Submission:

Your source code $-$ entire your package folder $($exclude other folders besides root src$)$

Example Folder Structures

homework$\_$ws

src

package$\_1$

package$\_2$

Screen recording $($video$)$ of how everything runs and show some example input

Submission format: $($ format violation will cause some point penalty $)$

Filename : hw$04\_$yourname.zip

Details

Create simple calculator base on ROS$2$ Services and Topic based communication

Requirement:

The calculator will have $4$ type of operation,

Plus

Minus

Divide

Multiply

Create a Node that allow user to input their name send $2$ numbers and operator as input through terminal $($Both Service Client and Publisher will be in one single script$)$

Example Input:

ros$2$ run calculator$\_$demo calculator$\_$client "Shawn" $23"/"$

Service Client:

Send $2$ numbers, current system time and operator

Publisher:

Send username through $/$username topic

Create a Node that holds the core logic of the calculator operation listed above. $($Both Service Server and Subscriber will be in one single script$)$

Example Output:

$[$Shawn$][$Current Time: $07$:$41$:$19][$Displaied Decimal: $3]$: Received a Input $2/3$ that sent at $07$:$41$:$10.$ The calculation result is: $0\mathrm{.}666$

Service Server:

Receive:

The $2$ number input, sender$`$s system time, operator

Return:

Current system time

Subscriber:

Receive username

Create a ros$2$ parameters called decimal that controls how many decimal will be printed in the output $($Think about where do you need to put it$)$

Example Input ros$2$ param set $/$calculator$\_$demo decimal $3$

this will make $2/3=0\mathrm{.}666$

Example Input ros$2$ param set $/$calculator$\_$demo decimal $5$

this will make $2/3=0\mathrm{.}66666$

Hints:

You will need to create your custom service message