Adithya Vishnu 240047

240047/turtle_sim/src/build/.built_by

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+colcon

240047/turtle_sim/src/build/turtle_pub/build/lib/turtle_pub/draw_circle_client.py

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+import rclpy
+from rclpy.node import Node
+from turtle_pub.srv import DrawCircle  # Custom service
+
+
+class DrawCircleClient(Node):
+    def __init__(self):
+        super().__init__('draw_circle_client')
+        # Create client for DrawCircle service
+        self.client = self.create_client(DrawCircle, 'draw_circle')
+        while not self.client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('⏳ Waiting for service...')
+
+    def send_request(self, x, y, radius):
+        # Prepare request with x, y, radius
+        req = DrawCircle.Request()
+        req.x = x
+        req.y = y
+        req.radius = radius
+
+        # Call service asynchronously
+        future = self.client.call_async(req)
+        rclpy.spin_until_future_complete(self, future)
+        return future.result()
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    client = DrawCircleClient()
+
+    # Example request: teleport to (2, 3) and draw a circle of radius 1.0
+    resp = client.send_request(2.0, 3.0, 1.0)
+
+    if resp.success:
+        client.get_logger().info('✅ Circle drawn successfully!')
+    else:
+        client.get_logger().info('❌ Failed to draw circle')
+
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

240047/turtle_sim/src/build/turtle_pub/build/lib/turtle_pub/draw_circle_server.py

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+import rclpy
+from rclpy.node import Node
+from geometry_msgs.msg import Twist
+from turtlesim.srv import TeleportAbsolute
+from turtle_pub.srv import DrawCircle
+import math
+
+
+class DrawCircleServer(Node):
+    def __init__(self):
+        super().__init__('draw_circle_server')
+
+        # Create service
+        self.srv = self.create_service(DrawCircle, 'draw_circle', self.draw_circle_callback)
+
+        # Publisher for velocity commands
+        self.publisher = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
+
+        # Client for teleportation
+        self.teleport_client = self.create_client(TeleportAbsolute, 'turtle1/teleport_absolute')
+
+        # Wait until the teleport service is available
+        while not self.teleport_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('⏳ Waiting for /turtle1/teleport_absolute service...')
+
+        self.get_logger().info('✅ DrawCircle service ready!')
+
+    def draw_circle_callback(self, request, response):
+        self.get_logger().info(f'Received: x={request.x}, y={request.y}, r={request.radius}')
+
+        # ---- Step 1: Teleport the turtle ----
+        teleport_req = TeleportAbsolute.Request()
+        teleport_req.x = float(request.x)
+        teleport_req.y = float(request.y)
+        teleport_req.theta = 0.0  # start facing right
+
+        future = self.teleport_client.call_async(teleport_req)
+        rclpy.spin_until_future_complete(self, future)
+
+        if future.result() is None:
+            self.get_logger().error('❌ Teleport service call failed!')
+            response.success = False
+            return response
+
+        self.get_logger().info('🐢 Teleported turtle successfully!')
+
+        # ---- Step 2: Draw a circle ----
+        twist = Twist()
+
+        # Move forward briefly (to offset from teleport point)
+        twist.linear.x = 1.0
+        twist.angular.z = 0.0
+        start_time = self.get_clock().now().seconds_nanoseconds()[0]
+        while self.get_clock().now().seconds_nanoseconds()[0] - start_time < request.radius:
+            self.publisher.publish(twist)
+
+        # Rotate with forward motion (circle)
+        twist.linear.x = 1.0
+        twist.angular.z = 1.0
+        start_time = self.get_clock().now().seconds_nanoseconds()[0]
+        duration = 2 * math.pi * request.radius
+        while self.get_clock().now().seconds_nanoseconds()[0] - start_time < duration:
+            self.publisher.publish(twist)
+
+        # Stop
+        twist.linear.x = 0.0
+        twist.angular.z = 0.0
+        self.publisher.publish(twist)
+
+        # Response
+        response.success = True
+        self.get_logger().info('✅ Finished drawing circle!')
+        return response
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = DrawCircleServer()
+    rclpy.spin(node)
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()

240047/turtle_sim/src/build/turtle_pub/colcon_build.rc

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+0

240047/turtle_sim/src/build/turtle_pub/colcon_command_prefix_setup_py.sh

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+# generated from colcon_core/shell/template/command_prefix.sh.em

