From ec243c79759ecc340d8a5d4557285897b29c7dc3 Mon Sep 17 00:00:00 2001
From: "adrien.lasserre" <adrien.lasserre@ecam.fr>
Date: Tue, 22 Nov 2022 15:48:34 +0100
Subject: [PATCH] successfully created basic movements functions

---
 CMakeLists.txt       |  6 ++----
 src/project_file.cpp | 21 +++++----------------
 2 files changed, 7 insertions(+), 20 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5a30ba2..bf34b64 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -132,7 +132,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/test_node.cpp)
+add_executable(commander src/project_file.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -145,9 +145,7 @@ include_directories(
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(commander ${catkin_LIBRARIES})
 
 #############
 ## Install ##
diff --git a/src/project_file.cpp b/src/project_file.cpp
index bd1967c..44fbead 100644
--- a/src/project_file.cpp
+++ b/src/project_file.cpp
@@ -10,14 +10,11 @@ Context: This cpp file is part of the second lab of the Advanced_Robotics course
 
 
 #include <ros/ros.h>
-#include <thread>       //std::this_thread_sleep_for
-#include <chrono>       //std::chrono::seconds
-
-
+#include <geometry_msgs/Twist.h>
 
 //max values for lin vel 0.22 and angular vel 2.84
 
-void walk(geometry_msgs::Twist twist, speed_input){
+void walk(geometry_msgs::Twist& twist, float speed_input){
 
     //intialisation of the values for the twist messages
     twist.linear.x=0.0;
@@ -32,7 +29,7 @@ void walk(geometry_msgs::Twist twist, speed_input){
 
 }
 
-void turn_random(geometry_msgs::Twist twist){
+void turn_random(geometry_msgs::Twist& twist, float random_angular_speed){
 
     //initialisation of the values for the twist messages
     twist.linear.x=0.0;
@@ -43,11 +40,7 @@ void turn_random(geometry_msgs::Twist twist){
     twist.angular.z=0.0;
 
     //randomise the angle
-    int random_angular_speed=rand() % 2;
     twist.angular.z=random_angular_speed;
-    std::this_thread_sleep_for (std::chrono::seconds(2));
-    twist.angular.z=0.0;
-
 
 }
 
@@ -63,13 +56,9 @@ int main(int argc, char** argv)
 
                 geometry_msgs::Twist twist;
 
-                walk(twist, 0.1);
-                commanderPublisher.publish(twist);
-                loopRate.sleep(3);
-                turn_random(twist);
-                commanderPublisher.publish(twist);
-                loopRate.sleep(3);
+                turn_random(twist, 1);
 
+                commanderPublisher.publish(twist);
 		ros::spinOnce();
 		loopRate.sleep();
 	}