ROS2 Repository for ROS2 Concepts and Differential Drive Robot Simulation

This repository contains multiple robotics projects implemented in both Python and C++. Each project is organized into its respective directory with the following structure:

Directories Overview

action_py

This directory contains Python implementations of various action-related functionalities, including clients and servers for different challenges and counting tasks.

• actions_challenge_client.py: Client for actions challenge.
• actions_challenge_server.py: Server for actions challenge.
• count_until_client.py: Client for counting until a certain number.
• count_until_server.py: Server for counting until a certain number.

actions_cpp

This directory contains C++ implementations for action-related tasks.

• count_until_client.cpp: C++ client for counting tasks.
• count_until_server.cpp: C++ server for counting tasks.
• count_until_server_queue_goals.cpp: C++ server with goal queuing functionality.

activity

This directory contains Python nodes for various activities.

• batteryNode.py: Node to monitor battery status.
• ledPanelNode.py: Node to control an LED panel.
• number_counter.py: Node for counting numbers.
• number_publisher.py: Node to publish numbers.

components_cpp

This directory contains C++ components for various functionalities.

• manual_composition.cpp: Example of manual component composition.
• number_publisher.cpp: Component to publish numbers.

components_py

This directory contains Python components for various functionalities.

• manual_composition.py: Example of manual component composition.
• node1.py: First example node.
• node2.py: Second example node.

executors_cpp

This directory contains C++ executors.

• multi_threaded_executor.cpp: Multi-threaded executor example.
• single_threaded_executor.cpp: Single-threaded executor example.

executors_py

This directory contains Python executors.

• multi_threaded_executor.py: Multi-threaded executor example.
• single_threaded_executor.py: Single-threaded executor example.
• number_publisher.py: Example of a node publishing numbers.

final_project

This directory contains the final project implementations in C++.

• final_project.cpp: Main final project implementation.
• final_project_step1.cpp: Step 1 of the final project.
• final_project_step2.cpp: Step 2 of the final project.
• final_project_step3.cpp: Step 3 of the final project.
• final_project_turtlebot.cpp: Final project for Turtlebot.

lifecycle_cpp

This directory contains C++ lifecycle nodes.

• number_publisher.cpp: Lifecycle node to publish numbers.

lifecycle_py

This directory contains Python lifecycle nodes.

• actions_challenge_client.py: Lifecycle client for actions challenge.
• actions_challenge_server.py: Lifecycle server for actions challenge.
• lifecycle_node_manager.py: Node manager for lifecycle nodes.
• number_publisher.py: Lifecycle node to publish numbers.

my_cpp_package

This directory contains custom C++ packages.

• add_two_ints_client.cpp: Client for adding two integers.
• add_two_ints_server.cpp: Server for adding two integers.
• cpp_publisher.cpp: Publisher node in C++.
• cpp_subscriber.cpp: Subscriber node in C++.

my_py_pkg

This directory contains custom Python packages.

• add_two_ints_client.py: Client for adding two integers.
• add_two_ints_server.py: Server for adding two integers.
• py_publisher.py: Publisher node in Python.
• py_subscriber.py: Subscriber node in Python.

my_robot_bringup

This directory contains launch files and configurations for bringing up the robot.

• components.launch.py: Launch file for components.

• final_project.launch.xml: Launch file for the final project.

• my_robot_gazebo.launch.xml: Launch file for Gazebo simulation.

• my_robot_description

This directory contains URDF and configuration files for robot description.

• my_robot.urdf.xacro: URDF file for the robot.
• mobile_base.xacro: URDF file for the mobile base.
• arm.xacro: URDF file for the robotic arm.

my_robot_interfaces

This directory contains custom message, service, and action definitions.

• CountUntil.action: Action to count until a certain number.
• MoveRobot.action: Action to move the robot.
• HardwareStatus.msg: Message for hardware status.
• SetLed.srv: Service to set the LED state.

turtlesim_catch_them_all

This directory contains a project for catching turtles in the Turtlesim simulator.

• turtle_controller.py: Python script to control the turtle.
• turtle_spawner.py: Python script to spawn turtles.