Doubled wall spacing

launch/soccer.launch.py

@@ -166,6 +166,14 @@ def generate_launch_description():
                 parameters=[param_config_filepath],
                 on_exit=Shutdown(),
             ),
+            Node(
+                condition=IfCondition(PythonExpression([run_sim])),
+                package="rj_robocup",
+                executable="soccer_mom_node",
+                output="screen",
+                parameters=[param_config_filepath],
+                on_exit=Shutdown(),
+            ),
             Node(
                 package="rj_robocup",
                 executable="planner_node",

soccer/CMakeLists.txt

@@ -75,6 +75,7 @@ set_target_properties(robocup PROPERTIES SUFFIX ".so")
 
 add_executable(rj_vision_filter)
 
+add_executable(soccer_mom_node)
 add_executable(soccer)
 add_executable(log_viewer)
 add_executable(internal_referee_node)
@@ -225,6 +226,10 @@ target_link_libraries(internal_referee_node PRIVATE ${REFEREE_NODE_DEPS_SYSTEM_L
 target_link_libraries(sim_radio_node PRIVATE ${RADIO_NODE_DEPS_SYSTEM_LIBRARIES}
         ${RADIO_NODE_DEPS_LIBRARIES})
 
+# -- soccer_mom_node --
+target_link_libraries(soccer_mom_node PRIVATE ${RADIO_NODE_DEPS_SYSTEM_LIBRARIES}
+        ${RADIO_NODE_DEPS_LIBRARIES})
+
 # -- network_radio_node --
 target_link_libraries(network_radio_node PRIVATE ${RADIO_NODE_DEPS_SYSTEM_LIBRARIES}
         ${RADIO_NODE_DEPS_LIBRARIES})
@@ -289,6 +294,7 @@ install(
         planner_node
         control_node
         sim_radio_node
+	soccer_mom_node
         network_radio_node
         manual_control_node
         global_param_server_node

soccer/src/soccer/CMakeLists.txt

@@ -54,6 +54,7 @@ set(ROBOCUP_LIB_SRC
     radio/packet_convert.cpp
     radio/sim_radio.cpp
     radio/radio.cpp
+    soccer_mom.cpp
     referee/referee_base.cpp
     referee/external_referee.cpp
     referee/internal_referee.cpp
@@ -94,7 +95,7 @@ set(ROBOCUP_LIB_SRC
     strategy/agent/position/zoner.cpp
     strategy/agent/position/pivot_test.cpp
     strategy/agent/position/solo_offense.cpp
-
+    strategy/agent/position/runner.cpp 
         )
 
 set(SOCCER_TEST_SRC
@@ -133,6 +134,8 @@ set(CONTROL_NODE_SRC control/control_node_main.cpp)
 
 set(SIM_RADIO_NODE_SRC radio/sim_radio_node_main.cpp)
 
+set(SOCCER_MOM_NODE_SRC soccer_mom_node_main.cpp)
+
 set(NETWORK_RADIO_NODE_SRC radio/network_radio_node_main.cpp)
 
 set(MANUAL_CONTROL_NODE_SRC joystick/manual_control_node_main.cpp)
@@ -175,6 +178,9 @@ target_sources(sim_radio_node PRIVATE ${SIM_RADIO_NODE_SRC})
 # ---- sim_radio_node ----
 target_sources(network_radio_node PRIVATE ${NETWORK_RADIO_NODE_SRC})
 
+# ---- soccer_mom_node ----
+target_sources(soccer_mom_node PRIVATE ${NETWORK_RADIO_NODE_SRC})
+
 # ---- manual_control_node ----
 target_sources(manual_control_node PRIVATE ${MANUAL_CONTROL_NODE_SRC})
 

soccer/src/soccer/soccer_mom.cpp

@@ -0,0 +1,17 @@
+#include "soccer_mom.hpp"
+
+SoccerMom::SoccerMom() : rclcpp::Node("SoccerMom") { // extends the ROS node and we call it "SoccerMom"
+  soccer_mom_pub_ = create_publisher<std_msgs::msg::String>("team_fruit", rclcpp::QoS(1)); //instantiate SoccerMom publisher
+  team_color_sub_ = create_subscription<rj_msgs::msg::TeamColor> (
+    referee::topics::kTeamColorTopic, rclcpp::QoS(1),
+    [this](rj_msgs::msg::TeamColor::SharedPtr color) {
+	auto message = std_msgs::msg::String(); // define msg we're gonna send out "String"
+	if (color->is_blue) {
+	  message.data = "blueberries";
+	} else {
+	  message.data = "bananas";
+	}
+	soccer_mom_pub_->publish(message);
+      }
+      );
+  }

soccer/src/soccer/soccer_mom.hpp

@@ -0,0 +1,16 @@
+#pragma once //so that we don't have duplicate identifiers
+
+#include <rclcpp/rclcpp.hpp>
+#include <rj_constants/topic_names.hpp>
+
+#include "std_msgs/msg/string.hpp"
+#include "rj_msgs/msg/team_color.hpp"
+
+class SoccerMom : public rclcpp::Node { //extends the ROS node
+public:
+  SoccerMom();
+private:
+  rclcpp::Subscription<rj_msgs::msg::TeamColor>::SharedPtr team_color_sub_; // subscriber
+  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr soccer_mom_pub_; //publisher
+
+};

soccer/src/soccer/soccer_mom_main.cpp

@@ -0,0 +1,7 @@
+#include "soccer_mom.hpp"
+
+int main(int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  auto soccer_mom = std::make_shared<SoccerMom>();
+  rclcpp::spin(soccer_mom);
+}

soccer/src/soccer/soccer_mom_node_main.cpp

@@ -0,0 +1,7 @@
+#include "soccer_mom.hpp"
+
+int main(int argc, char** argv) {
+  rclcpp::init(argc, argv);
+  auto soccer_mom = std::make_shared<SoccerMom>();
+  rclcpp::spin(soccer_mom);
+}