
+ service_ = nh_.advertiseService("custom_service_topic", &DummyCustomServiceOne::handle_service, this);
+ }
+
+private:
+ bool handle_service(custom_bridge_msgs::CustomServiceOne::Request &request, custom_bridge_msgs::CustomServiceOne::Response &response)
+ {
+ ROS_INFO_STREAM("Received request: " << request.start_pose.pose.position.x);
+ response.start = true;
+ // response.message = std::to_string(request.spose); // Commented out as in the original code
+ return true;
+ }
+
+ ros::NodeHandle nh_;
+ ros::ServiceServer service_;
+};
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "dummy_custom_service_one");
+ DummyCustomServiceOne dummy_custom_service_one;
+ ros::spin();
+ return 0;
+}
+
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_talker.cpp b/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_talker.cpp
new file mode 100644
index 0000000..0b265c2
--- /dev/null
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/src/custom_talker.cpp
@@ -0,0 +1,82 @@
+// #include "ros/ros.h"
+// #include "std_msgs/String.h"
+
+// class DummyTalker
+// {
+// public:
+// DummyTalker() : count_(0)
+// {
+// nh_ = ros::NodeHandle("~");
+// publisher_ = nh_.advertise<std_msgs::String>("chatter", 10);
+// timer_ = nh_.createTimer(ros::Duration(0.5), &DummyTalker::publish_message, this);
+// }
+
+// private:
+// void publish_message(const ros::TimerEvent&)
+// {
+// std_msgs::String message;
+// message.data = "I am talking";
+// ROS_INFO("Publishing: '%s'", message.data.c_str());
+// publisher_.publish(message);
+// }
+
+// ros::NodeHandle nh_;
+// ros::Publisher publisher_;
+// ros::Timer timer_;
+// size_t count_;
+// };
+
+// int main(int argc, char **argv)
+// {
+// ros::init(argc, argv, "dummy_talker");
+// DummyTalker talker;
+// ros::spin();
+// return 0;
+// }
+
+
+#include "ros/ros.h"
+#include "custom_bridge_msgs/CustomState.h"
+#include "custom_bridge_msgs/State.h"
+
+int PUBLISH_RATE = 1;
+
+class DummyPublisher
+{
+ public:
+ DummyPublisher() : publish_rate_(PUBLISH_RATE) // Rate of 10 Hz
+ {
+ // Advertise the topic with a queue size of 10
+ publisher_ = nh_.advertise<custom_bridge_msgs::CustomState>("custom_state_topic", PUBLISH_RATE);
+ }
+
+ void publishLoop()
+ {
+ while (ros::ok())
+ {
+ std::vector<double> reward_vector{1., 2., 3., 4., 5.};
+ custom_bridge_msgs::State state;
+ custom_bridge_msgs::CustomState custom_state;
+ state.value = 2;
+ state.rewards = reward_vector;
+ custom_state.state = state;
+ publisher_.publish(custom_state);
+
+ ros::spinOnce();
+ publish_rate_.sleep();
+ }
+ }
+
+ private:
+ ros::NodeHandle nh_;
+ ros::Publisher publisher_;
+ ros::Rate publish_rate_; // Rate object to control the publish frequency
+};
+
+int main(int argc, char **argv)
+{
+ ros::init(argc, argv, "dummy_publisher");
+ DummyPublisher dummyPublisher;
+ dummyPublisher.publishLoop();
+ return 0;
+}
\ No newline at end of file
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv b/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv
deleted file mode 100644
index 77b774c..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv
+++ /dev/null
@@ -1,7 +0,0 @@
-# decmcts_msgs/StartPlanning
-# https://gitlab.com/dst-uts-aerial/decmcts_msgs/-/blob/master/srv/StartPlanning.srv
-
-geometry_msgs/PoseStamped start_pose
-float32 horizon_m
----
-bool start
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv b/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv
similarity index 100%
rename from custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/BeginPlanning.srv
rename to custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv b/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
similarity index 68%
rename from custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv
rename to custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
index 616e3d5..c19f17f 100644
--- a/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv
+++ b/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
@@ -2,5 +2,5 @@
---
bool success
float32 reward
-int32 num_iterations
+int32 iterations
nav_msgs/Path path
\ No newline at end of file
diff --git a/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv b/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv
deleted file mode 100644
