added files

.vscode/c_cpp_properties.json

@@ -0,0 +1,24 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/include/**",
+        "/home/ros-laptop1/Desktop/turtlebot3_ws/install/turtlebot3_gazebo/include/**",
+        "/home/ros-laptop1/Desktop/turtlebot3_ws/install/turtlebot3_fake_node/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/ros-laptop1/Desktop/locker98_tools_ws/src/locker98_tools_bringup/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,16 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/turtlesim_catch_them_all/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/turtlesim_catch_them_all/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_py_pkg/lib/python3.10/site-packages",
+        "/home/ros-laptop1/Desktop/turtlebotrhodes_ws/install/my_robot_interfaces/local/lib/python3.10/dist-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}

README.md

@@ -0,0 +1,2 @@
+# Locker98_Tools
+This ROS2 work space is a collection of tools and ros2 scripts that I find useful on a regular basis.

locker98_tools/locker98_tools/joy_teleop.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python
+import rclpy
+from rclpy.node import Node
+import pygame
+import time
+from geometry_msgs.msg import Twist
+
+
+
+
+class JoyTeleopNode(Node):
+    def __init__(self, joystick):
+        super().__init__("joy_teleop")
+        self.joystick = joystick
+        self.publisher_ = self.create_publisher(Twist, "/cmd_vel", 10)
+        self.timer_ = self.create_timer(0.1, self.publish_news)
+        self.get_logger().info("Starting the robot news station")
+
+    def publish_news(self):
+        r, move = self.get_joystick_right_stick()
+
+        msg = Twist()
+        msg.linear.x = move*2
+        msg.angular.z = r*2
+        self.publisher_.publish(msg)
+
+    def get_joystick_right_stick(self):
+        # Pump the event queue to prevent freezing
+        pygame.event.pump()
+        # Get right joystick axis values
+        right_x = round(self.joystick.get_axis(3), 2)/3  # Adjust index if not correct
+        right_y = round(self.joystick.get_axis(4), 2)/4  # Adjust index if not correct
+        if right_x < 0.02 and right_x > -0.02:
+            right_x = 0.0
+        if right_y < 0.02 and right_y > -0.02:
+            right_y = 0.0
+        return right_x, -right_y
+
+
+
+def main (args=None):
+    # Initialize pygame
+    pygame.init()
+    pygame.joystick.init()
+    # Find Controller
+    if pygame.joystick.get_count() == 0:
+        print("No joystick detected.")
+        exit(0)
+
+    # Open the first joystick
+    joystick = pygame.joystick.Joystick(0)
+    joystick.init()
+
+    # Start ROS 2 Node
+    rclpy.init(args=args)
+    node = JoyTeleopNode(joystick)
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

locker98_tools/package.xml

@@ -0,0 +1,23 @@
+<?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>locker98_tools</name>
+  <version>0.0.1</version>
+  <description>This is a collection of tools that I find useful on a regular basis.</description>
+  <maintainer email="coolemail45@proton.me">locker98</maintainer>
+  <license>GNU 3.0</license>
+
+  <depend>rclpy</depend>
+  <depend>geometry_msgs</depend>
+  <depend>time</depend>
+  <depend>pygame</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>

locker98_tools/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/locker98_tools
+[install]
+install_scripts=$base/lib/locker98_tools

locker98_tools/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'locker98_tools'
+
+setup(
+    name=package_name,
+    version='0.0.1',
+    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='locker98',
+    maintainer_email='coolemail45@proton.me',
+    description='This is a collection of tools that I find useful on a regular basis.',
+    license='GNU 3.0',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "joy_teleop = locker98_tools.joy_teleop:main"
+        ],
+    },
+)

locker98_tools/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'

locker98_tools/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)

locker98_tools/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'

locker98_tools_bringup/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.8)
+project(locker98_tools_bringup)
+
+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
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

locker98_tools_bringup/launch/nav2.launch.xml

@@ -0,0 +1 @@
+ 

locker98_tools_bringup/launch/slam.launch.xml

@@ -0,0 +1 @@
+ 

locker98_tools_bringup/package.xml

@@ -0,0 +1,18 @@
+<?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>locker98_tools_bringup</name>
+  <version>0.0.1</version>
+  <description>This is a collection of launch files that I find useful on a regular basis.</description>
+  <maintainer email="coolemail45@proton.me">locker98</maintainer>
+  <license>GNU 3.0</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>

locker98_tools_bringup/rviz/nav2_config.rviz

@@ -0,0 +1,301 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 87
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /Map1
+        - /Map1/Topic1
+        - /LaserScan1
+        - /Global cost map1
+        - /Local Cost Map1
+      Splitter Ratio: 0.5
+    Tree Height: 637
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: LaserScan
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: map
+      Draw Behind: false
+      Enabled: true
+      Name: Map
+      Topic:
+        Depth: 5
+        Durability Policy: Transient Local
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /map_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: LaserScan
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /scan
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        base_scan:
+          Value: true
+        camera_depth_frame:
+          Value: true
+        camera_depth_optical_frame:
+          Value: true
+        camera_link:
+          Value: true
+        camera_rgb_frame:
+          Value: true
+        camera_rgb_optical_frame:
+          Value: true
+        caster_back_left_link:
+          Value: true
+        caster_back_right_link:
+          Value: true
+        imu_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+        wheel_left_link:
+          Value: true
+        wheel_right_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_link:
+                base_scan:
+                  {}
+                camera_link:
+                  camera_depth_frame:
+                    camera_depth_optical_frame:
+                      {}
+                  camera_rgb_frame:
+                    camera_rgb_optical_frame:
+                      {}
+                caster_back_left_link:
+                  {}
+                caster_back_right_link:
+                  {}
+                imu_link:
+                  {}
+                wheel_left_link:
+                  {}
+                wheel_right_link:
+                  {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Global cost map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /global_costmap/costmap_updates
+      Use Timestamp: false
+      Value: true
+    - Alpha: 0.699999988079071
+      Class: rviz_default_plugins/Map
+      Color Scheme: costmap
+      Draw Behind: false
+      Enabled: true
+      Name: Local Cost Map
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_costmap/costmap
+      Update Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /local_costmap/costmap_updates
+      Use Timestamp: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: map
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 6.541196823120117
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.873987078666687
+        Y: 1.3103702068328857
+        Z: -0.06853076070547104
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.421534776687622
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7348731160163879
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1001
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000323fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000007901000003fb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000004e00000323000000ff01000003fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000011000000323fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000004e00000323000000d701000003fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000004efc0100000002fb0000000800540069006d0065010000000000000780000002e701000003fb0000000800540069006d00650100000000000004500000000000000000000005040000032300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 0
+  Y: 0