From 01da916b91c1813ec886a4331e56415053d4e9fe Mon Sep 17 00:00:00 2001 From: Safak Hazinedar Date: Mon, 5 Jan 2026 01:02:41 +0100 Subject: [PATCH] P3.1 erste Cersion P2 und P3 in /spot verschoben --- P1/src/praktikum1/praktikum1/p1.py | 4 +- {P2 => spot}/src/praktikum2/LICENSE | 0 {P2 => spot}/src/praktikum2/package.xml | 0 .../src/praktikum2/praktikum2/__init__.py | 0 .../praktikum2/p2_aruco_marker_detection.py | 0 .../praktikum2/p2_line_following.py | 2 +- .../src/praktikum2/resource/praktikum2 | 0 {P2 => spot}/src/praktikum2/setup.cfg | 0 {P2 => spot}/src/praktikum2/setup.py | 0 .../src/praktikum2/test/test_copyright.py | 0 .../src/praktikum2/test/test_flake8.py | 0 .../src/praktikum2/test/test_pep257.py | 0 spot/src/praktikum3/LICENSE | 202 ++++++++++++++++++ spot/src/praktikum3/package.xml | 18 ++ spot/src/praktikum3/praktikum3/__init__.py | 0 spot/src/praktikum3/praktikum3/p3_pushup.py | 35 +++ spot/src/praktikum3/resource/praktikum3 | 0 spot/src/praktikum3/setup.cfg | 4 + spot/src/praktikum3/setup.py | 30 +++ spot/src/praktikum3/test/test_copyright.py | 25 +++ spot/src/praktikum3/test/test_flake8.py | 25 +++ spot/src/praktikum3/test/test_pep257.py | 23 ++ 22 files changed, 365 insertions(+), 3 deletions(-) rename {P2 => spot}/src/praktikum2/LICENSE (100%) rename {P2 => spot}/src/praktikum2/package.xml (100%) rename {P2 => spot}/src/praktikum2/praktikum2/__init__.py (100%) rename {P2 => spot}/src/praktikum2/praktikum2/p2_aruco_marker_detection.py (100%) rename {P2 => spot}/src/praktikum2/praktikum2/p2_line_following.py (99%) rename {P2 => spot}/src/praktikum2/resource/praktikum2 (100%) rename {P2 => spot}/src/praktikum2/setup.cfg (100%) rename {P2 => spot}/src/praktikum2/setup.py (100%) rename {P2 => spot}/src/praktikum2/test/test_copyright.py (100%) rename {P2 => spot}/src/praktikum2/test/test_flake8.py (100%) rename {P2 => spot}/src/praktikum2/test/test_pep257.py (100%) create mode 100644 spot/src/praktikum3/LICENSE create mode 100644 spot/src/praktikum3/package.xml create mode 100644 spot/src/praktikum3/praktikum3/__init__.py create mode 100644 spot/src/praktikum3/praktikum3/p3_pushup.py create mode 100644 spot/src/praktikum3/resource/praktikum3 create mode 100644 spot/src/praktikum3/setup.cfg create mode 100644 spot/src/praktikum3/setup.py create mode 100644 spot/src/praktikum3/test/test_copyright.py create mode 100644 spot/src/praktikum3/test/test_flake8.py create mode 100644 spot/src/praktikum3/test/test_pep257.py diff --git a/P1/src/praktikum1/praktikum1/p1.py b/P1/src/praktikum1/praktikum1/p1.py index 4be54a2..c7033b9 100644 --- a/P1/src/praktikum1/praktikum1/p1.py +++ b/P1/src/praktikum1/praktikum1/p1.py @@ -57,7 +57,7 @@ class CircleController(Node): def check_goal_condition(self, distance): # 1. Startzone verlassen ? - if distance > 2 * self.goal_tolerance: + if distance > 2 * self.goal_tolerance: # könnte als feste Variable machen self.has_left_start_zone = True # 2. anschließend innerhalb des Toleranzbereichs ? @@ -73,7 +73,7 @@ class CircleController(Node): self.publisher_.publish(msg) def stop_robot(self): - # einen leere Drehung übergeben + # einen "leere" Drehung übergeben msg = Twist() self.publisher_.publish(msg) diff --git a/P2/src/praktikum2/LICENSE b/spot/src/praktikum2/LICENSE similarity index 100% rename from P2/src/praktikum2/LICENSE rename to spot/src/praktikum2/LICENSE diff --git a/P2/src/praktikum2/package.xml b/spot/src/praktikum2/package.xml similarity index 100% rename from P2/src/praktikum2/package.xml rename to spot/src/praktikum2/package.xml diff --git a/P2/src/praktikum2/praktikum2/__init__.py