index 3135e17..0000000
--- a/custom_bridge_ros1_ws/src/custom_bridge_msgs/srv/CustomSrvRes.srv
+++ /dev/null
@@ -1,8 +0,0 @@
-# decmcts_msgs/CompletePlanning
-# https://gitlab.com/dst-uts-aerial/decmcts_msgs/-/blob/master/srv/CompletePlanning.srv
-
----
-bool success
-float32 reward
-int32 num_iterations
-nav_msgs/Path path
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt b/custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt
index dc04405..71e8cfd 100644
--- a/custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/CMakeLists.txt
@@ -5,24 +5,35 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
-#set(CMAKE_CXX_FLAGS "--std=c++20 ${CMAKE_CXX_FLAGS} -g -rdynamic")
-# Find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(visualization_msgs REQUIRED)
+set(pkg_dependencies
+ ament_cmake
+ geometry_msgs
+ nav_msgs
+ std_msgs
+ visualization_msgs
+ rosidl_default_generators
+ rclcpp
+ rclcpp_components
+ geometry_msgs
+)
+
+foreach(pkg IN ITEMS ${pkg_dependencies})
+ find_package(${pkg} REQUIRED)
+endforeach()
rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/Intent.msg"
- "msg/IntentComponent.msg"
- "srv/BeginPlanning.srv"
- "srv/CustomSrvRes.srv"
+ "msg/State.msg"
+ "msg/CustomState.msg"
+ "srv/CustomServiceOne.srv"
+ "srv/CustomServiceTwo.srv"
DEPENDENCIES nav_msgs
)
+set(msg_dependencies
+ rclcpp
+ geometry_msgs # needed by CustomServiceRequest
+)
# Include directories
include_directories(
@@ -31,12 +42,44 @@ include_directories(
)
+rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
+# include act/msg/srv files in source code
+include_directories(
+ ${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp
+)
+
+
+# Create ROS 2 executables
+add_executable(custom_listener
+ "src/custom_listener.cpp"
+)
+
+ament_target_dependencies(custom_listener
+ ${pkg_dependencies}
+ ${msg_dependencies}
+)
+
+target_link_libraries(custom_listener "${cpp_typesupport_target}")
+
+
+
+
+
+add_executable(custom_service_two
+ "src/custom_service_two.cpp"
+)
+
+ament_target_dependencies(custom_service_two
+ ${pkg_dependencies}
+ ${msg_dependencies}
+)
+target_link_libraries(custom_service_two "${cpp_typesupport_target}")
+
-# Export dependencies for downstream packages
ament_export_dependencies(rosidl_default_runtime)
-# Finalize the package setup
-ament_package()
+
+ament_package()
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/CustomState.msg b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/CustomState.msg
new file mode 100644
index 0000000..4f617d9
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/CustomState.msg
@@ -0,0 +1 @@
+State state
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/Intent.msg b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/Intent.msg
deleted file mode 100644
index 67ba7d7..0000000
--- a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/Intent.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-std_msgs/Header header
-IntentComponent[] components
-
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/IntentComponent.msg b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
deleted file mode 100644
index 9506b2d..0000000
--- a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/IntentComponent.msg
+++ /dev/null
@@ -1,2 +0,0 @@
-float32 prob
-nav_msgs/Path path
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/State.msg b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/State.msg
new file mode 100644
index 0000000..fb82a2b
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/msg/State.msg
@@ -0,0 +1,2 @@
+float64[] rewards
+int64 value
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_listener.cpp b/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_listener.cpp
new file mode 100644
index 0000000..7ab872b
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_listener.cpp
@@ -0,0 +1,33 @@
+#include "rclcpp/rclcpp.hpp"
+#include "custom_bridge_msgs/msg/custom_state.hpp" // Adjust the include path to your ROS 2 message definition
+
+class DummySubscriber : public rclcpp::Node
+{
+public:
+ DummySubscriber() : Node("dummy_subscriber")
+ {
+ subscriber_ = this->create_subscription<custom_bridge_msgs::msg::CustomState>(
+ "custom_state_topic", 10,
+ std::bind(&DummySubscriber::topic_callback, this, std::placeholders::_1));
