Restructure codebase

src/robot_controller/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 3.8)
+project(robot_controller)
+
+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)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(robot_interfaces REQUIRED)
+
+#add_executable(robotcontroller src/robotcontroller.cpp)
+#ament_target_dependencies(robotcontroller rclcpp robot_interfaces)
+
+install(TARGETS
+  talker
+  listener
+  DESTINATION lib/${PROJECT_NAME})
+
+ament_package()

src/robot_controller/package.xml

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+<?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>robot_controller</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <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/robot_controller/src/robotcontroller.cpp

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+#include <cstdio>
+#include <rclcpp/rclcpp.hpp>
+
+class RobotController : public rclcpp::Node
+{
+public:
+  /// Constructor
+  RobotController();
+
+private:
+  /// Callback that executes path on robot
+    virtual void add(const std::shared_ptr<robot_interfaces::srv::AddThreeInts::Request> request,
+                           std::shared_ptr<robot_interfaces::srv::AddThreeInts::Response>       response);
+};
+
+RobotController::RobotController(string name) : Node(name)
+{
+  // Subscribe to target pose
+  target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
+
+  RCLCPP_INFO(this->get_logger(), "Initialization successful.");
+}
+
+int main(int argc, char ** argv)
+{
+  //rclcpp::init(argc, argv);
+
+  //auto target_follower = std::make_shared<MoveItFollowTarget>();
+
+  //rclcpp::executors::SingleThreadedExecutor executor;
+  //executor.add_node(target_follower);
+  //executor.spin();
+
+  //rclcpp::shutdown();
+  //return EXIT_SUCCESS;
+  (void) argc;
+  (void) argv;
+
+  printf("hello world\n");
+  return 0;
+}