added code templet

code-snippets/ros2 node templete/.vscode/c_cpp_properties.json

@@ -0,0 +1,17 @@
+{
+    "configurations": [
+        {
+            "name": "Linux",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "/opt/ros/foxy/include"
+            ],
+            "defines": [],
+            "compilerPath": "/usr/bin/gcc",
+            "cStandard": "c11",
+            "cppStandard": "gnu++14",
+            "intelliSenseMode": "clang-x64"
+        }
+    ],
+    "version": 4
+}

code-snippets/ros2 node templete/.vscode/settings.json

@@ -0,0 +1,69 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "csignal": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "bitset": "cpp",
+        "chrono": "cpp",
+        "complex": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "string": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "ostream": "cpp",
+        "shared_mutex": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "cfenv": "cpp",
+        "cinttypes": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "variant": "cpp"
+    }
+}

code-snippets/ros2 node templete/my_cpp_pkg/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.5)
+project(my_cpp_pkg)
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+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)
+find_package(rclcpp REQUIRED)
+
+add_executable(cpp_node src/my_first_node.cpp)
+ament_target_dependencies(cpp_node rclcpp)
+
+install(TARGETS
+  cpp_node
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

code-snippets/ros2 node templete/my_cpp_pkg/package.xml

@@ -0,0 +1,20 @@
+<?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>my_cpp_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ed@todo.todo">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

code-snippets/ros2 node templete/my_cpp_pkg/src/my_first_node.cpp

@@ -0,0 +1,32 @@
+#include "rclcpp/rclcpp.hpp"
+
+class MyNode : public rclcpp::Node
+{
+public:
+    MyNode() : Node("cpp_test"), counter_(0)
+    {
+        RCLCPP_INFO(this->get_logger(), "Hello Cpp Node");
+
+        timer_ = this->create_wall_timer(std::chrono::seconds(1),
+                                         std::bind(&MyNode::timerCallback, this));
+    }
+
+private:
+    void timerCallback()
+    {
+        counter_++;
+        RCLCPP_INFO(this->get_logger(), "Hello %d", counter_);
+    }
+
+    rclcpp::TimerBase::SharedPtr timer_;
+    int counter_;
+};
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<MyNode>();
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

code-snippets/ros2 node templete/my_cpp_pkg/src/template_cpp_node.cpp

@@ -0,0 +1,20 @@
+#include "rclcpp/rclcpp.hpp"
+
+class MyCustomNode : public rclcpp::Node // MODIFY NAME
+{
+public:
+    MyCustomNode() : Node("node_name") // MODIFY NAME
+    {
+    }
+
+private:
+};
+
+int main(int argc, char **argv)
+{
+    rclcpp::init(argc, argv);
+    auto node = std::make_shared<MyCustomNode>(); // MODIFY NAME
+    rclcpp::spin(node);
+    rclcpp::shutdown();
+    return 0;
+}

code-snippets/ros2 node templete/my_py_pkg/my_py_pkg/my_first_node.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+
+
+class MyNode(Node):
+
+    def __init__(self):
+        super().__init__("py_test")
+        self.counter_ = 0
+        self.get_logger().info("Hello ROS2")
+        self.create_timer(0.5, self.timer_callback)
+
+    def timer_callback(self):
+        self.counter_ += 1
+        self.get_logger().info("Hello " + str(self.counter_))
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MyNode()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

code-snippets/ros2 node templete/my_py_pkg/my_py_pkg/template_python_node.py

@@ -0,0 +1,19 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+
+
+class MyCustomNode(Node): # MODIFY NAME
+    def __init__(self):
+        super().__init__("node_name") # MODIFY NAME
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = MyCustomNode() # MODIFY NAME
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()

code-snippets/ros2 node templete/my_py_pkg/package.xml

@@ -0,0 +1,20 @@
+<?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>my_py_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ed@todo.todo">ed</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</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>

code-snippets/ros2 node templete/my_py_pkg/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script-dir=$base/lib/my_py_pkg
+[install]
+install-scripts=$base/lib/my_py_pkg

code-snippets/ros2 node templete/my_py_pkg/setup.py

@@ -0,0 +1,26 @@
+from setuptools import setup
+
+package_name = 'my_py_pkg'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=[package_name],
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='ed',
+    maintainer_email='ed@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            "py_node = my_py_pkg.my_first_node:main"
+        ],
+    },
+)

code-snippets/ros2 node templete/my_py_pkg/test/test_copyright.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_copyright.main import main
+import pytest
+
+
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

code-snippets/ros2 node templete/my_py_pkg/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)

code-snippets/ros2 node templete/my_py_pkg/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'

docs/General ROS 2/Building ROS2 packages.md

@@ -1,10 +1,22 @@
-# Setting up VSCode
+# Setup
+## Installing VSCode
 first install vscode using snap
 ```bash
 sudo snap install code --classic
 ```
 then add the `ROS` extension from Microsoft.
 