+ }
+
+private:
+ void topic_callback(const custom_bridge_msgs::msg::CustomState::SharedPtr msg) const
+ {
+ RCLCPP_INFO_STREAM(this->get_logger(), "Received state value: " << msg->state.value);
+ for (int reward : msg->state.rewards)
+ {
+ RCLCPP_INFO_STREAM(this->get_logger(), "reward: " << reward);
+ }
+ }
+
+ rclcpp::Subscription<custom_bridge_msgs::msg::CustomState>::SharedPtr subscriber_;
+};
+
+int main(int argc, char *argv[])
+{
+ rclcpp::init(argc, argv);
+ rclcpp::spin(std::make_shared<DummySubscriber>());
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_service_two.cpp b/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_service_two.cpp
new file mode 100644
index 0000000..8509c4a
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/src/custom_service_two.cpp
@@ -0,0 +1,41 @@
+#include "rclcpp/rclcpp.hpp"
+#include <nav_msgs/msg/path.hpp>
+#include "custom_bridge_msgs/srv/custom_service_two.hpp"
+
+class DummyCustomServiceTwo : public rclcpp::Node
+{
+public:
+ DummyCustomServiceTwo() : Node("custom_service_topic")
+ {
+ service_ = this->create_service<custom_bridge_msgs::srv::CustomServiceTwo>(
+ "custom_service_topic",
+ std::bind(&DummyCustomServiceTwo::service_callback, this, std::placeholders::_1, std::placeholders::_2));
+ }
+
+private:
+ void service_callback(
+ const std::shared_ptr<custom_bridge_msgs::srv::CustomServiceTwo::Request> request,
+ std::shared_ptr<custom_bridge_msgs::srv::CustomServiceTwo::Response> response)
+ {
+ RCLCPP_INFO_STREAM(this->get_logger(), "Received CustomServiceTwo request (empty), populating response obj");
+ response->success = true;
+ response->reward = 10.0;
+ response->iterations = 200;
+ response->path = nav_msgs::msg::Path();
+
+ response->path.header.frame_id = "map";
+ response->path.header.stamp = this->get_clock()->now();
+
+ }
+
+ rclcpp::Service<custom_bridge_msgs::srv::CustomServiceTwo>::SharedPtr service_;
+};
+
+int main(int argc, char *argv[])
+{
+ rclcpp::init(argc, argv);
+ auto node = std::make_shared<DummyCustomServiceTwo>();
+ rclcpp::spin(node);
+ rclcpp::shutdown();
+ return 0;
+}
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv b/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv
new file mode 100644
index 0000000..2d95da4
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceOne.srv
@@ -0,0 +1,5 @@
+
+geometry_msgs/PoseStamped start_pose
+float32 horizon_m
+---
+bool start
\ No newline at end of file
diff --git a/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv b/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
new file mode 100644
index 0000000..c19f17f
--- /dev/null
+++ b/custom_bridge_ros2_ws/src/custom_bridge_msgs/srv/CustomServiceTwo.srv
@@ -0,0 +1,6 @@
+
+---
+bool success
+float32 reward
+int32 iterations
+nav_msgs/Path path
\ No newline at end of file
diff --git a/run.sh b/run.sh
index a9466a9..72ee2fc 100755
--- a/run.sh
+++ b/run.sh
@@ -1,20 +1,45 @@
+if [ "$1" = "--help" ] || [ "$1" == "-h" ]; then
+ echo "custom bridge jammy help menu - build images / run containers"
+ echo " -b (default) build custom_bridge_jammy using ros2_from_src"
+ echo " -r start container from default image"
+ echo ""
+ echo " --help print help menu"
+ exit 0
+fi
+
+OS="jammy"
+image="custom_bridge_example_$OS"
if [ "$1" == "-b" ]; then
- docker build -f custom_bridge.Dockerfile -t custom_bridge_example:jammy .
+ echo "default build"
+ image+="latest"
+ docker build -f custom_bridge.Dockerfile -t $image .
+ exit 0
-else
- docker run \
- -it \
- --rm \
- --user "0" \
- -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
- --env DISPLAY=$DISPLAY \
- --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
- --env NVIDIA_VISIBLE_DEVICES=all \
- --name ros1_bridge_example3 \
- ros1_bridge_example_cb:jammy \
- "/bin/bash"
+elif [ "$1" == "-r" ]; then
+ image+="latest"
+
+else
+ echo "no options selected"
+ exit 0
fi
+
+name="custom_bridge_example_$OS""_tmp"
+
+
+docker run \
+ -it \
+ --rm \
+ --user "0" \
+ -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
+ --env DISPLAY=$DISPLAY \
+ --env NVIDIA_DRIVER_CAPABILITIES=compute,utility,graphics \
+ --env NVIDIA_VISIBLE_DEVICES=all \
+ --name $name \
+ $image \
+ "/bin/bash"
+
+
--
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