reorganization of the files

tuto_kickoff/launch/tuto_reel_teleop.yaml

@@ -3,10 +3,5 @@ launch:
 - include:
     file: "$(find-pkg-share tuto_kickoff)/launch/include/tuto_reel.yaml"
 
-# - node:
-#     pkg: "teleop_twist_keyboard"
-#     exec: "teleop_twist_keyboard"
-#     name: "teleop"
-
 - executable:
     cmd: gnome-terminal --tab -e 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap turtle1/cmd_vel:=/multi/cmd_nav'

tuto_kickoff/launch/tuto_sim_teleop.yaml

@@ -3,10 +3,5 @@ launch:
 - include:
     file: "$(find-pkg-share tuto_kickoff)/launch/include/tuto_sim.yaml"
 
-# - node:
-#     pkg: "teleop_twist_keyboard"
-#     exec: "teleop_twist_keyboard"
-#     name: "teleop"
-
 - executable:
     cmd: gnome-terminal --tab -e 'ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap turtle1/cmd_vel:=/cmd_vel'

tuto_kickoff/scripts/myNode

 #!/usr/bin/python3
+"""Base node, does nothing."""
+
 import rclpy                 # core ROS2 client python library
 from rclpy.node import Node  # To manipulate ROS Nodes
 

tuto_kickoff/scripts/reactive_move

 #!/usr/bin/python3
+"""Basic control of the robot, move forward and avoid obstacles. Doesn't get stuck"""
+
+# imports
 import rclpy
 import math as m
 from rclpy.node import Node
@@ -7,15 +10,21 @@ from geometry_msgs.msg import Twist
 import sensor_msgs_py.point_cloud2
 import time
 
+# main class
 class ReactiveMove(Node):
 
     MAX_STUCK_TIME = 5 #  Time before the robot is considered to be stuck and has to make a U-turn
+
+    # Rectangle of vision of the robot
     RECT_WIDTH = 0.5
     RECT_LENGTH = 0.5
+
+    # Robot velocities
     ANGULAR_VELOCITY = 1.0
     LINEAR_VELOCITY = 0.2
     
     def __init__(self, name="reactive_move", timerFreq = 1/60.0):
+        """ constructor """
         super().__init__(name) #  Create the node
 
         # Initialize a subscriber
@@ -46,7 +55,7 @@ class ReactiveMove(Node):
     
     def calcul_velo(self):
         """
-        Calculate the velocity based on the "map" points and other data
+        Calculate the velocity based on the lidar detected points and other data
         """
 
         now = time.time()
@@ -57,7 +66,8 @@ class ReactiveMove(Node):
             print("STOP ROBOT")
             return Twist()  # Return a zero velocity
         
-        # If it's been rotating for more than 5s, it's probably stuck in a corner, so we rotate it completely, until >3.14s which is equivalent to a rotation of >180°
+        # If it's been rotating for more than 5s, it's probably stuck in a corner
+        # In this case, a u-turn is performed, until >3.14s which is equivalent to a rotation of >180°
         if self._previousStraightMvtTime and self.MAX_STUCK_TIME < now - self._previousStraightMvtTime <= self.MAX_STUCK_TIME + m.pi: 
             velo = Twist()
             velo.angular.z = self.ANGULAR_VELOCITY
@@ -99,12 +109,12 @@ class ReactiveMove(Node):
 
         velocity = self.calcul_velo()
 
-        self._velocity_publisher.publish(velocity) # Move according to previously calculated velocity
+        self._velocity_publisher.publish(velocity) #  Move according to previously calculated velocity
 
         return 0
 
 
-
+# Static functions
 def firstPointInFront(points:list, maxX, maxY):
     """
     Check if points in front of the robot (in the rectangle with forward distance maxX and lateral distance of 2*maxY)
@@ -116,7 +126,7 @@ def firstPointInFront(points:list, maxX, maxY):
     return (None, None)
 
 
-
+# Main loop
 def main():
     """
     Main loop

tuto_kickoff/scripts/tuto_move

 #!/usr/bin/python3
-import rclpy                  # core ROS2 client python librairie
-from rclpy.node import Node   # To manipulate ROS Nodes
+"""Move in cirle"""
 
-from geometry_msgs.msg import Twist # Message to publish:
+# Imports
+import rclpy                  # core ROS2 client python library
+from rclpy.node import Node   # Manipulate ROS Nodes
 
+from geometry_msgs.msg import Twist 
+
+
+# Message to publish:
 print("tuto_move :: START...")
 
+# Main loop
 def main():
+    """Main loop"""
     rclpy.init()     # Initialize ROS2 client
     myNode= Node('move_node') # Create a Node, with a name     
 
@@ -14,7 +21,7 @@ def main():
     velocity_publisher = myNode.create_publisher(Twist, '/cmd_vel', 10)
 
 
-    # Start the ros infinit loop with myNode.
+    # Start the ros infinite loop with myNode.
     while True :
         rclpy.spin_once( myNode, timeout_sec=0.1 )
         print("Running...")
@@ -35,8 +42,7 @@ def main():
 
 
 
-# activate main() function,
-# if the file is executed as a script (ie. not imported).
+# activate main() function only if the file is executed as a script (ie. not imported).
 if __name__ == '__main__':
     # call main() function
     main()
\ No newline at end of file

tuto_kickoff/scripts/tuto_scan_echo

 #!/usr/bin/python3
+"""Change Lidar message into point cloud object"""
 import rclpy
 import math
 from rclpy.node import Node
@@ -6,13 +7,16 @@ from sensor_msgs.msg import LaserScan, PointCloud2
 from sensor_msgs_py import point_cloud2
 from std_msgs.msg import Header
 
+# Create node
 rosNode= None
 
 def scan_callback(scanMsg):
+    """receive a lidar message and send a pointcloud message in topic"""
     global rosNode
     obstacles = ranges_to_positions(scanMsg)
-    sample = [ [ round(p[0], 2), round(p[1], 2), round(p[2], 2) ] for p in  obstacles[10:20] ]
 
+    # Sample for the tuto :
+    sample = [ [ round(p[0], 2), round(p[1], 2), round(p[2], 2) ] for p in  obstacles[10:20] ]
     # rosNode.get_logger().info( f"\nheader:\n{scanMsg.header}\nnumber of ranges: {len(scanMsg.ranges)}\nSample: {sample}\n" )
 
     # Publish a msg
@@ -21,6 +25,7 @@ def scan_callback(scanMsg):
 
 
 def ranges_to_positions(scan_message: LaserScan) -> list:
+    """change a lidar message into a pointcloud message"""
     obstacles= []
     angle= scan_message.angle_min
     for aDistance in scan_message.ranges :
@@ -46,7 +51,5 @@ while True :
     rclpy.spin_once( rosNode )
 
 
-
-
 rosNode.destroy_node()
 rclpy.shutdown()
\ No newline at end of file