+## Installing Colcon
+To install colcon first run the sudo apt install command.
+``` bash
+sudo apt install python3-colcon-common-extensions
+```
+
+then add the colcon autocomplete to the `.bashrc` file.
+``` bash
+echo 'source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' >> ~/.bashrc
+```
+
 
 # Setting up the ROS2 Package Workspace
 first create the folder for the package usual it is called `packagename_ws`where `_ws` stands for then you enter the directory and create another directory called `src` then run the `colcon build` command.
@@ -13,12 +25,9 @@ colcon build
 ```
 next go into the `install` folder and add the `setup.bash` source command to your `~/.bashrc`
 ```bash
-...
+echo "source /home/username/package_ws/install/setup.bash" >> ~/.bashrc
-source /home/username/package_ws/install/setup.bash
 ```
 
-
-
 ## Creating a Python Packages
 #### Setting Up
 Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
@@ -88,6 +97,7 @@ then just like before run the `source ~/.bashrc` command to refresh everything a
 ## Creating a C++ Packages
 Go to the workspace folder that was created in the last step and open the `src` folder. In this folder run this command.
 ```bash
-ros2 pkg create {package_name} --build-type ament_cmake
+ros2 pkg create {package_name} --build-type ament_cmake --dependencies rclcpp
 ```
 
+![Image title](img/ros2_nodes.png)

docs/General ROS 2/Colcon.md

@@ -0,0 +1,10 @@
+# Installing
+To install colcon first run the sudo apt install command.
+``` bash
+sudo apt install python3-colcon-common-extensions
+```
+
+then add the colcon autocomplete to the `.bashrc` file.
+``` bash
+echo 'source /usr/share/colcon_argcomplete/hook/colcon-argcomplete.bash' >> ~/.bashrc
+```

docs/TurtleBot 4/SLAM and Navigation.md

@@ -20,8 +20,7 @@ Once this command is running then you should be able to drive the robot like nor
 
 ### Launching the SLAM command
 Here is the `slam.yaml` config file. You can change the resolution by changing the resolution parameter, by default it is 0.05 but i have had great success when running synchronous SLAM with values as low as 0.01.
-
+```yaml
-```yaml title="slam.yaml"
 slam_toolbox:
   ros__parameters:
 
@@ -101,13 +100,12 @@ ros2 launch turtlebot4_viz view_robot.launch.py
 
 Once you are done creating the map make sure you save it.
 ```bash
-ros2 run nav2_map_server map_saver_cli -f "map_name"
+
 ```
 
 
 #### Navigation
 To launch the navigation program on the Turtlebot 4 run the following commands. One per terminal window making sure to execute them on the Remote PC.
-
 ```bash
 # Terminal Window 1
 ros2 launch turtlebot4_navigation localization.launch.py map:/path/to/map.yaml
@@ -119,4 +117,4 @@ ros2 launch turtlebot4_navigation nav2.launch.py
 ros2 launch turtlebot4_viz view_robot.launch.py
 ```
 
-Use the `2D Pose Estimate` to select the spot on the map were the robot is at when the Navigation is launched. Then use the `Nav2 Goal` button to select where the robot should navigate to.
+Use the `2D Pose Estimate` to select the spot on the map were the robot is at when the Navigation is launched. Then use the `Nav2 Goal` button to select where the robot should navigate to.

mkdocs.yml

@@ -39,7 +39,7 @@ extra:
       link: https://gitea.locker98.com
 
 copyright: |
-  &copy; 2023 <a href="https://github.com/thelocker98"  target="_blank" rel="noopener">locker98</a>
+  &copy; 2024 <a href="https://github.com/thelocker98"  target="_blank" rel="noopener">locker98</a>
 
 markdown_extensions:
   - pymdownx.highlight:
@@ -56,4 +56,4 @@ markdown_extensions:
   - attr_list
   - pymdownx.emoji:
       emoji_index: !!python/name:materialx.emoji.twemoji
-      emoji_generator: !!python/name:materialx.emoji.to_svg
+      emoji_generator: !!python/name:materialx.emoji.to_svg