• Write a basic code in ROS 2 writing an action server and the action client. However, the service request is received by subscribing a topic. If the topic is published at higher rate, it should be able to abort the previous goal and send a new one. The action server should wait for 5 seconds before succeeding and any abortion within 5 seconds should be properly handled

• Write a generic subscriber that can subscribe to a topic of any message type. Write different publishers to test the code, whenever it receives a message from a topic, print also the type of message that is received

• Introduction
• Table of Contents
• Setup
• Usage
• Code Structure

Currently Project is TESTED AND IMPLEMENTED ON ROS2 HUMBLE

• Follow the steps to build the project

  mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
  git clone https://github.com/Tanishq30052002/action-mux-ros2.git
  
  <!-- Third Party Lib from OSRF -->
  git clone https://github.com/osrf/dynamic_message_introspection.git
  
  cd ~/ros2_ws
  colcon build
  
  <!-- Add the following command in you setup.zsh/setup.bashrc -->
  source ~/ros2_ws/install/setup.bash   ## For bash users
  source ~/ros2_ws/install/setup.zsh    ## For zsh users

• Follow the steps to run the TASK - 1

  <!-- Terminal - 1 (Action Server) -->
  ros2 run calculator run_server_calculate
  
  <!-- Terminal - 2 (Action Client) -->
  ros2 run calculator run_client_calculate ### without feedback printing
  ros2 run calculator run_client_calculate --ros-args --log-level calculator_action_client:=DEBUG ### with feedback printing
  
  <!-- Terminal - 3 (Goal Publisher) -->
  ros2 run calculator run_calculator_goal_publisher <TIME_DIFF_BETWEEN_2_GOALS in secs>

• Follow the steps to run the TASK - 2

  <!-- Terminal - 1 (Generic Subscriber) -->
  ##### TO RUN GENERIC SUBSCRIBER IN C++ ####
  ros2 run generic_subscriber run_generic_subscriber
  
  ##### TO RUN GENERIC SUBSCRIBER IN PYTHON #####
  ros2 run generic_subscriber_py run_generic_subscriber
  
  <!-- Terminal - 2 (Testing Publisher) -->
   ros2 run generic_subscriber run_testing_publisher <MODE (1-4)> # Mode -1: For String, Mode -2: Bool, Mode -3: Twist, Mode -4: Pose
  

The project is organized into several directories:

• TASK - 1

  • calculator_msgs ROS2 pkg which contains the custom msgs and custom actions used for action client and action server implementation
    • action Custom action for the ROS2 action.
    • msg Custom msg for the ROS2 action and Goal Publisher.
  • calculator ROS2 pkg which contains the ROS2 action implementation and goal publisher code.
    • calculator Module responsible for the creation of the actions and publishers
    • src Final codes responsible for executing the code.

• TASK - 2

  • C++ Implementation

    • generic_subscriber ROS2 pkg which contains C++ code for generic subscriber and testing publisher
      • generic_subscriber Module responsible for the creation of the generic subscriber and testing publisher in c++
      • src Final codes responsible for executing the code.

  • Python Implementation

    • generic_subscriber_py ROS2 pkg which contains python code for generic subscriber
      • generic_subscriber_py Module responsible for the creation of the generic subscriber in python