From 692e7084906414b2966ded663d0b731c75ab1908 Mon Sep 17 00:00:00 2001
From: Alex Davies <traverse.da@gmail.com>
Date: Thu, 19 Sep 2024 10:05:27 -0300
Subject: [PATCH] Python demo now runs

---
 copier.yml                                    | 41 +++++++++++++------
 src/CMakeLists.txt.jinja                      |  6 +++
 src/Dockerfile.jinja                          |  9 +---
 .../{{PACKAGE_NAME}} => }/package.xml.jinja   |  2 +-
 .../main.py                                   | 20 +++++++++
 5 files changed, 58 insertions(+), 20 deletions(-)
 rename src/{include/{{PACKAGE_NAME}} => }/package.xml.jinja (98%)
 create mode 100644 src/src/{%if 'Python' in LANGUAGES%}scripts{%endif%}/main.py

diff --git a/copier.yml b/copier.yml
index 29cece5..eface75 100644
--- a/copier.yml
+++ b/copier.yml
@@ -1,16 +1,33 @@
 _subdirectory: src
 _answers_file: .copier/answers.service-ros1-catkin.yml
-PACKAGE_NAME: myproject
-PACKAGE_DESCRIPTION: The myproject package
-MAINTAINER_NAME: Spiri
-MAINTAINER_EMAIL: noreply@spirirobotics.com
+PACKAGE_NAME: 
+  default: myproject
+  type: str
+  help: The folder your package lives in. Please avoid spaces.
+
+PACKAGE_DESCRIPTION:
+  default: The {{PACKAGE_NAME}} package
+  type: str
+  multiline: true
+
+MAINTAINER_NAME: No Reply
+MAINTAINER_EMAIL: "{{MAINTAINER_NAME|slugify}}@spirirobotics.com"
 LICENSE: BSD
 #We use a custom launch script to ensure that rosrun logs to console and have it not accidently launch the master node itself, which can be hard to diagnose
-RUN_COMMAND: /launch myproject mycommand
-#Source can be either a local folder or a git repo, if you path starts with `git+`
-SOURCE: ./
-PROJECT_NAME: My sample project
-#This just checks if it can contact the ROS master, ideally we'd check for something specific to your ROS node.
-#This can be tricky when you set ROS node paramaters from environment variables or the like, you may need to write a shell script.
-# I'll try to make auto-generating health checks a bit easier in the future.
-HEALTHCHECK: --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh rostopic list
+LANGUAGES:
+    type: str
+    multiselect: true
+    help: Which langauges do you want to use?
+    choices:
+        - Python
+        - CPP
+
+RUN_COMMAND: rosrun {{PACKAGE_NAME}} {{"main.py" if 'Python' in LANGUAGES elif "CPP" in LANGAUGES "main"}}
+
+HEALTHCHECK:
+  defualt: --start-period=60s --start-interval=1s CMD /ros_entrypoint.sh rostopic list
+  type: str
+  help: |
+    This health check command should return 0 when your service is running properly.
+    The default healthcheck just checks to see if we can reach the ROS master.
+    Providing a good health check is left as an excersize to the reader.
diff --git a/src/CMakeLists.txt.jinja b/src/CMakeLists.txt.jinja
index fdc4bf0..6e60be7 100644
--- a/src/CMakeLists.txt.jinja
+++ b/src/CMakeLists.txt.jinja
@@ -192,6 +192,12 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
+{%if "Python" in LANGUAGES%}
+catkin_install_python(PROGRAMS scripts/main.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+{% endif %}
+
 #############
 ## Testing ##
 #############
diff --git a/src/Dockerfile.jinja b/src/Dockerfile.jinja
index 9f51ce7..d8047b9 100644
--- a/src/Dockerfile.jinja
+++ b/src/Dockerfile.jinja
@@ -10,12 +10,7 @@ RUN apt-get install --yes python3-rosdep python3-rosinstall python3-rosinstall-g
 
 WORKDIR /root/catkin_ws/src
 
-#Copy source into the docker image
-{% if SOURCE.startswith("git+") %}
-RUN git clone {{SOURCE}}
-{% elif SOURCE %}
-COPY {{SOURCE}} .
-{% endif %}
+COPY ./ .
 
 WORKDIR /root/catkin_ws
 RUN /bin/bash -c "source /opt/ros/noetic/setup.bash && rosdep init"
@@ -30,4 +25,4 @@ RUN apt-get clean
 HEALTHCHECK {{HEALTHCHECK}}
 
 # Command to run your application
-CMD {{RUN_COMMAND}}
+CMD {{RUN_COMMAND}} --wait --screen
diff --git a/src/include/{{PACKAGE_NAME}}/package.xml.jinja b/src/package.xml.jinja
similarity index 98%
rename from src/include/{{PACKAGE_NAME}}/package.xml.jinja
rename to src/package.xml.jinja
index 641bbd7..2528b52 100644
--- a/src/include/{{PACKAGE_NAME}}/package.xml.jinja
+++ b/src/package.xml.jinja
@@ -2,7 +2,7 @@
 <package format="2">
   <name>{{PACKAGE_NAME}}</name>
   <version>0.0.0</version>
-  <description>{{PACKAGE_DECRIPTION}}</description>
+  <description>{{PACKAGE_DESCRIPTION}}</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
diff --git a/src/src/{%if 'Python' in LANGUAGES%}scripts{%endif%}/main.py b/src/src/{%if 'Python' in LANGUAGES%}scripts{%endif%}/main.py
new file mode 100644
index 0000000..981b286
--- /dev/null
+++ b/src/src/{%if 'Python' in LANGUAGES%}scripts{%endif%}/main.py	
@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import rospy
+from std_msgs.msg import String
+
+def talker():
+    pub = rospy.Publisher('chatter', String, queue_size=10)
+    rospy.init_node('talker', anonymous=True)
+    rate = rospy.Rate(10) # 10hz
+    while not rospy.is_shutdown():
+        hello_str = "hello world %s" % rospy.get_time()
+        rospy.loginfo(hello_str)
+        pub.publish(hello_str)
+        rate.sleep()
+
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass