First package tutorial end

tuto_kickoff/CMakeLists.txt

@@ -24,3 +24,12 @@ if(BUILD_TESTING)
 endif()
 
 ament_package()
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# Python scripts
+install( PROGRAMS scripts/myNode.py DESTINATION lib/${PROJECT_NAME})
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tuto_kickoff/package.xml

@@ -4,8 +4,8 @@
   <name>tuto_kickoff</name>
   <version>0.0.0</version>
   <description>Package du tuto</description>
-  <maintainer email="lucas.naury@todo.todo">lucas.naury</maintainer>
-  <maintainer email="ines.el/hadri@todo.todo">ines.el.hadri</maintainer>
+  <maintainer email="lucas.naury@etu.imt-nord-europe.fr">lucas.naury</maintainer>
+  <maintainer email="ines.el.hadri@etu.imt-nord-europe.fr">ines.el.hadri</maintainer>
   <license>MIT</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
@@ -13,6 +13,11 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
 
+  <!--Dependencies-->
+  <depend>rclpy</depend>
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

tuto_kickoff/scripts/myNode.py

+#!/usr/bin/python3
+import rclpy                 # core ROS2 client python library
+from rclpy.node import Node  # To manipulate ROS Nodes
+
+def main():
+    rclpy.init()     # Initialize ROS2 client
+    myNode= Node('blanc_node') # Create a Node, with a name         
+
+    # Start the ros infinite loop with myNode.
+    rclpy.spin( myNode )
+
+    # At the end, destroy the node explicitly.
+    myNode.destroy_node()
+
+    # and shut the light down.
+    rclpy.shutdown()
+
+    print("tuto_move :: STOP.")
+
+# If the file is executed as a script (ie. not imported).
+if __name__ == '__main__':
+    # call main() function
+    main()
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