b/spot/src/praktikum2/praktikum2/__init__.py similarity index 100% rename from P2/src/praktikum2/praktikum2/__init__.py rename to spot/src/praktikum2/praktikum2/__init__.py diff --git a/P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py b/spot/src/praktikum2/praktikum2/p2_aruco_marker_detection.py similarity index 100% rename from P2/src/praktikum2/praktikum2/p2_aruco_marker_detection.py rename to spot/src/praktikum2/praktikum2/p2_aruco_marker_detection.py diff --git a/P2/src/praktikum2/praktikum2/p2_line_following.py b/spot/src/praktikum2/praktikum2/p2_line_following.py similarity index 99% rename from P2/src/praktikum2/praktikum2/p2_line_following.py rename to spot/src/praktikum2/praktikum2/p2_line_following.py index 321aad8..e55ae13 100755 --- a/P2/src/praktikum2/praktikum2/p2_line_following.py +++ b/spot/src/praktikum2/praktikum2/p2_line_following.py @@ -29,7 +29,7 @@ class LineFollower(Node): self.get_logger().info("Line Follower Node gestartet.") - # Rot liegt im HSV-Raum an beiden Enden des Spektrums (0-10 & 170-180). + # Rot liegt im HSV-Raum an beiden Enden des Spektrums (0-10 & 170-180) # Bereich 1: Rot unteres Ende (0-10) self.red_lower1 = np.array([0, 100, 100], dtype="uint8") self.red_upper1 = np.array([10, 255, 255], dtype="uint8") diff --git a/P2/src/praktikum2/resource/praktikum2 b/spot/src/praktikum2/resource/praktikum2 similarity index 100% rename from P2/src/praktikum2/resource/praktikum2 rename to spot/src/praktikum2/resource/praktikum2 diff --git a/P2/src/praktikum2/setup.cfg b/spot/src/praktikum2/setup.cfg similarity index 100% rename from P2/src/praktikum2/setup.cfg rename to spot/src/praktikum2/setup.cfg diff --git a/P2/src/praktikum2/setup.py b/spot/src/praktikum2/setup.py similarity index 100% rename from P2/src/praktikum2/setup.py rename to spot/src/praktikum2/setup.py diff --git a/P2/src/praktikum2/test/test_copyright.py b/spot/src/praktikum2/test/test_copyright.py similarity index 100% rename from P2/src/praktikum2/test/test_copyright.py rename to spot/src/praktikum2/test/test_copyright.py diff --git a/P2/src/praktikum2/test/test_flake8.py b/spot/src/praktikum2/test/test_flake8.py similarity index 100% rename from P2/src/praktikum2/test/test_flake8.py rename to spot/src/praktikum2/test/test_flake8.py diff --git a/P2/src/praktikum2/test/test_pep257.py b/spot/src/praktikum2/test/test_pep257.py similarity index 100% rename from P2/src/praktikum2/test/test_pep257.py rename to spot/src/praktikum2/test/test_pep257.py diff --git a/spot/src/praktikum3/LICENSE b/spot/src/praktikum3/LICENSE new file mode 100644 index 0000000..d645695 --- /dev/null +++ b/spot/src/praktikum3/LICENSE @@ -0,0 +1,202 @@ + + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ + + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION + + 1. 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We also recommend that a + file or class name and description of purpose be included on the + same "printed page" as the copyright notice for easier + identification within third-party archives. + + Copyright [yyyy] [name of copyright owner] + + 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. diff --git a/spot/src/praktikum3/package.xml b/spot/src/praktikum3/package.xml new file mode 100644 index 0000000..901b8f2 --- /dev/null +++ b/spot/src/praktikum3/package.xml @@ -0,0 +1,18 @@ + + + + praktikum3 + 0.0.0 + TODO: Package description + safak + Apache-2.0 + + ament_copyright + ament_flake8 + ament_pep257 + python3-pytest + + + ament_python + + diff --git a/spot/src/praktikum3/praktikum3/__init__.py b/spot/src/praktikum3/praktikum3/__init__.py new file mode 100644 index 0000000..e69de29 diff --git a/spot/src/praktikum3/praktikum3/p3_pushup.py b/spot/src/praktikum3/praktikum3/p3_pushup.py new file mode 100644 index 0000000..7e84c4d --- /dev/null +++ b/spot/src/praktikum3/praktikum3/p3_pushup.py @@ -0,0 +1,35 @@ +import rclpy +from rclpy.node import Node +from rclpy.qos import QoSProfile +from webots_spot_msgs.srv import SpotMotion + +class SubscriberClientNodeAsync(Node): + def __init__(self): + super().