240047/turtle_sim/src/build/turtle_pub/colcon_command_prefix_setup_py.sh.env

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+AMENT_PREFIX_PATH=/home/adithya/turtle_sim/src/install/turtle_pub:/home/adithya/turtle_sim/install/turtle_pub:/opt/ros/humble
+COLCON=1
+COLCON_PREFIX_PATH=/home/adithya/turtle_sim/src/install:/home/adithya/turtle_sim/install
+COLORTERM=truecolor
+DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1000/bus
+DESKTOP_SESSION=ubuntu
+DISPLAY=:0
+GDMSESSION=ubuntu
+GNOME_DESKTOP_SESSION_ID=this-is-deprecated
+GNOME_SETUP_DISPLAY=:1
+GNOME_SHELL_SESSION_MODE=ubuntu
+GNOME_TERMINAL_SCREEN=/org/gnome/Terminal/screen/e5129de6_3122_48bf_9b1e_e99924ac10da
+GNOME_TERMINAL_SERVICE=:1.272
+GTK_MODULES=gail:atk-bridge
+HOME=/home/adithya
+IM_CONFIG_PHASE=1
+LANG=en_US.UTF-8
+LANGUAGE=en_IN:en
+LC_ALL=en_US.UTF-8
+LD_LIBRARY_PATH=/opt/ros/humble/opt/rviz_ogre_vendor/lib:/opt/ros/humble/lib/x86_64-linux-gnu:/opt/ros/humble/lib
+LESSCLOSE=/usr/bin/lesspipe %s %s
+LESSOPEN=| /usr/bin/lesspipe %s
+LOGNAME=adithya
+LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
+OLDPWD=/home/adithya/turtle_sim
+PATH=/opt/ros/humble/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
+PWD=/home/adithya/turtle_sim/src/build/turtle_pub
+PYTHONPATH=/home/adithya/turtle_sim/src/build/turtle_pub:/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages:/home/adithya/turtle_sim/build/turtle_pub:/home/adithya/turtle_sim/install/turtle_pub/lib/python3.10/site-packages:/opt/ros/humble/lib/python3.10/site-packages:/opt/ros/humble/local/lib/python3.10/dist-packages
+QT_ACCESSIBILITY=1
+QT_IM_MODULE=ibus
+ROS_DISTRO=humble
+ROS_LOCALHOST_ONLY=0
+ROS_PYTHON_VERSION=3
+ROS_VERSION=2
+SESSION_MANAGER=local/adithya-ASUS:@/tmp/.ICE-unix/1420,unix/adithya-ASUS:/tmp/.ICE-unix/1420
+SHELL=/bin/bash
+SHLVL=1
+SSH_AGENT_LAUNCHER=gnome-keyring
+SSH_AUTH_SOCK=/run/user/1000/keyring/ssh
+SYSTEMD_EXEC_PID=7119
+TERM=xterm-256color
+USER=adithya
+USERNAME=adithya
+VTE_VERSION=6800
+WAYLAND_DISPLAY=wayland-0
+XAUTHORITY=/run/user/1000/.mutter-Xwaylandauth.HZMNC3
+XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
+XDG_CURRENT_DESKTOP=ubuntu:GNOME
+XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
+XDG_MENU_PREFIX=gnome-
+XDG_RUNTIME_DIR=/run/user/1000
+XDG_SESSION_CLASS=user
+XDG_SESSION_DESKTOP=ubuntu
+XDG_SESSION_TYPE=wayland
+XMODIFIERS=@im=ibus
+_=/usr/bin/colcon

240047/turtle_sim/src/build/turtle_pub/install.log

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+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/draw_circle_server.py
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/__init__.py
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/draw_circle_client.py
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/__pycache__/draw_circle_server.cpython-310.pyc
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/__pycache__/__init__.cpython-310.pyc
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub/__pycache__/draw_circle_client.cpython-310.pyc
+/home/adithya/turtle_sim/src/install/turtle_pub/share/ament_index/resource_index/packages/turtle_pub
+/home/adithya/turtle_sim/src/install/turtle_pub/share/turtle_pub/package.xml
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/dependency_links.txt
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/zip-safe
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/top_level.txt
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/SOURCES.txt
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/PKG-INFO
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/entry_points.txt
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/python3.10/site-packages/turtle_pub-0.0.0-py3.10.egg-info/requires.txt
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/turtle_pub/draw_circle_client
+/home/adithya/turtle_sim/src/install/turtle_pub/lib/turtle_pub/draw_circle_server

240047/turtle_sim/src/build/turtle_pub/prefix_override/sitecustomize.py

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+import sys
+if sys.prefix == '/usr':
+    sys.real_prefix = sys.prefix
+    sys.prefix = sys.exec_prefix = '/home/adithya/turtle_sim/src/install/turtle_pub'

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/PKG-INFO

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+Metadata-Version: 2.1
+Name: turtle-pub
+Version: 0.0.0
+Summary: TODO: Package description
+Home-page: UNKNOWN
+Maintainer: adithya
+Maintainer-email: [email protected]
+License: TODO: License declaration
+Platform: UNKNOWN
+
+UNKNOWN
+

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/SOURCES.txt

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+package.xml
+setup.cfg
+setup.py
+../build/turtle_pub/turtle_pub.egg-info/PKG-INFO
+../build/turtle_pub/turtle_pub.egg-info/SOURCES.txt
+../build/turtle_pub/turtle_pub.egg-info/dependency_links.txt
+../build/turtle_pub/turtle_pub.egg-info/entry_points.txt
+../build/turtle_pub/turtle_pub.egg-info/requires.txt
+../build/turtle_pub/turtle_pub.egg-info/top_level.txt
+../build/turtle_pub/turtle_pub.egg-info/zip-safe
+resource/turtle_pub
+test/test_copyright.py
+test/test_flake8.py
+test/test_pep257.py
+turtle_pub/__init__.py
+turtle_pub/draw_circle_client.py
+turtle_pub/draw_circle_server.py

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/dependency_links.txt

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+

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/entry_points.txt

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+[console_scripts]
+draw_circle_client = turtle_pub.draw_circle_client:main
+draw_circle_server = turtle_pub.draw_circle_server:main
+

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/requires.txt

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+setuptools

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/top_level.txt

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+turtle_pub

240047/turtle_sim/src/build/turtle_pub/turtle_pub.egg-info/zip-safe

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+

240047/turtle_sim/src/install/.colcon_install_layout

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+isolated