Initial commit

.gitignore

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+.vscode
+/build
+/install
+/log
+/src/*/build
+/src/*/cmake-build*

src/uaspire_controls/CMakeLists.txt

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+# CMakeLists.txt file to configure build of uaspire_controls
+
+# Set minimum version of CMake required to build
+cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+
+# Find ament meta build system
+find_package(ament_cmake REQUIRED)
+
+# Create uaspire_controls project
+project(uaspire_controls
+    DESCRIPTION "UASPIRE Controls"
+    LANGUAGES CXX)
+
+# Setup C++ version and compiler flags
+if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 14)
+    set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
+if (CMAKE_CXX_COMPILER_ID MATCHES "(GNU|AppleClang|Clang)")
+    add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Find required packages
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(uaspire_msgs REQUIRED)
+
+# Create targets and add target dependencies
+add_executable(uaspire_controls
+    main.cc
+)
+ament_target_dependencies(uaspire_controls
+    rclcpp
+    std_msgs
+    uaspire_msgs
+)
+
+# Install files to correct locations
+install(TARGETS uaspire_controls
+    DESTINATION bin)
+
+ament_package()

src/uaspire_controls/main.cc

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+#include <functional>
+
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+#include <uaspire_msgs/msg/command.hpp>
+#include <uaspire_msgs/msg/sensors.hpp>
+
+namespace arg = std::placeholders;
+namespace ros = ::rclcpp;
+using UaspireCommand = ::uaspire_msgs::msg::Command;
+using UaspireSensors = ::uaspire_msgs::msg::Sensors;
+
+class ControlsNode : public ros::Node
+{
+private:
+    ros::Subscription<UaspireCommand>::SharedPtr _command_subscription;
+    ros::Publisher<UaspireSensors>::SharedPtr _sensors_publisher;
+    ros::WallRate _rate;
+
+public:
+    RCLCPP_SHARED_PTR_DEFINITIONS(ControlsNode)
+
+    ControlsNode()
+        : Node("uaspire_controls"),
+        _rate(1.0)
+    {
+        _command_subscription = create_subscription<UaspireCommand>(
+            "uaspire/commands",
+            ros::QoS(10),
+            std::bind(&ControlsNode::on_message, this, arg::_1)
+        );
+        _sensors_publisher = create_publisher<UaspireSensors>(
+            "uaspire/sensors",
+            ros::QoS(10)
+        );
+    }
+
+    void on_message(const UaspireCommand::SharedPtr cmd)
+    {
+        RCLCPP_INFO(get_logger(), "Command received: %s", cmd->data.c_str());
+    }
+
+    void loop() {
+        while (ros::ok()) {
+            UaspireSensors sensors;
+            sensors.position = ros::Clock(RCL_STEADY_TIME).now().seconds();
+            _sensors_publisher->publish(sensors);
+            RCLCPP_INFO(get_logger(), "loop");
+            ros::spin_some(shared_from_this());
+            _rate.sleep();
+        }
+    }
+};
+
+int main(int argc, char** argv) {
+    ros::init(argc, argv);
+    {
+        auto node = ControlsNode::make_shared();
+        node->loop();
+    }
+    ros::shutdown();
+    return 0;
+}

src/uaspire_controls/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>uaspire_controls</name>
+  <version>0.0.1</version>
+  <description>UASPIRE Controls</description>
+  <maintainer email="alex@amikhalev.com">Alex Mikhalev</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Alex Mikhalev</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>uaspire_msgs</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>uaspire_msgs</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/uaspire_msgs/CMakeLists.txt

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+# CMakeLists.txt file to configure build of uaspire_msgs
+
+# Set minimum version of CMake required to build
+cmake_minimum_required(VERSION 3.10 FATAL_ERROR)
+
+# Find ament meta build system
+find_package(ament_cmake REQUIRED)
+
+# Create uaspire_controls project
+project(uaspire_msgs
+    DESCRIPTION "UASPIRE Messages"
+    LANGUAGES C CXX)
+
+# Find required packages
+find_package(rosidl_default_generators REQUIRED)
+
+# Create targets and add target dependencies
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg/Command.msg"
+    "msg/Sensors.msg"
+)
+
+# Install files to correct locations
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/uaspire_msgs/main.cc

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+int main() {
+    return 0;
+}

src/uaspire_msgs/msg/Command.msg

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+string data

src/uaspire_msgs/msg/Sensors.msg

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+float32 position

src/uaspire_msgs/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>uaspire_msgs</name>
+  <version>0.0.1</version>
+  <description>UASPIRE Controls ROS Messages</description>
+  <maintainer email="alex@amikhalev.com">Alex Mikhalev</maintainer>
+  <license>Apache License 2.0</license>
+  <author>Alex Mikhalev</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <build_depend>rclcpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

uaspire.code-workspace

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+{
+	"folders": [
+		{
+			"path": "."
+		},
+		{
+			"path": "src/uaspire_controls"
+		}
+	],
+	"settings": {
+		"ros.distro": "dashing"
+	}
+}