Intial ROS2 Work

.gitignore

@@ -0,0 +1,4 @@
+**/__pycache__
+
+COLCON_IGNORE
+.colcon_root

LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2024, Martin Klomp, MIRTE-team
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

mirte_robot/linetrace.py

@@ -9,8 +9,8 @@
 import multiprocessing
 from websocket_server import WebsocketServer
 
-# Already load rospy (whicht takes long) and robot, so mirte.py does not need to do this anymore
-import rospy
+# Already load rclpy (whicht takes long) and robot, so mirte.py does not need to do this anymore
+import rclpy
 from mirte_robot import robot
 
 # Global shared memory objects (TODO: check if we need shared memory, why is server working?)
@@ -22,9 +22,9 @@
 # 1) the code finishes
 # 2) the user stopped the process
 # 3) the websocket connection is closed
-def stop_mirte(terminate = True):
+def stop_mirte():
      global running
-     if terminate:
+     if running.value:
         process.terminate()
      running.value = False
 
@@ -68,8 +68,8 @@ def traceit(frame, event, arg):
 
     # Sending the linetrace 0 to the client
     server.send_message_to_all("0")
-
-    stop_mirte(False)
+    running.value = False
+    stop_mirte()
 
 process = multiprocessing.Process(target = load_mirte_module, args=(stepper, do_step))