__init__('sub_client_node') + self.sit_cli = self.create_client(SpotMotion, '/Spot/lie_down') + self.stand_cli = self.create_client(SpotMotion, '/Spot/stand_up') + self.req = SpotMotion.Request() + self.is_sitting = False + + # Erstelle einen Timer, der alle 2 Sekunden die pushup_callback aufruft + self.timer = self.create_timer(2.0, self.pushup_callback) + + def pushup_callback(self): + if self.is_sitting: + self.future = self.stand_cli.call_async(self.req) + self.get_logger().info("Standing up...") + self.is_sitting = False + else: + self.future = self.sit_cli.call_async(self.req) + self.get_logger().info("Lying down...") + self.is_sitting = True + +def main(args=None): + rclpy.init(args=args) + pushupcli = SubscriberClientNodeAsync() + rclpy.spin(pushupcli) + pushupcli.destroy_node() + rclpy.shutdown() + +if __name__ == '__main__': + main() diff --git a/spot/src/praktikum3/resource/praktikum3 b/spot/src/praktikum3/resource/praktikum3 new file mode 100644 index 0000000..e69de29 diff --git a/spot/src/praktikum3/setup.cfg b/spot/src/praktikum3/setup.cfg new file mode 100644 index 0000000..ada521b --- /dev/null +++ b/spot/src/praktikum3/setup.cfg @@ -0,0 +1,4 @@ +[develop] +script_dir=$base/lib/praktikum3 +[install] +install_scripts=$base/lib/praktikum3 diff --git a/spot/src/praktikum3/setup.py b/spot/src/praktikum3/setup.py new file mode 100644 index 0000000..be1efe9 --- /dev/null +++ b/spot/src/praktikum3/setup.py @@ -0,0 +1,30 @@ +from setuptools import find_packages, setup + +package_name = 'praktikum3' + +setup( + name=package_name, + version='0.0.0', + packages=find_packages(exclude=['test']), + data_files=[ + ('share/ament_index/resource_index/packages', + ['resource/' + package_name]), + ('share/' + package_name, ['package.xml']), + ], + install_requires=['setuptools'], + zip_safe=True, + maintainer='safak', + maintainer_email='safak.hazinedar@stud.fh-aachen.de', + description='TODO: Package description', + license='Apache-2.0', + extras_require={ + 'test': [ + 'pytest', + ], + }, + entry_points={ + 'console_scripts': [ + 'p3_pushup = praktikum3.p3_pushup:main' + ], + }, +) diff --git a/spot/src/praktikum3/test/test_copyright.py b/spot/src/praktikum3/test/test_copyright.py new file mode 100644 index 0000000..97a3919 --- /dev/null +++ b/spot/src/praktikum3/test/test_copyright.py @@ -0,0 +1,25 @@ +# 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 + + +# Remove the `skip` decorator once the source file(s) have a copyright header +@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.') +@pytest.mark.copyright +@pytest.mark.linter +def test_copyright(): + rc = main(argv=['.', 'test']) + assert rc == 0, 'Found errors' diff --git a/spot/src/praktikum3/test/test_flake8.py b/spot/src/praktikum3/test/test_flake8.py new file mode 100644 index 0000000..27ee107 --- /dev/null +++ b/spot/src/praktikum3/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) diff --git a/spot/src/praktikum3/test/test_pep257.py b/spot/src/praktikum3/test/test_pep257.py new file mode 100644 index 0000000..b234a38 --- /dev/null +++ b/spot/src/praktikum3/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'