From 4d769918356cc39826a2bce433a10cfa4cd342e8 Mon Sep 17 00:00:00 2001
From: Baptiste LEROY <baptiste.leroy@ecam.fr>
Date: Tue, 18 Nov 2025 15:08:21 +0100
Subject: [PATCH] Midterm

---
 CMakeLists.txt | 44 ++++++++++++++++++++++++++++++++++++++++++++
 cmd_pub.cpp    | 39 +++++++++++++++++++++++++++++++++++++++
 imu_sub.cpp    | 32 ++++++++++++++++++++++++++++++++
 package.xml    | 23 +++++++++++++++++++++++
 4 files changed, 138 insertions(+)
 create mode 100644 CMakeLists.txt
 create mode 100644 cmd_pub.cpp
 create mode 100644 imu_sub.cpp
 create mode 100644 package.xml

diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..749d913
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_midterm)
+
+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)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(geometry_msgs 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()
+
+
+add_executable(imu_sub src/imu_sub.cpp)
+ament_target_dependencies(imu_sub rclcpp sensor_msgs)
+
+add_executable(cmd_pub src/cmd_pub.cpp)
+ament_target_dependencies(cmd_pub rclcpp geometry_msgs)
+
+
+install(TARGETS
+  imu_sub
+  cmd_pub
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()
+
+
+
diff --git a/cmd_pub.cpp b/cmd_pub.cpp
new file mode 100644
index 0000000..2d87017
--- /dev/null
+++ b/cmd_pub.cpp
@@ -0,0 +1,39 @@
+#include "rclcpp/rclcpp.hpp"
+#include "geometry_msgs/msg/twist.hpp"
+#include <cstdlib>
+#include <ctime>
+
+class CmdPublisher : public rclcpp::Node
+{
+public:
+    CmdPublisher() : Node("cmd_pub")
+    {
+        publisher_ = this->create_publisher<geometry_msgs::msg::Twist>("/cmd_vel", 10);
+        timer_ = this->create_wall_timer(
+            std::chrono::seconds(1),
+            std::bind(&CmdPublisher::timer_callback, this)
+        );
+        std::srand(std::time(nullptr));  // initialisation du générateur aléatoire
+    }
+
+private:
+    void timer_callback()
+    {
+        geometry_msgs::msg::Twist msg;
+        msg.angular.z = ((double)std::rand() / RAND_MAX) * 2.0 - 1.0;  // entre -1 et 1
+        publisher_->publish(msg);
+        RCLCPP_INFO(this->get_logger(), "Published angular velocity around z: %.3f rad/s", msg.angular.z);
+    }
+
+    rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
+    rclcpp::TimerBase::SharedPtr timer_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<CmdPublisher>());
+    rclcpp::shutdown();
+    return 0;
+}
+
diff --git a/imu_sub.cpp b/imu_sub.cpp
new file mode 100644
index 0000000..8c97e5f
--- /dev/null
+++ b/imu_sub.cpp
@@ -0,0 +1,32 @@
+#include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/imu.hpp"
+
+class IMUSubscriber : public rclcpp::Node
+{
+public:
+    IMUSubscriber() : Node("imu_sub")
+    {
+        subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
+            "/imu",
+            10,
+            std::bind(&IMUSubscriber::imu_callback, this, std::placeholders::_1)
+        );
+    }
+
+private:
+    void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
+    {
+        RCLCPP_INFO(this->get_logger(), "Angular velocity around z: %.3f rad/s", msg->angular_velocity.z);
+    }
+
+    rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr subscription_;
+};
+
+int main(int argc, char *argv[])
+{
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<IMUSubscriber>());
+    rclcpp::shutdown();
+    return 0;
+}
+
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..5301a18
--- /dev/null
+++ b/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>ros_midterm</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="baptiste.leroy@ecam.fr">ros</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>