feat: add Estefania onboarding package

.github/CODEOWNERS

@@ -10,6 +10,7 @@ src/oliver_pkg              @GoldenGuy1000
 src/james_pkg               @jhaddixcodes
 src/ben_pkg                 @benvrao
 src/cole_pkg                @cole-wilson
+src/estefania_pkg           @EstefaniaC-M
 src/ziang_pkg               @zichen04
 
 .clang-format               @ryden-handsaker

src/estefania_pkg/CMakeLists.txt

@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.8)
+project(estefania_pkg)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(onboarding_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(estefania_publisher src/estefania_publisher.cpp)
+add_executable(estefania_subscriber src/estefania_subscriber.cpp)
+
+ament_target_dependencies(estefania_publisher rclcpp std_msgs)
+ament_target_dependencies(estefania_subscriber rclcpp onboarding_msgs std_msgs)
+install(TARGETS
+  estefania_publisher
+  estefania_subscriber
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY
+  launch
+  DESTINATION share/${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()

src/estefania_pkg/README.md

@@ -0,0 +1,9 @@
+# estefania_pkg
+
+This package contains a publisher and subscriber.
+
+The publisher publishes random `std_msgs/msg/Float32` values to the
+`estefania_topic` topic at 0.5 Hz.
+
+The subscriber listens to `estefania_topic`, summarizes the received
+value, and sends the summary to the `echo_string` service.

src/estefania_pkg/launch/all.xml

@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+    <node pkg="estefania_pkg" exec="estefania_publisher"/>
+    <node pkg="estefania_pkg" exec="estefania_subscriber"/>
+</launch>

src/estefania_pkg/package.xml

@@ -0,0 +1,21 @@
+<?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>estefania_pkg</name>
+  <version>0.0.0</version>
+  <description>Publisher and subscriber for the Estefania onboarding task.</description>
+  <maintainer email="e.correa-mendez@wsu.edu">Estefania Correa-Mendez</maintainer>
+  <license>MIT</license>
+
+  <depend>onboarding_msgs</depend>
+  <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>

src/estefania_pkg/src/estefania_publisher.cpp

@@ -0,0 +1,45 @@
+#include <chrono>
+#include <memory>
+#include <random>
+
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float32.hpp"
+
+using namespace std::chrono_literals;
+
+class EstefaniaPublisher : public rclcpp::Node {
+  public:
+    EstefaniaPublisher() :
+      Node("estefania_publisher"), generator_(std::random_device{}()),
+      distribution_(0.0f, 100.0f) {
+        publisher_ = this->create_publisher<std_msgs::msg::Float32>(
+            "estefania_topic", 10
+        );
+
+        timer_ = this->create_wall_timer(
+            2s, std::bind(&EstefaniaPublisher::publish_message, this)
+        );
+    }
+
+  private:
+    void publish_message() {
+        std_msgs::msg::Float32 message;
+        message.data = distribution_(generator_);
+
+        publisher_->publish(message);
+    }
+
+    rclcpp::Publisher<std_msgs::msg::Float32>::SharedPtr publisher_;
+    rclcpp::TimerBase::SharedPtr                         timer_;
+
+    std::mt19937                          generator_;
+    std::uniform_real_distribution<float> distribution_;
+};
+
+int main(int argc, char* argv[]) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<EstefaniaPublisher>());
+    rclcpp::shutdown();
+
+    return 0;
+}

src/estefania_pkg/src/estefania_subscriber.cpp

@@ -0,0 +1,56 @@
+#include <functional>
+#include <memory>
+#include <string>
+
+#include "onboarding_msgs/srv/echo_string.hpp"
+#include "rclcpp/rclcpp.hpp"
+#include "std_msgs/msg/float32.hpp"
+
+class EstefaniaSubscriber : public rclcpp::Node {
+  public:
+    EstefaniaSubscriber() : Node("estefania_subscriber") {
+        subscription_ = this->create_subscription<std_msgs::msg::Float32>(
+            "estefania_topic", 10,
+            std::bind(
+                &EstefaniaSubscriber::topic_callback, this,
+                std::placeholders::_1
+            )
+        );
+
+        client_ = this->create_client<onboarding_msgs::srv::EchoString>(
+            "echo_string"
+        );
+    }
+
+  private:
+    void topic_callback(const std_msgs::msg::Float32::SharedPtr message) {
+        std::string summary =
+            "Estefania received the value: " + std::to_string(message->data);
+
+        if (!client_->wait_for_service(std::chrono::seconds(1))) {
+            RCLCPP_WARN(this->get_logger(), "Echo service is not available.");
+            return;
+        }
+
+        auto request =
+            std::make_shared<onboarding_msgs::srv::EchoString::Request>();
+
+        request->data = summary;
+
+        client_->async_send_request(request);
+    }
+
+    rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr subscription_;
+
+    rclcpp::Client<onboarding_msgs::srv::EchoString>::SharedPtr client_;
+};
+
+int main(int argc, char* argv[]) {
+    rclcpp::init(argc, argv);
+
+    rclcpp::spin(std::make_shared<EstefaniaSubscriber>());
+
+    rclcpp::shutdown();
+
+    return 0;
+}

src/onboarding/launch/all.xml

@@ -10,6 +10,7 @@
     <include file="$(find-pkg-share james_pkg)/launch/all.xml" />
     <include file="$(find-pkg-share ben_pkg)/launch/all.xml" />
     <include file="$(find-pkg-share cole_pkg)/launch/all.xml" />
+    <include file="$(find-pkg-share estefania_pkg)/launch/all.xml" />
     <include file="$(find-pkg-share ziang_pkg)/launch/all.xml" />
 
 </launch>