Made the tutorials package a C++ one

Author: harrisonv789

CMakeLists.txt

@@ -0,0 +1,66 @@
+cmake_minimum_required(VERSION 3.5)
+project(tutorials)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+
+# Find and include all dependencies
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+
+# Include the core package
+find_package(core REQUIRED)
+
+# Include the include directory
+include_directories(
+  include
+    ${catkin_INCLUDE_DIRS}
+    "${PROJECT_SOURCE_DIR}/include"
+)
+
+# C++ executables
+#add_executable(#name #source.cpp #dependency.cpp)
+#ament_target_dependencies(#name rclcpp core)
+
+# Add all the installation directories
+install(DIRECTORY
+  #launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Add all Python executables to this list
+install(PROGRAMS
+  tutorials/example_publisher.py
+  tutorials/example_subscriber.py
+  tutorials/example_client.py
+  tutorials/example_service.py
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+
+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()
+
+ament_package()

package.xml

@@ -12,12 +12,12 @@
   <test_depend>ament_pep257</test_depend>
   <test_depend>python3-pytest</test_depend>
 
-  <exec_depend>core</exec_depend>
-  <exec_depend>rclpy</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>example_interfaces</exec_depend>
+  <depend>rclcpp</depend>  
+  <depend>core</depend>
+  <depend>std_msgs</depend>
+  <depend>example_interfaces</depend>
 
   <export>
-    <build_type>ament_python</build_type>
+    <build_type>ament_cmake</build_type>
   </export>
 </package>

setup.cfg

@@ -0,0 +1,28 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+
+import coms_utils
+
+
+class Tester (Node):
+
+    def __init__ (self):
+        super().__init__('node_test')
+        #self.test_obj = Test()
+        #print(self.test_obj.get_value(2))
+
+
+# Main function for setting up the ROS node
+def main (args = None):
+    rclpy.init(args = args)
+    service = Tester()
+    rclpy.spin(service)
+
+    service.destroy_node()
+    rclpy.shutdown()
+
+# This code is called when 'python3' is used to run the script
+if __name__ == '__main__':
+    main()