Basic tests and README updated, started with fleet adapter template

Signed-off-by: Aaron Chong <aaronchongth@gmail.com>

README.md

@@ -21,12 +21,25 @@ Start `zenoh-bridge-ros2dds`
 ./zenoh-bridge-ros2dds -c PATH_TO_WORKSPACE/src/free_fleet/free_fleet_examples/configs/example.json5
 ```
 
+Listen to transforms,
+
+```bash
+source PATH_TO_WORKSPACE/install/setup.bash
+ros2 run free_fleet_exmples test_tf.py \
+    --namespace robot_ns
+```
+
 Start a `navigate_to_pose` action over `zenoh`,
 
 ```bash
 source PATH_TO_WORKSPACE/install/setup.bash
 ros2 run free_fleet_examples test_navigate_to_pose.py \
     --frame-id map \
+    --namespace robot_ns \
     --x X_COORDINATES \
     --y Y_COORDDIATES
-```
+
+# Example values
+# x: 1.808
+# y: 0.503
+```

free_fleet_examples/free_fleet_examples/types.py → free_fleet/free_fleet/types.py

@@ -125,7 +125,7 @@ class GeometryMsgs_Transform(IdlStruct, typename="GeometryMsgs_Transform"):
 @dataclass
 class GeometryMsgs_TransformStamped(IdlStruct, typename="GeometryMsgs_TransformStamped"):
     header: Header
-    frame_id: str
+    child_frame_id: str
     transform: GeometryMsgs_Transform
 
 

free_fleet/free_fleet/utils.py

@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+
+# Copyright 2024 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.
+
+def namespace_topic(topic:str , namespace: str) -> str:
+    return f"{namespace}/{topic}" if len(namespace) != 0 else topic

free_fleet/package.xml

@@ -0,0 +1,15 @@
+<?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>free_fleet</name>
+  <version>0.1.0</version>
+  <description>A free fleet management library</description>
+  <maintainer email="aaron@openrobotics.org">Aaron Chong</maintainer>
+  <license>Apache License 2.0</license>
+
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

free_fleet/setup.cfg

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

free_fleet/setup.py

@@ -0,0 +1,27 @@
+from glob import glob
+import os
+
+from setuptools import find_packages
+from setuptools import setup
+
+package_name = 'free_fleet'
+
+setup(
+    name=package_name,
+    version='2.4.0',
+    packages=find_packages(),
+    data_files=[
+        (
+            'share/ament_index/resource_index/packages',
+            ['resource/' + package_name],
+        ),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Aaron Chong',
+    maintainer_email='aaronchong@intrinsic.ai',
+    description='A free fleet management library',
+    license='Apache License 2.0',
+    tests_require=['pytest'],
+)