ros_midterm/CMakeLists.txt

@@ -1,41 +0,0 @@
-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)
-
-#imu_sub
-add_executable(imu_sub src/imu_sub.cpp)
-ament_target_dependencies(imu_sub rclcpp sensor_msgs)
-
-#cmd_pub
-add_executable(cmd_pub src/cmd_pub.cpp)
-ament_target_dependencies(cmd_pub rclcpp geometry_msgs)
-
-#install
-install(TARGETS
-  imu_sub
-  cmd_pub
-  DESTINATION lib/${PROJECT_NAME})
-
-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()

ros_midterm/package.xml

@@ -1,23 +0,0 @@
-<?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>ROS2 midterm exam 11/18/2025</description>
-  <maintainer email="jerome.bedier@ecam.fr">ros</maintainer>
-  <license>Apache-2.0</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>

ros_midterm/src/cmd_pub.cpp

@@ -1,42 +0,0 @@
-#include "rclcpp/rclcpp.hpp"
-#include "geometry_msgs/msg/twist.hpp"
-#include <random>
-
-class CmdPublisher : public rclcpp::Node
-{
-public:
-  CmdPublisher() : Node("cmd_pub"), gen_(rd_()), dis_(-2.0, 2.0)
-  {
-    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));
-    
-    RCLCPP_INFO(this->get_logger(), "CMD Publisher node started");
-  }
-
-private:
-  void timer_callback()
-  {
-    auto message = geometry_msgs::msg::Twist();
-    message.angular.z = dis_(gen_);
-    
-    RCLCPP_INFO(this->get_logger(), "Publishing Angular Velocity Z: %.4f rad/s", 
-                message.angular.z);
-    publisher_->publish(message);
-  }
-
-  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr publisher_;
-  rclcpp::TimerBase::SharedPtr timer_;
-  std::random_device rd_;
-  std::mt19937 gen_;
-  std::uniform_real_distribution<> dis_;
-};
-
-int main(int argc, char * argv[])
-{
-  rclcpp::init(argc, argv);
-  rclcpp::spin(std::make_shared<CmdPublisher>());
-  rclcpp::shutdown();
-  return 0;
-}

ros_midterm/src/imu_sub.cpp

@@ -1,31 +0,0 @@
-#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));
-    
-    RCLCPP_INFO(this->get_logger(), "IMU Subscriber node started");
-  }
-
-private:
-  void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
-  {
-    RCLCPP_INFO(this->get_logger(), "Angular Velocity Z: %.4f 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;
-}