adipu_ws

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/chase_run_node

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','chase_run_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'chase_run_node')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/chaser_flipper

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','chaser_flipper'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'chaser_flipper')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/chaser_flipper_node

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','chaser_flipper_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'chaser_flipper_node')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/chaser_node

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','chaser_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'chaser_node')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/mouse_follow_node

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','mouse_follow_node'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'mouse_follow_node')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/mouse_follower.py

@@ -0,0 +1,92 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+import tkinter as tk
+from std_srvs.srv import Empty
+
+CA = 5
+CL = 5
+
+class Turtle1Controller(Node):
+  def __init__(self):
+    super().__init__("mouse_follow")
+    self.create_timer(0.1, self.publish_cmdVel)
+    self.root = tk.Tk()
+    self.cmdVelMsg=tk.StringVar()
+    self.pause_resume_info = tk.StringVar()
+    self.prStat = "PAUSE"
+    self.pause_resume_info.set(f"Click anywhere to {self.prStat} turtle1 control, right click to clear drawing")
+    self.paused = False
+    self.lin = 0.0
+    self.ang = 0.0
+    self.cmdPub = self.create_publisher(Twist, '/turtle1/cmd_vel', 10)
+    self.root.geometry("500x500")
+    self.canvas = tk.Canvas(self.root, width=500, height=500)
+    self.canvas.pack(fill=tk.BOTH, expand=True)
+    self.canvas.create_line(100, 100, 90, 30, 10, 10, smooth=True, arrow=tk.LAST, width=10, arrowshape=(10, 10, 10))
+    self.canvas.create_line(100, 400, 90, 470, 10, 490, smooth=True, arrow=tk.LAST, width=10, arrowshape=(10, 10, 10))
+    self.canvas.create_line(400, 100, 410, 30, 490, 10, smooth=True, arrow=tk.LAST, width=10, arrowshape=(10, 10, 10))
+    self.canvas.create_line(400, 400, 410, 470, 490, 490, smooth=True, arrow=tk.LAST, width=10, arrowshape=(10, 10, 10))
+    self.position_label = tk.Label(self.canvas, textvariable=self.cmdVelMsg)
+    self.position_label.pack(pady=20)
+    self.pause_resume_label = tk.Label(self.canvas, textvariable=self.pause_resume_info)
+    self.pause_resume_label.place(relx=0.5, rely=0.5, anchor=tk.CENTER)
+    self.root.bind('<Motion>', self.motion)
+    self.root.bind('<Button-1>', self.pauseResume)
+    self.clear_client = self.create_client(Empty, '/clear')
+    self.root.bind('<Button-3>', self.clear_background)
+
+  def publish_cmdVel(self):
+    if self.paused:
+      self.root.update_idletasks()
+      self.root.update()
+      return
+    msg = Twist()
+    msg.linear.x = self.lin
+    msg.angular.z = self.ang
+    self.cmdPub.publish(msg)
+
+    self.cmdVelMsg.set(f"lin.x: {self.lin:.2f}, ang.z: {self.ang:.2f}")
+    self.get_logger().info(f"Command: lin.x={self.lin:.2f}, ang.z={self.ang:.2f}")
+
+    self.root.update_idletasks()
+    self.root.update()
+
+  def motion(self, event):
+    x = self.root.winfo_pointerx() - self.root.winfo_rootx()
+    y = self.root.winfo_pointery() - self.root.winfo_rooty()
+    center_x = self.root.winfo_width() // 2
+    center_y = self.root.winfo_height() // 2
+    self.ang = CA*(x - center_x) * 2/self.root.winfo_width() # x from -C to C for angular
+    self.lin = -1*CL*(y - center_y)*2/self.root.winfo_height() # y from -C to C for linear
+    if self.lin > 0: self.ang *= -1
+    
+  def pauseResume(self, event):
+    self.paused = not self.paused
+    self.prStat = "RESUME" if self.paused else "PAUSE"
+    self.pause_resume_info.set(f"Click anywhere to {self.prStat} turtle1 control, right click to clear drawing")
+    msg = Twist()
+    msg.linear.x = 0.0
+    msg.angular.z = 0.0
+    self.cmdPub.publish(msg)
+    self.get_logger().info("Paused" if self.paused else "Resumed")
+
+  def clear_background(self, event):
+    if not self.clear_client.wait_for_service(timeout_sec=1.0):
+      self.get_logger().warn('/clear doesn\'t exist yet :(')
+      return
+    
+    req = Empty.Request()
+    asyncreq = self.clear_client.call_async(req)
+
+def main(args=None):
+  rclpy.init(args=args)
+
+  node = Turtle1Controller()
+  rclpy.spin(node)
+  rclpy.shutdown()
+
+if __name__=='__main__':
+  main()

