remove gitignore

workspace/src/mock_robot/mock_robot/mock_robot.urdf

@@ -0,0 +1,38 @@
+<?xml version="1.0"?>
+<robot name="mock_robot">
+
+  <!-- Base Link -->
+  <link name="base_link"/>
+
+  <!-- Link 1 -->
+  <link name="link1"/>
+
+  <joint name="joint1" type="revolute">
+    <parent link="base_link"/>
+    <child link="link1"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" velocity="1.0" lower="-3.14" upper="3.14"/>
+  </joint>
+
+  <!-- Link 2 -->
+  <link name="link2"/>
+
+  <joint name="joint2" type="revolute">
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz="0.5 0 0" rpy="0 0 0"/> <!-- 0.5m offset -->
+    <axis xyz="0 0 1"/>
+    <limit effort="10.0" velocity="1.0" lower="-3.14" upper="3.14"/>
+  </joint>
+
+  <!-- Tool endpoint -->
+  <link name="tool0"/>
+
+  <joint name="tool0_fixed_joint" type="fixed">
+    <parent link="link2"/>
+    <child link="tool0"/>
+    <origin xyz="0.3 0 0" rpy="0 0 0"/> <!-- TCP 0.3m from joint2 -->
+  </joint>
+
+</robot>

workspace/src/mock_robot/mock_robot/robot_node.py

@@ -0,0 +1,73 @@
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import JointState
+from trajectory_msgs.msg import JointTrajectory
+
+import numpy as np
+import time
+
+class RobotNode(Node):
+
+    def __init__(self):
+        super().__init__('robot_node')
+
+        self.l1 = 0.5
+        self.l2 = 0.3
+        self.x = self.l1 + self.l2
+        self.y = 0.0
+        self.theta1 = 0.0
+        self.theta2 = 0.0
+
+        self.publisher = self.create_publisher(
+            JointState, 
+            '/joint_states', 
+            1
+        )
+
+        timer_period = 0.01  # seconds
+        self.timer = self.create_timer(timer_period, self.timer_callback)
+        self.i = 0
+
+        self.subcriber = self.create_subscription(
+            JointTrajectory,
+            '/scaled_joint_trajectory_controller/joint_trajectory',
+            self.joint_trajectory_callback,
+            1
+        )
+
+    def timer_callback(self):
+        msg = JointState()
+        msg.name = ['joint1', 'joint2']
+        msg.header.stamp = self.get_clock().now().to_msg()
+        msg.position = [self.theta1, self.theta2]
+        msg.velocity = [self.x, self.y]
+        self.publisher.publish(msg)
+
+    def joint_trajectory_callback(self, msg):
+        joint_names = msg.joint_names
+        prev_timetag = 0
+        for point in msg.points:
+            duration = point.time_from_start.sec + point.time_from_start.nanosec / 1e9 - prev_timetag
+            prev_timetag = point.time_from_start.sec + point.time_from_start.nanosec / 1e9
+            
+            steps = int(duration * 10)  # Update in 10 steps per second
+
+            for i in range(steps):
+                self.theta1 += (point.positions[0] - self.theta1) / steps
+                self.theta2 += (point.positions[1] - self.theta2) / steps
+                self.x = self.l1 * np.cos(self.theta1) + self.l2 * np.cos(self.theta1 + self.theta2)
+                self.y = self.l1 * np.sin(self.theta1) + self.l2 * np.sin(self.theta1 + self.theta2)
+                msg = JointState()
+                msg.name = ['joint1', 'joint2']
+                msg.header.stamp = self.get_clock().now().to_msg()
+                msg.position = [self.theta1, self.theta2]
+                msg.velocity = [self.x, self.y]
+                self.publisher.publish(msg)
+                time.sleep(0.1)
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = RobotNode()
+    rclpy.spin(node)
+    rclpy.shutdown()

workspace/src/mock_robot/package.xml

@@ -0,0 +1,20 @@
+<?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>mock_robot</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="root@todo.todo">root</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

workspace/src/mock_robot/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/mock_robot
+[install]
+install_scripts=$base/lib/mock_robot

workspace/src/mock_robot/setup.py

@@ -0,0 +1,26 @@
+from setuptools import find_packages, setup
+
+package_name = 'mock_robot'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='root',
+    maintainer_email='root@todo.todo',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'mock_robot = mock_robot.robot_node:main',
+        ],
+    },
+)

workspace/src/mock_robot/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

workspace/src/mock_robot/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

workspace/src/mock_robot/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'