simple_cm

0. Pre-requisites 0. OS: Ubuntu 20.04

   1. Install the following:
      • ROS Noetic (Desktop Full)
        • How To: Ubuntu install of ROS Noetic
   2. How To: Create a Catkin Workspace

1. Run the following commands

   # Navigate to catkin src and clone this repo
   cd ~/catkin_ws/src
   git clone THIS_REPO_URL
   
   # Build project and source
   cd .. # move to ~/catkin/ws
   catkin_make # make sure this is done in ~/catkin_ws/
   source ~/catkin_ws/devel/setup.bash

2. Run the project in Gazebo using roslaunch

   roslaunch simple_cm spawn_robot.launch

---

Other steps: 3. Sending basic movement commands using rostopics? - run code in src/main.py or use rostopics in terminal to send message

    ```bash
    # DRAFT: script for testing publishing movement via ros topics

    #!/usr/bin/env python
    import rospy
    import random
    from std_msgs.msg import Float64

    def generate_rnd_float64:
    		return random.uniform() #?

    def generate_random_joint_movements():
    		global rate_value = 10 #??
        rospy.init_node('??', anonymous=True)
        rate = rospy.Rate(rate_value)     
        pub = rospy.Publisher('??', Float64, queue_size=10)
        
        while not rospy.is_shutdown():
            try:  
                pub.publish(generate_rnd_float64())
                rate.sleep()
            except rospy.ROSInterruptException:
    	    rospy.logerr("ROS Interrupt Exception")

    if __name__ == "__main__":
    	generate_random_joint_movements()
    ```