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/mouse_test

@@ -0,0 +1,33 @@
+#!/usr/bin/python3
+# EASY-INSTALL-ENTRY-SCRIPT: 'adipu-turtlesim-controller','console_scripts','mouse_test'
+import re
+import sys
+
+# for compatibility with easy_install; see #2198
+__requires__ = 'adipu-turtlesim-controller'
+
+try:
+    from importlib.metadata import distribution
+except ImportError:
+    try:
+        from importlib_metadata import distribution
+    except ImportError:
+        from pkg_resources import load_entry_point
+
+
+def importlib_load_entry_point(spec, group, name):
+    dist_name, _, _ = spec.partition('==')
+    matches = (
+        entry_point
+        for entry_point in distribution(dist_name).entry_points
+        if entry_point.group == group and entry_point.name == name
+    )
+    return next(matches).load()
+
+
+globals().setdefault('load_entry_point', importlib_load_entry_point)
+
+
+if __name__ == '__main__':
+    sys.argv[0] = re.sub(r'(-script\.pyw?|\.exe)?$', '', sys.argv[0])
+    sys.exit(load_entry_point('adipu-turtlesim-controller', 'console_scripts', 'mouse_test')())

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/turtle1_chaser.py

@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.msg import Pose
+from adipu_turtlesim_controller.msg import Flip
+from math import pow, atan2, sqrt, pi, sin, cos
+
+CL = 1
+CA = 5
+
+class Turtle2Controller(Node):
+  def __init__(self):
+    super().__init__("turtle_chase")
+    #always have latest data, set queue size to 1
+    self.turt1poseSub = self.create_subscription(Pose, '/turtle1/pose', self.update_goal, 1)
+    self.turt2poseSub = self.create_subscription(Pose, '/turtle2/pose', self.update_start, 1) 
+    self.turt2velPub = self.create_publisher(Twist, '/turtle2/cmd_vel', 1) 
+    self.turtFlipSub = self.create_subscription(Flip, '/turtle2/flipper', self.flip, 1)
+    self.runAway = False
+    self.create_timer(0.05, self.approach_goal)
+
+    self.pose = Pose()
+    self.goal_pose = Pose()
+    self.tolerance = 0.1
+    self.away_thresh = 7
+
+  def update_start(self, data):
+    self.pose = data
+    self.pose.x = round(self.pose.x, 4)
+    self.pose.y = round(self.pose.y, 4)
+
+  def update_goal(self, data):
+    self.goal_pose = data
+    self.goal_pose.x = round(self.goal_pose.x, 4)
+    self.goal_pose.y = round(self.goal_pose.y, 4)
+
+  def flip(self, data):
+    self.runAway = not self.runAway
+
+  def distFromGoal(self):
+    return sqrt(pow(self.goal_pose.x - self.pose.x, 2) 
+            + pow(self.goal_pose.y - self.pose.y, 
+              2)) if not self.runAway else self.away_thresh - sqrt(pow(self.goal_pose.x - self.pose.x, 2) 
+                                             + pow(self.goal_pose.y - self.pose.y, 2))
+  
+  def angleFromGoal(self):
+    return atan2(self.goal_pose.y - self.pose.y, 
+                 self.goal_pose.x - self.pose.x) if not self.runAway else pi + atan2(self.goal_pose.y - 
+                                                        self.pose.y, self.goal_pose.x - self.pose.x)
+  
+  def approach_goal(self):
+    turt2_cmd = Twist()
+    dist = self.distFromGoal()
+    angFromGoal = self.angleFromGoal()
+    # normalize angle difference, to account for -180 to 180 jump
+    ang = atan2(sin(angFromGoal - self.pose.theta), cos(angFromGoal - self.pose.theta))
+    directionalCoeff = 1 - abs(ang)*2/pi # filter movement so it only works constructively to our goal.
+    if dist >= self.tolerance:
+      turt2_cmd.linear.x = CL * dist * directionalCoeff
+      turt2_cmd.angular.z = CA*ang # proportional control, as outlined in https://wiki.ros.org/turtlesim/Tutorials/Go%20to%20Goal
+
+    else:
+      turt2_cmd.linear.x = 0.0
+      turt2_cmd.angular.z = 0.0
+
+    self.turt2velPub.publish(turt2_cmd)
+    self.get_logger().info(f"command: lin.x={turt2_cmd.linear.x:.2f}, ang.z={turt2_cmd.angular.z:.2f}")
+
+def main(args=None):
+  rclpy.init(args=args)
+  node = Turtle2Controller()
+  rclpy.spin(node)
+  rclpy.shutdown()
+
+if __name__=='__main__':
+  main()

adipu_ws/install/adipu_turtlesim_controller/lib/adipu_turtlesim_controller/turtle2_flipper.py

@@ -0,0 +1,20 @@
+import rclpy
+from rclpy.node import Node
+from adipu_turtlesim_controller.msg import Flip
+
+class Turtle2Flipper(Node):
+  def __init__(self):
+    super().__init__("turtle_flip")
+    self.flipPub = self.create_publisher(Flip, '/turtle2/flipper', 1)
+    self.create_timer(10, self.flip)
+  
+  def flip(self):
+    msg = Flip()
+    self.flipPub.publish(msg)
+
+
+def main(args=None):
+  rclpy.init(args=args)
+  node = Turtle2Flipper()
+  rclpy.spin(node)
+  rclpy.shutdown()

adipu_ws/install/adipu_turtlesim_controller/lib/python3.10/site-packages/adipu-turtlesim-controller.egg-link

@@ -0,0 +1,2 @@
+/root/adipu_ws/build/adipu_turtlesim_controller
+.