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This repository contains the implementation of the ros package uda_cpp_capstone with a "move" node to pass the final project of the udacity c++ nanodegree programm. The implemented ros package starts a turtlebot simulation and makes the turtle move in form of given geomtric shapes according to a user input. For detailed information see the sections Expected Behavior and File & Class Structure.

• ROS including turtlesim package
• cmake >= 2.8.3
• make >= 4.1
• gcc/g++ >= 5.4

1. Source ros: source /opt/ros/<distro>/setup.bash
2. Create a catkin workspace folder: mkdir catkin_ws && cd catkin_ws && mkdir src
3. Build the catkin workspace: catkin_build
4. Go into /src directory: cd src/
5. Clone this repo: git clone https://github.com/phquentin/uda_cpp_capstone.git
6. Go back to the top level of the catkin worspace and build the ros package: cd .. && catkin_make

1. Source ros: source /opt/ros/<distro>/setup.bash
2. Source the created catkin workspace: source <path_to_catkin_ws>/catkin_ws/devel/setup.bash
3. Run the launch file of the package: roslaunch uda_cpp_capstone uda_cpp_cappstone.launch
4. Follow the instructions within the opened terminal

When the launch file uda_cpp_cappstone.launch is executed it starts a ros master, a Move node with the name move_node of the uda_cpp_capstone package and a turtlesim_node with the name sim of the ros turtlesim package. Furhtermore, within the opened terminal a user input is requested. If the user inputs 1 the move_node publishes the inputs for a random movement to the topic /turtle1/cmd_vel to which the sim node is subscribed, so that the turtle will do a random momvement. If the user inputs 2 the turtle will spiral movement respectivley.

Implements the main function that creates and starts the move_node according to the user input.

Declare and define the abstract MovementNode class.

Declare and define the child classes SpiralNode and RandomNode.

• The project demonstrates an understanding of C++ functions and control structures: Find loops and if statements in Move.cpp, functions in ShapeMovement.cpp
• The project accepts user input and processes the input: See user requested and processed input in Move.cpp

• The project uses Object Oriented Programming techniques: See class RandomNode and SpiralNode with their respective class attributes and functions in ShapeMovement.h and ShapeMovement.cpp
• Classes use appropriate access specifiers for class members: See parent class MovementNode in MovementNode.h, class SpiralNode and RandomNode in ShapeMovement.h
• Classes follow an appropriate inheritance hierarchy: Class SpiralNode and RandomNode are child classes of abstract class MovementNode. They specify the movement according to their name and inherit the same ros attributes. See MovementNode.h/cpp and ShapeMovement.h/cpp
• Derived class functions override virtual base class functions: The derived class functions publish_move() in class RandomNode and class SpiralNode override the virtual function publish_move() of the parent class. See MovementNode.h and ShapeMovement.h