Chamo k

README.md

@@ -1,92 +0,0 @@
-# Robot-over-ROS2
-Robot implementation using Robot Operating System V2
-
-PUblisher/subscriber nodes
-HOLA 
-Test on branches
-HOLA alo123
-
-pruebita lolo
-alosito el mejor
-\n  \\ AmigoblesssOG
-pruebita otra 2
-
-Test on branches
-
-
-## Setup
-
-Ref: https://docs.ros.org/en/foxy/Tutorials/Beginner-Client-Libraries/Creating-A-Workspace/Creating-A-Workspace.html
-
-1. Create a workspace folder in home
-2. Create a new folder named src inside your workspace 
-3. Go to home in a terminal: 
-
-```shell script
-cd ~
-```
-
-4. Go to src folder in your workspace. Change my_name_ws accordingly
-
-```shell script
-cd my_name_ws/src/
-```
-
-Clone without folder instructions> https://stackoverflow.com/questions/17581379/git-clone-without-project-folder 
-
-command example: 
-```shell script
-git clone https://github.com/roncanciovl/Robot-over-ROS2.git .
-```
-
-4. Resolve dependencies according to your distro
-```shell script
-cd ..
-rosdep install -i --from-path src --rosdistro foxy -y
-```
-Return: All required rosdeps installed successfully
-
-This may requiere before
-
-```shell script
-sudo rosdep init
-```
-```shell script
-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
-```
-
-
-
-
-## Source Control Recommendations
-
-
-2. For new features, create a new branch. Name it according to the feature. You may add it to the github repo.
-
-
-
-
-
-BUENOS DIAS :)
-ADIOS 
-hola willy
-HOla reyes

launch/Nodos.launch.py

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+import launch
+import launch_ros.actions
+import launch_ros.substitutions
+
+def generate_launch_description():
+    node1 = launch_ros.actions.Node(
+        package='peruano_pkg',
+        executable='Rpm',
+        name='nodo1'
+    )
+    node2 = launch_ros.actions.Node(
+        package='peruano_pkg',
+        executable='SupPub',
+        name='nodo2'
+    )
+    node3 = launch_ros.actions.Node(
+        package='peruano_pkg',
+        executable='LinSpeed',
+        name='nodo3'
+    )
+
+    return launch.LaunchDescription([
+        node1,
+        node2,
+        node3
+    ])

launch/Tarea.launch.py

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+import launch
+import launch_ros.actions
+import launch_ros.substitutions
+
+def generate_launch_description():
+    node1 = launch_ros.actions.Node(
+        package='peruano_pkg',
+        executable='P1E',
+        name='nodo1'
+    )
+    node2 = launch_ros.actions.Node(
+        package='peruano_pkg',
+        executable='P1R',
+        name='nodo2'
+    )
+
+    return launch.LaunchDescription([
+        node1,
+        node2
+    ])

lolito/CMakeLists.txt

@@ -1,35 +0,0 @@
-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)
-# 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()

lolito/package.xml

@@ -1,18 +0,0 @@
-<?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>lolito</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="henryroncanciovelandia@gmail.com">roncanciovl</maintainer>
-  <license>TODO: License declaration</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>

peruano_pkg/package.xml

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+<?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>peruano_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="jdicano1319@gmail.com">jackson</maintainer>
+  <license>TODO: License declaration</license>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+  <build_depend>cv_bridge</build_depend>
+  <exec_depend>cv_bridge</exec_depend>
+  <build_depend>image_transport</build_depend>
+  <exec_depend>image_transport</exec_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <build_depend>OpenCV</build_depend>
+  <exec_depend>OpenCV</exec_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>

peruano_pkg/peruano_pkg/P_EnviarFoto.py

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+import cv2
+import numpy as np
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+from cv_bridge import CvBridge
+
+class ImagePublisher(Node):
+
+    def _init_(self):
+        super()._init_('chamito')
+        self.publisher_ = self.create_publisher(Image, 'ALO', 10)
+        self.timer_ = self.create_timer(0.1, self.publish_image)
+        self.bridge_ = CvBridge()
+
+    def publish_image(self):
+        # Creamos una imagen de 640x480 píxeles con tres canales (BGR)
+        image = np.zeros((480, 640, 3), np.uint8)
+        # Dibujamos un círculo azul en el centro de la imagen
+        cv2.circle(image, (320, 240), 100, (255, 0, 0), -1)
+        # Convertimos la imagen a un mensaje de ROS
+        msg = self.bridge_.cv2_to_imgmsg(image, 'bgr8')
+        # Publicamos el mensaje
+        self.publisher_.publish(msg)
+        self.get_logger().info('Imagen publicada')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImagePublisher()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '_main_':
+    main()

peruano_pkg/peruano_pkg/P_RecibirFoto.py

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+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Image
+
+
+class ImageSubscriber(Node):
+
+    def _init_(self):
+        super()._init_('image_subscriber')
+        self.subscription = self.create_subscription(
+            Image,
+            'ALO',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('Received an image!')  # add your own code here to process the image data
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImageSubscriber()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '_main_':
+    main()

peruano_pkg/peruano_pkg/T_LinSpeed.py

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+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalSubscriber(Node):
+
+    def _init_(self):
+        super()._init_('minimal_subscriber')
+        self.subscription = self.create_subscription(
+            String,
+            'lineal_speed',
+            self.listener_callback,
+            10)
+        self.subscription  # prevent unused variable warning
+
+    def listener_callback(self, msg):
+        self.get_logger().info('I heard: "%s"' % msg.data)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    minimal_subscriber = MinimalSubscriber()
+    rclpy.spin(minimal_subscriber)
+
+    # Destroy the node explicitly
+    # (optional - otherwise it will be done automatically
+    # when the garbage collector destroys the node object)
+    minimal_subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '_main_':
+    main()

peruano_pkg/peruano_pkg/T_PubRpm.py

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+import rclpy
+from rclpy.node import Node
+
+from std_msgs.msg import String
+
+
+class MinimalPublisher(Node):
+
+    def _init_(self):
+        super()._init_('CR_T1_PUBRPM')
+        self.publisher_ = self.create_publisher(String, 'RPM', 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 = str(3)
+        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()