added autorunner

autorun/CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.8)
+project(autorun)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+add_executable(autorunner src/autorunner.cpp)
+ament_target_dependencies(autorunner rclcpp std_msgs)
+target_include_directories(autorunner PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+target_compile_features(autorunner PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+
+install(TARGETS autorunner
+  DESTINATION lib/${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()

autorun/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>autorun</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="[email protected]">victor</maintainer>
+  <license>TODO: License declaration</license>
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <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>

autorun/src/autorunner.cpp

@@ -0,0 +1,72 @@
+#include <cstdio>
+#include <unistd.h>
+#include <functional>
+#include <memory>
+
+#include "rclcpp/rclcpp.hpp"
+
+#include "std_msgs/msg/empty.hpp"
+
+class Autorunner : public rclcpp::Node
+{
+  public:
+    Autorunner()
+    : Node("autorunner")
+	{
+		init_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/init", 10);
+		connect_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/connect", 10);
+		arm_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/arm", 10);
+		start_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/start", 10);
+		abort_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/abort", 10);
+		all_clear_pub = this->create_publisher<std_msgs::msg::Empty>("/atos/all_clear", 10);
+		run_experiment(20);
+    }
+
+  private:
+    rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr init_pub;
+	rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr connect_pub;
+	rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr arm_pub;
+	rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr start_pub;
+	rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr abort_pub;
+	rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr all_clear_pub;
+    void run_experiment(int n)
+    {
+		RCLCPP_INFO(this->get_logger(), "Running %d experiments", n);
+		std_msgs::msg::Empty message;
+		RCLCPP_INFO(this->get_logger(), "Sending init to ATOS");
+		init_pub->publish(message);
+		sleep(1);
+		init_pub->publish(message);
+		sleep(2);
+		RCLCPP_INFO(this->get_logger(), "Sending connect to ATOS");
+		connect_pub->publish(message);
+		sleep(2);
+
+		while (n > 0)
+		{
+			RCLCPP_INFO(this->get_logger(), "Experiment %d", n);
+			RCLCPP_INFO(this->get_logger(), "Sending arm to ATOS");
+			arm_pub->publish(message);
+			sleep(2);
+			RCLCPP_INFO(this->get_logger(), "Sending start to ATOS");
+			start_pub->publish(message);
+			sleep(35);
+			RCLCPP_INFO(this->get_logger(), "Sending abort to ATOS");
+			abort_pub->publish(message);
+			sleep(2);
+			RCLCPP_INFO(this->get_logger(), "Sending all_clear to ATOS");
+			all_clear_pub->publish(message);
+			sleep(2);
+			n--;
+		}
+    }
+};
+
+
+int main(int argc, char ** argv)
+{
+	rclcpp::init(argc, argv);
+	rclcpp::spin(std::make_shared<Autorunner>());
+	rclcpp::shutdown();
+    return 0;
+}