From 7fa8211bd144ad1033e53fac79ea0a537ba8067e Mon Sep 17 00:00:00 2001
From: gcielniak <gcielniak@lincoln.ac.uk>
Date: Wed, 2 Oct 2024 17:23:54 +0100
Subject: [PATCH] restructured tutorial package and launch file added

---
 src/.keep                                     |  0
 .../rob2002_tutorial}/LICENSE                 |  0
 .../launch/detect_count.launch.py             | 24 +++++++++++++++++++
 .../rob2002_tutorial}/package.xml             |  1 +
 .../resource/rob2002_tutorial                 |  0
 .../rob2002_tutorial/__init__.py              |  0
 .../rob2002_tutorial/counter_basic.py         |  0
 .../rob2002_tutorial/detector_basic.py        |  0
 .../rob2002_tutorial/mover_basic.py           |  0
 .../rob2002_tutorial/mover_laser.py           |  0
 .../rob2002_tutorial}/setup.cfg               |  0
 .../rob2002_tutorial}/setup.py                |  3 +++
 .../rob2002_tutorial}/test/test_copyright.py  |  0
 .../rob2002_tutorial}/test/test_flake8.py     |  0
 .../rob2002_tutorial}/test/test_pep257.py     |  0
 15 files changed, 28 insertions(+)
 delete mode 100644 src/.keep
 rename {rob2002_tutorial => src/rob2002_tutorial}/LICENSE (100%)
 create mode 100644 src/rob2002_tutorial/launch/detect_count.launch.py
 rename {rob2002_tutorial => src/rob2002_tutorial}/package.xml (95%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/resource/rob2002_tutorial (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/rob2002_tutorial/__init__.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/rob2002_tutorial/counter_basic.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/rob2002_tutorial/detector_basic.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/rob2002_tutorial/mover_basic.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/rob2002_tutorial/mover_laser.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/setup.cfg (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/setup.py (90%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/test/test_copyright.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/test/test_flake8.py (100%)
 rename {rob2002_tutorial => src/rob2002_tutorial}/test/test_pep257.py (100%)

diff --git a/src/.keep b/src/.keep
deleted file mode 100644
index e69de29..0000000
diff --git a/rob2002_tutorial/LICENSE b/src/rob2002_tutorial/LICENSE
similarity index 100%
rename from rob2002_tutorial/LICENSE
rename to src/rob2002_tutorial/LICENSE
diff --git a/src/rob2002_tutorial/launch/detect_count.launch.py b/src/rob2002_tutorial/launch/detect_count.launch.py
new file mode 100644
index 0000000..2ba7f1a
--- /dev/null
+++ b/src/rob2002_tutorial/launch/detect_count.launch.py
@@ -0,0 +1,24 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    detector_node = Node(
+            package='rob2002_tutorial',
+            executable='detector_basic',
+            output='screen',
+            emulate_tty=True,
+        )
+    
+    counter_node = Node(
+            package='rob2002_tutorial',
+            executable='counter_basic',
+            output='screen',
+            emulate_tty=True,
+        )
+    
+    ld.add_action(detector_node)
+    ld.add_action(counter_node)
+
+    return ld
diff --git a/rob2002_tutorial/package.xml b/src/rob2002_tutorial/package.xml
similarity index 95%
rename from rob2002_tutorial/package.xml
rename to src/rob2002_tutorial/package.xml
index a913624..643e4c0 100644
--- a/rob2002_tutorial/package.xml
+++ b/src/rob2002_tutorial/package.xml
@@ -12,6 +12,7 @@
   <exec_depend>geometry_msgs</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
   <exec_depend>cv_bridge</exec_depend>
+  <exec_depend>ros2launch</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/rob2002_tutorial/resource/rob2002_tutorial b/src/rob2002_tutorial/resource/rob2002_tutorial
similarity index 100%
rename from rob2002_tutorial/resource/rob2002_tutorial
rename to src/rob2002_tutorial/resource/rob2002_tutorial
diff --git a/rob2002_tutorial/rob2002_tutorial/__init__.py b/src/rob2002_tutorial/rob2002_tutorial/__init__.py
similarity index 100%
rename from rob2002_tutorial/rob2002_tutorial/__init__.py
rename to src/rob2002_tutorial/rob2002_tutorial/__init__.py
diff --git a/rob2002_tutorial/rob2002_tutorial/counter_basic.py b/src/rob2002_tutorial/rob2002_tutorial/counter_basic.py
similarity index 100%
rename from rob2002_tutorial/rob2002_tutorial/counter_basic.py
rename to src/rob2002_tutorial/rob2002_tutorial/counter_basic.py
diff --git a/rob2002_tutorial/rob2002_tutorial/detector_basic.py b/src/rob2002_tutorial/rob2002_tutorial/detector_basic.py
similarity index 100%
rename from rob2002_tutorial/rob2002_tutorial/detector_basic.py
rename to src/rob2002_tutorial/rob2002_tutorial/detector_basic.py
diff --git a/rob2002_tutorial/rob2002_tutorial/mover_basic.py b/src/rob2002_tutorial/rob2002_tutorial/mover_basic.py
similarity index 100%
rename from rob2002_tutorial/rob2002_tutorial/mover_basic.py
rename to src/rob2002_tutorial/rob2002_tutorial/mover_basic.py
diff --git a/rob2002_tutorial/rob2002_tutorial/mover_laser.py b/src/rob2002_tutorial/rob2002_tutorial/mover_laser.py
similarity index 100%
rename from rob2002_tutorial/rob2002_tutorial/mover_laser.py
rename to src/rob2002_tutorial/rob2002_tutorial/mover_laser.py
diff --git a/rob2002_tutorial/setup.cfg b/src/rob2002_tutorial/setup.cfg
similarity index 100%
rename from rob2002_tutorial/setup.cfg
rename to src/rob2002_tutorial/setup.cfg
diff --git a/rob2002_tutorial/setup.py b/src/rob2002_tutorial/setup.py
similarity index 90%
rename from rob2002_tutorial/setup.py
rename to src/rob2002_tutorial/setup.py
index c575d5e..609caa0 100644
--- a/rob2002_tutorial/setup.py
+++ b/src/rob2002_tutorial/setup.py
@@ -1,4 +1,6 @@
 from setuptools import find_packages, setup
+import os
+from glob import glob
 
 package_name = 'rob2002_tutorial'
 
@@ -10,6 +12,7 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name), glob('launch/*launch.py')),
     ],
     install_requires=['setuptools'],
     zip_safe=True,
diff --git a/rob2002_tutorial/test/test_copyright.py b/src/rob2002_tutorial/test/test_copyright.py
similarity index 100%
rename from rob2002_tutorial/test/test_copyright.py
rename to src/rob2002_tutorial/test/test_copyright.py
diff --git a/rob2002_tutorial/test/test_flake8.py b/src/rob2002_tutorial/test/test_flake8.py
similarity index 100%
rename from rob2002_tutorial/test/test_flake8.py
rename to src/rob2002_tutorial/test/test_flake8.py
diff --git a/rob2002_tutorial/test/test_pep257.py b/src/rob2002_tutorial/test/test_pep257.py
similarity index 100%
rename from rob2002_tutorial/test/test_pep257.py
rename to src/rob2002_tutorial/test/test_pep257.py