Ødelegger ROS ved å kjøre tilsynelatene ok kode

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "src/mineros_interface"]
+	path = src/mineros_interface
+	url = git@github.com:AscendNTNU/mineros_interfaces.git

src/bob_ros/bob_ros/craft_item.py

@@ -0,0 +1,153 @@
+import rclpy
+from rclpy.node import Node
+
+from typing import Any, List
+from geometry_msgs.msg import Pose, PoseStamped
+from std_msgs.msg import String
+import copy
+from mineros_inter.srv import BlockInfo, FindBlocks, Craft, FurnaceInfo
+from mineros_inter.msg import Item, Furnace
+from time import sleep
+import pprint
+
+class CrafterNode(Node):
+    """
+    This class encompases the skeleton of a ROS2 node. It inherits from the class Node, which is the base class
+    for all nodes in ROS2. The class Node is defined in the rclpy package. The class Node has a constructor that
+    takes the name of the node as an argument. The name of the node is the name that will be used to identify the
+    node in the ROS2 ecosystem. The name of the node must be unique in the ROS2 ecosystem. If two nodes have the
+    same name, then the second node will not be able to start.
+    
+    The aim of this node will be to create a small node that will allow the bot to move around and navigate its
+    space
+    """
+    def __init__(self) -> None:
+        """
+        The constructor of the class. It initializes the node with the name 'my_first_node'. In this method
+        we also initialize the publishers and subscribers that we want to use in the node. As well as all the possible
+        parameters that we want to be able to change from the launch file.
+        """
+        super().__init__('crafter_node')
+        self.get_logger().info('Hewwo Wowwd!')
+
+        # Clients
+        self.find_block_client = self.create_client(
+            FindBlocks,
+            '/mineros/mining/find_blocks'
+        )
+        self.crafting_client = self.create_client(
+            Craft,
+            '/mineros/interaction/craft'
+        )
+        self.furnace_client = self.create_client(
+            FurnaceInfo,
+            '/mineros/interaction/furnace_info'  
+        )
+        # Publishers
+        self.pose_publisher = self.create_publisher(
+            PoseStamped,
+            '/mineros/set_position',
+            10
+        )
+############################################################################################################################################################################################################
+        #Furnace code
+        self.test_crafting()
+        self.get_logger().info("TRY")
+        furnace = self.get_furnace()
+        self.get_logger().info("Funnet furnace")
+        furnace_info = self.check_furnace(furnace)
+        self.get_logger().info(f"Progress: {furnace_info.progress}")
+
+
+
+
+############################################################################################################################################################################################################
+
+    def get_furnace(self, max_distance = 16) -> Pose: # Gir exception om det ikke er noen furnacer i nærheten
+        furnace_array = self.find_blocks(185,1, max_distance)
+
+        self.get_logger().info(f"Funnet {len(furnace_array)} ovn{'er'*(len(furnace_array)!=1)}!")
+        if len(furnace_array) != 0:
+            return furnace_array[0]
+        else: # 
+            return Pose()
+    def check_furnace(self, furnace: Pose) -> Furnace:
+        furnace_request = FurnaceInfo.Request()
+        furnace_request.block_pose = furnace
+        while not self.furnace_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Waiting for service (FurnaceInfo)')
+        self.get_logger().info("Funnet service")
+        future = self.furnace_client.call_async(furnace_request)
+        rclpy.spin_until_future_complete(self,future)
+        self.get_logger().info("Er det en suksess?")
+        if future.result().success:
+            self.get_logger().info("Suksess!")
+            return future.result().furnace
+        else:
+            self.get_logger().info("Usuksess")
+            return Furnace()
+
+    def move_to_pose(self, msg):
+        self.pose_publisher.publish(msg) 
+
+    def find_blocks(self, blockid: int, count: int, max_distance = 16) -> List[Pose]:
+        self.get_logger().info('Find blocks')
+        block_search = FindBlocks.Request()
+        block_search.blockid = blockid
+        block_search.count = count
+        block_search.max_distance = max_distance
+
+        while not self.find_block_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Waiting for service (FindBlocks)')
+        future = self.find_block_client.call_async(block_search)
+        rclpy.spin_until_future_complete(self, future)
+        blocks = future.result()
+        return blocks.blocks.poses   
+
+    def craft_item(self,itemID,count,use_crafting_table,crafting_table_pose):
+        self.get_logger().info(f"Crafting item {itemID} {'with a crafting table' * use_crafting_table}")
+        crafting_request = Craft.Request()
+        crafting_request.item = Item(); crafting_request.item.id = itemID; crafting_request.item.count = count
+        crafting_request.crafting_table = use_crafting_table
+        crafting_request.crafting_table_location = crafting_table_pose
+
+        while not self.crafting_client.wait_for_service(timeout_sec=1.0):
+            self.get_logger().info('Waiting for service (Craft)')
+        future = self.crafting_client.call_async(crafting_request)
+        rclpy.spin_until_future_complete(self,future)
+        out = future.result().success
+        self.get_logger().info(f"{'Crafting success' * out}{'Crafting failed' * (not out)}")
+        return out
+
+    def test_crafting(self):
+        self.crafting_table_pose = self.find_blocks(182,1)
+        if len(self.crafting_table_pose) != 0:
+            self.crafting_table_pose = self.crafting_table_pose[0]
+        else:
+            self.get_logger().info("No table ò_ó")
+            return
+        self.get_logger().info(f"{self.crafting_table_pose.position}")
+
+        item = 807 #bør være stick
+        count = 1
+        false = False
+        true = True
+        crafting_table = false
+        self.craft_item(item,count,crafting_table,self.crafting_table_pose)
+
+        item = 799 #bør være diamond pickaxe
+        count = 1
+        false = False
+        true = True
+        crafting_table = true
+        self.craft_item(item,count,crafting_table,self.crafting_table_pose)
+
+
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = CrafterNode()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()    

src/bob_ros/setup.py

@@ -20,7 +20,8 @@
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
-            'bob = bob_ros.bob_bot:main'
+            'bob = bob_ros.bob_bot:main',
+            'craft = bob_ros.craft_item:main'
         ],
     },
 )