ros2 package init and decouple shared interfaces.

README.md

@@ -9,7 +9,7 @@
 </p>
 
 <h3>
-  <a href="PHILOSOPHY.md">Philosophy</a>
+  <a href="docs/PHILOSOPHY.md">Philosophy</a>
   <span> · </span>
   <a href="autonomy/README.md">Autonomy Docs</a>
   <span> · </span>

autonomy/.python-version

@@ -0,0 +1 @@
+3.13

autonomy/CMakeLists.txt

@@ -8,6 +8,7 @@ add_compile_options(-std=c++11)
 catkin_python_setup()
 
 find_package(catkin REQUIRED COMPONENTS
+  autonomy_interfaces
   nav_msgs
   sensor_msgs
   stereo_msgs
@@ -26,25 +27,70 @@ if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
 endif()
 
+# --- Begin: Copy shared interface definitions into this package ---
+# Location of shared interface source files (relative to this package)
+set(SHARED_INTERFACES_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../shared_interfaces")
+
+# Ensure local interface directories exist
+file(MAKE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/msg")
+file(MAKE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/srv")
+file(MAKE_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/action")
+
+# Gather shared files
+file(GLOB SHARED_MSGS "${SHARED_INTERFACES_DIR}/msg/*.msg")
+file(GLOB SHARED_SRVS "${SHARED_INTERFACES_DIR}/srv/*.srv")
+file(GLOB SHARED_ACTIONS "${SHARED_INTERFACES_DIR}/action/*.action")
+
+# Copy shared files into this package so catkin can find them
+foreach(f ${SHARED_MSGS})
+  get_filename_component(_name "${f}" NAME)
+  configure_file("${f}" "${CMAKE_CURRENT_SOURCE_DIR}/msg/${_name}" COPYONLY)
+endforeach()
+foreach(f ${SHARED_SRVS})
+  get_filename_component(_name "${f}" NAME)
+  configure_file("${f}" "${CMAKE_CURRENT_SOURCE_DIR}/srv/${_name}" COPYONLY)
+endforeach()
+foreach(f ${SHARED_ACTIONS})
+  get_filename_component(_name "${f}" NAME)
+  configure_file("${f}" "${CMAKE_CURRENT_SOURCE_DIR}/action/${_name}" COPYONLY)
+endforeach()
+
+# Build lists of filenames relative to package dirs
+set(MSG_FILES)
+foreach(f ${SHARED_MSGS})
+  get_filename_component(_name "${f}" NAME)
+  list(APPEND MSG_FILES ${_name})
+endforeach()
+
+set(SRV_FILES)
+foreach(f ${SHARED_SRVS})
+  get_filename_component(_name "${f}" NAME)
+  list(APPEND SRV_FILES ${_name})
+endforeach()
+
+set(ACTION_FILES)
+foreach(f ${SHARED_ACTIONS})
+  get_filename_component(_name "${f}" NAME)
+  list(APPEND ACTION_FILES ${_name})
+endforeach()
+# --- End: Copy shared interface definitions ---
+
 # Add message files
 add_message_files(
   FILES
-  Detection.msg
-  Detections.msg
+  ${MSG_FILES}
 )
 
 
 add_action_files(
   FILES
-  NavigateToWaypoint.action
+  ${ACTION_FILES}
 )
 
 # Add service files
 add_service_files(
   FILES
-  SetColorFilter.srv
-  SetYoloModel.srv
-  FireTorpedo.srv
+  ${SRV_FILES}
 )
 
 # Generate added messages and services
@@ -58,6 +104,7 @@ generate_messages(
 
 catkin_package(
   CATKIN_DEPENDS
+    autonomy_interfaces
     nav_msgs
     sensor_msgs
     stereo_msgs

autonomy/README.md

@@ -1,5 +1,11 @@
 # Hydrus Autonomy System
 
+
+This module is going to be deprecated for the following reasons:
+
+
+
+
 The Hydrus Autonomy System is a comprehensive ROS-based underwater vehicle control and mission management framework. This README documents all available scripts, their purpose, and usage instructions.
 
 > ⚠️ **Warning**: The mission API is currently under development. Some features may not work as expected and are subject to change.

autonomy/main.py

@@ -0,0 +1,6 @@
+def main():
+    print("Hello from autonomy!")
+
+
+if __name__ == "__main__":
+    main()

autonomy/package.xml

@@ -14,6 +14,9 @@
     <build_depend>catkin_pkg</build_depend>
     <exec_depend>python-catkin-pkg</exec_depend>
 
+    <!-- Custom interface dependencies -->
+    <depend>autonomy_interfaces</depend>
+
     <!-- Combined dependencies -->
     <depend>nav_msgs</depend>
     <depend>sensor_msgs</depend>  <!-- Added dependency -->

autonomy/pyproject.toml

@@ -0,0 +1,16 @@
+[project]
+name = "autonomy"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.12"
+dependencies = [
+    "colorama>=0.4.6",
+    "fastapi>=0.116.1",
+    "matplotlib>=3.10.5",
+    "opencv-python>=4.11.0.86",
+    "pyserial>=3.5",
+    "requests>=2.32.5",
+    "termcolor>=3.1.0",
+    "uvicorn>=0.35.0",
+]