Pub raul

README.md

@@ -26,7 +26,7 @@ Ref: https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-A
 cd ~
 ```
 
-4. Go to src folder in your workspace
+4. Go to src folder in your workspace. Change my_name_ws accordingly
 
 ```shell script
 cd my_name_ws/src/
@@ -55,6 +55,65 @@ sudo rosdep init
 rosdep update
 ```
 
+5. Open VSCode, got to the menu and select file, an then select open folder and select our workspace in home. This show our workspace in the VScode explorer
+
+6. In a terminal go to your workspace 
+
+```shell script
+colcon build
+```
+
+7. Sourve the overlay according to your distro
+
+```shell script
+source /opt/ros/foxy/setup.bash
+```
+8.
+
+```shell script
+. install/local_setup.bash
+```
+
+
+## Virtual Environment Setup in Linux
+
+https://docs.ros.org/en/foxy/How-To-Guides/Using-Python-Packages.html
+
+```shell script
+sudo apt install python3-pip
+```
+
+```shell script
+sudo apt install python3-virtualenv
+```
+### Make a virtual env and activate it
+
+From your workspace directory run this command
+
+```shell script
+virtualenv -p python3 ./venv
+```
+```shell script
+source ./venv/bin/activate
+```
+
+Make sure that colcon doesn’t try to build the venv
+```shell script
+touch ./venv/COLCON_IGNORE
+```
+
+
+Next, install the Python packages that you want in your virtual environment:
+
+if any requirement file is in the src folder, then install them for command line
+
+```shell script
+pip install -r src/requirements.txt
+```
+
+Now you can build your workspace and run your python node that depends on packages installed in your virtual environment.
+
+
 
 ## Source Control Recommendations
 
@@ -66,3 +125,8 @@ rosdep update
 
 
 BUENOS DIAS :)
+ADIOS 
+hola willy
+HOla reyes
+
+Feliz cumpleaños willy :)

henry_pkg/henry_pkg/fis.py

@@ -0,0 +1,33 @@
+import numpy as np
+import skfuzzy as fuzz
+from skfuzzy import control as ctrl
+
+# New Antecedent/Consequent objects hold universe variables and membership
+# functions
+quality = ctrl.Antecedent(np.arange(0, 11, 1), 'quality')
+service = ctrl.Antecedent(np.arange(0, 11, 1), 'service')
+tip = ctrl.Consequent(np.arange(0, 26, 1), 'tip')
+
+# Auto-membership function population is possible with .automf(3, 5, or 7)
+quality.automf(3)
+service.automf(3)
+
+# Custom membership functions can be built interactively with a familiar,
+# Pythonic API
+tip['low'] = fuzz.trimf(tip.universe, [0, 0, 13])
+tip['medium'] = fuzz.trimf(tip.universe, [0, 13, 25])
+tip['high'] = fuzz.trimf(tip.universe, [13, 25, 25])
+
+rule1 = ctrl.Rule(quality['poor'] | service['poor'], tip['low'])
+rule2 = ctrl.Rule(service['average'], tip['medium'])
+rule3 = ctrl.Rule(service['good'] | quality['good'], tip['high'])
+
+rule1.view()
+
+tipping_ctrl = ctrl.ControlSystem([rule1, rule2, rule3])
+
+def main(args=None):
+    print()
+
+if __name__ == '__main__':
+    main()

henry_pkg/henry_pkg/my_pub.py

@@ -0,0 +1,39 @@
+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def __init__(self):
+        super().__init__('minimal_publisher')
+        self.publisher_ = self.create_publisher(String, 'topic', 10)
+        timer_period = 0.5  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello World: %d' % self.i
+        self.publisher_.publish(msg)
+        self.get_logger().info('Publishing: "%s"' % msg.data)
+        self.i += 1
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    minimal_publisher = MinimalPublisher()
+
+    rclpy.spin(minimal_publisher)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_publisher.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

henry_pkg/henry_pkg/server.py

@@ -0,0 +1,55 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from lolito_interfaces.srv import CaptureImage
+
+
+class ImageCaptureServer(Node):
+    def __init__(self):
+        super().__init__('image_capture_server')
+        self.srv = self.create_service(CaptureImage, 'capture_image', self.capture_image_callback)
+
+    def capture_image_callback(self, request, response):
+        # Aquí es donde capturamos la imagen y la enviamos como respuesta
+        image = self.capture_image()
+        response.image = image
+        return response
+
+    def capture_image(self):
+        # En este ejemplo, utilizamos la biblioteca OpenCV para capturar la imagen
+        import cv2
+
+        # Capturamos la imagen de la cámara web
+        cap = cv2.VideoCapture(0)
+        _, frame = cap.read()
+
+        # Convertimos la imagen capturada a un mensaje ROS
+        msg = Image()
+        msg.header.frame_id = 'camera'
+        msg.encoding = 'bgr8'
+        msg.height, msg.width, _ = frame.shape
+        msg.step = 3 * msg.width
+        msg.data = frame.tobytes()
+
+        # Liberamos la cámara web
+        cap.release()
+
+        return msg
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    node = ImageCaptureServer()
+
+    try:
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+
+    node.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

henry_pkg/package.xml

@@ -0,0 +1,30 @@
+<?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>henry_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="henryroncanciovelandia@gmail.com">roncanciovl</maintainer>
+  <license>Apache License 2.0</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>example_interfaces</exec_depend>
+
+  <build_depend>rosidl_default_generators</build_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+
+
+  <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>

henry_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/henry_pkg
+[install]
+install-scripts=$base/lib/henry_pkg

henry_pkg/setup.py

@@ -0,0 +1,27 @@
+from setuptools import setup
+
+package_name = 'henry_pkg'
+
+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']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='roncanciovl',
+    maintainer_email='henryroncanciovelandia@gmail.com',
+    description='TODO: Package description',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'talker = henry_pkg.my_pub:main',
+            'imageServer = henry_pkg.server:main',
+        ],
+    },
+)

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

henry_pkg/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)

henry_pkg/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'

lolito/CMakeLists.txt

@@ -0,0 +1,45 @@
+cmake_minimum_required(VERSION 3.5)
+project(lolito)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(std_msgs REQUIRED)
+
+ament_python_install_package(Scripts/)
+
+install(PROGRAMS
+  Scripts/pub-raul.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()