mkdir -p /home/usr/ros2/workspaces/ros2_crash_ws/src
cd /home/usr/ros2/workspaces/ros2_crash_ws/src

1) Clone the ros package repo
	cd /home/usr/ros2/workspaces/ros2_crash_ws/src/
	git clone [email protected]:ros2/teleop_twist_keyboard.git
	source /opt/ros/foxy/setup.bash
2) Compile the workspace
	cd /home/usr/ros2/workspaces/ros2_crash_ws/
	colcon build
3) Run the binary teleop_twist_keyboard.py and play with it! 
	ros2 run teleop_twist_keyboard teleop_twist_keyboard

4) Add a customized print message in the file teleop_twist_keyboard.py and run it again

5) Modify the binary teleop_twist_keyboard.py to generate the following motions:

	Linear motions: 

	u: left-front
	i: front
	o: right-front
	j: left
	k: stop
	l: right
	m: left-back
	,: back
	.: right-back

	Angular Motions:
	w: counter-clockwise
	e: stop
	r: clock-wise

	Speed:

	+ increase linear speed +0.1
	- decrease linear speed -0.1
	* increase angular speed +0.1
	/ decrease angular speed -0.1

6) Test your new binary
	Open a new terminal and source your workspace
	cd /home/usr/ros2/workspaces/ros2_crash_ws/
	source install/setup.bash
	ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=turtle_twist

1) Use the ros2 create package function 
	cd /home/usr/ros2/workspaces/ros2_crash_ws/src
	ros2 pkg create --build-type ament_cmake turtle_msgs
2) Compile the workspace
	colcon build --symlink-install --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1

3) Add msg/TurtleState.msg and modify CMakeLists.txt, package.xml
4) Compile your workspace
5) Verify that your new message has been created, using ros2 interface.

1) Use the ros2 create package function 
	cd /home/dean/ros2/workspaces/ros2_crash_ws/src
	ros2 pkg create --build-type ament_cmake turtle_ctrl
2) Compile your workspace
3) Copy the TurtleVis class files TurtleVis.h and TurtleVis.cpp to their corresponding folders
4) Modify the CMakeFile to create a shared library with the TurtleVis class
5) Copy the application file turtle_vis.cpp
6) Modify the CMakeFile to create a new binary (Exec)
7) Compile your workspace (or single ros package)
8) Copy the file "turtle.rviz" into turtle_ctr/rviz/turtle.rviz
9) Test your application. You will need 3 terminals
	T1) Run the turtle visualization 
		ros2 run turtle_ctrl turtle_vis
	T2) Run rviz
		ros2 run rviz2 rviz2 -d src/turtle_ctrl/rviz/turtle.rvi
	T3) Publish a TurtleState message and check the rviz window
		ros2 topic pub --rate 1 /turtle_pose turtle_msgs/msg/TurtleStateStamped "{pose: {x: 1, y: 1, theta: 0}}"

1) Copy the file "turtle_vis_test_launch.py" into the folder turtle_ctrl/launch/
2) Run the new launch file
	ros2 launch turtle_ctrl turtle_vis_test_launch.py

1) Copy the class files  TurtleCtrl.cpp and TurtleCtrl.h to its corresponding folders
2) Modify the CMakeFile to create a shared library with the control class
3) Copy the application file turtle_control.cpp
4) Modify the CMakeFile to create a new binary (Exec)
5) Compile your workspace (or single ros package) 
6) Test your application
	T1) Copy the launch file turtle_vis_test_launch.py and renamed as turtle_test_launch.py
		Modify the new launch file to include the control node

We will implement two methods to generate the commanded turtle pose for the controller.
First, transform the Twist (turtle velocity) message generated from the node teleop_twist_keyboard to continuous 
commanded turtle poses. 
Second, we will create a node that provides a service to request a desired turtle pose. This node will use the
requested turtle pose and generate a continuous smooth trajectory for the commanded turtle pose. 
The output of both nodes is a TurtleStateStamped message, which is connected to the controller to change the 
pose of the turtle
1) Create a new ros python package "turtle_trajectory_generator"
	ros2 pkg create --build-type ament_python turtle_trajectory_generator
2) Fix the ros package configuration files to use the new package, e.g. package.xml, resource, setup.py, etc.
3) Copy the file teleop_twist_keyboard.py from the ros package teleop_twist_keyboard to this new package
4) Compile the workspace. This is needed to create the symbolic links to the python files. 
	colcon build --symlink-install --merge-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
5) Create the trajectory generator module. Use the file trajectory_generator_class.py 
6) Compile again the workspace
7) Create the application nodes
	a) applications/poly_trajectories.py: Generates the smooth trajectory for the commanded turtle pose (TurtleStateStamped message)
	b) applications/twist2cmd.py: Converts from Twist message to commanded turtle pose (TurtleStateStamped message)
8) Compile your workspace 
7) Test your applications

source install/setup.bash

ros2 launch turtle_ctrl turtle_test_launch.py