Creating and building ROS2 in the Fleet Manager
===============================================

If there is a problem with the action in ``FleetManager/ROS2``, or a problem with the topic in ``FleetManager/StateVector``, you need to modify the folder to create the action or the topic again. 

State Vector Subscriber
-----------------------

Delete files
~~~~~~~~~~~~
In ``FleetManager/StateVector``, move the ``src`` folder and remove all the folders except ``grpc``.

Create a workspace
~~~~~~~~~~~~~~~~~~
.. code-block:: bash

   cd StateVector
   mkdir src
   cd src

Create a package
~~~~~~~~~~~~~~~~
In ``StateVector/src``, execute:

.. code-block:: bash

   ros2 pkg create --build-type ament_python --license Apache-2.0 state_vector_pubsub

Import the subscriber node
~~~~~~~~~~~~~~~~~~~~~~~~~~
Navigate into ``StateVector/src/state_vector_pubsub/state_vector_pubsub``. Then, move into the directory the ``.py`` modules that are in ``src/state_vector_pubsub/state_vector_pubsub``.

Add dependencies
~~~~~~~~~~~~~~~~
Add the following dependencies into ``package.xml`` (``StateVector/src/state_vector_pubsub``):

.. code-block:: xml

   <exec_depend>rclpy</exec_depend>
   <exec_depend>std_msgs</exec_depend>

Add an entry point
~~~~~~~~~~~~~~~~~~
In ``setup.py``, add the following line within the ``console_scripts`` brackets of the ``entry_points`` field:

.. code-block:: python

   entry_points={
           'console_scripts': [
                   'listener = py_pubsub.subscriber_member_function:main',
           ],
   }

Check ``setup.cfg``
~~~~~~~~~~~~~~~~~~~
Check that ``setup.cfg`` has the following content:

.. code-block:: ini

   [develop]
   script_dir=$base/lib/state_vector_pubsub
   [install]
   install_scripts=$base/lib/state_vector_pubsub

Build and run
~~~~~~~~~~~~~
Still in the root of your workspace, ``StateVector``, build your new package:

.. code-block:: bash

   colcon build --packages-select state_vector_pubsub

Open a new terminal, navigate to ``StateVector``, and source the setup files:

.. code-block:: bash

   source install/setup.bash

Now run the listener node:

.. code-block:: bash

   ros2 run state_vector_pubsub listener

Action Client
-------------
Delete files
~~~~~~~~~~~~
In ``FleetManager/ROS2``, move the ``src`` folder and remove all the folders except ``grpc``.

Create a workspace
~~~~~~~~~~~~~~~~~~
.. code-block:: bash

   cd ROS2
   mkdir src
   cd src

Create an interface package
~~~~~~~~~~~~~~~~~~~~~~~~~~~
In ``ROS2/src``, execute:

.. code-block:: bash

   ros2 pkg create --license Apache-2.0 commands_action_interface

Restore the action
~~~~~~~~~~~~~~~~~~
Create an ``action`` directory in the ROS 2 package ``commands_action_interface``:

.. code-block:: bash

   cd commands_action_interface
   mkdir action

Move ``Commands.action`` from ``src/commands_action_interface/action`` into ``ROS2/src/commands_action_interface/action``.

Building the action
~~~~~~~~~~~~~~~~~~~
Add the following lines to ``CMakeLists.txt`` before the ``ament_package()`` line:

.. code-block:: cmake

   find_package(rosidl_default_generators REQUIRED)

   rosidl_generate_interfaces(${PROJECT_NAME}
     "action/Commands.action"
   )

Add the required dependencies to ``package.xml``:

.. code-block:: xml

   <buildtool_depend>rosidl_default_generators</buildtool_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>

Build the package by executing the following commands:

.. code-block:: bash

   # Change to the root of the workspace
   cd ~/ROS2
   # Build
   colcon build

Run the server
~~~~~~~~~~~~~~
Move all the ``.py`` modules from ``src/commands_action_interface/src`` to ``ROS2/src/commands_action_interface/src``.

To run the server, open a new terminal, navigate to ``ROS2``, and source the setup files:

.. code-block:: bash

   source install/setup.bash

Now run the client:

.. code-block:: bash

   python3 src.commands_action_interface.src.commands_action_client.py