From af2c42c6b10b15f43ff9908265d2cb13ec3f000e Mon Sep 17 00:00:00 2001
From: Mike Danielczuk <michael.danielczuk@gmail.com>
Date: Thu, 5 May 2022 13:26:19 -0700
Subject: [PATCH] initial turtlesim example (hugo)

---
 README.md                                   | 21 +++++++++++++-
 fogros2_examples/launch/turtlesim.launch.py | 31 +++++++++++++++++++++
 2 files changed, 51 insertions(+), 1 deletion(-)
 create mode 100644 fogros2_examples/launch/turtlesim.launch.py

diff --git a/README.md b/README.md
index 28ff754..a484162 100644
--- a/README.md
+++ b/README.md
@@ -175,7 +175,6 @@ ros2 fog delete -a
 
 Here are several commands that one may find it useful when developing:
 ```bash
-
 # starting the second terminal for fogros docker
 docker exec -it $(docker ps | grep fogros2 | awk '{print $1}') /bin/bash
 ```
@@ -228,5 +227,25 @@ docker run --net=host --env RMW_IMPLEMENTATION=rmw_cyclonedds_cpp --env CYCLONED
 ```
 in ros workspace.
 
+#### To run turtlesim
+```
+ros2 launch fogros2_examples turtlesim.launch.py
+```
+Open port 8080 on the ec2 instance's public IPv4 address from the ec2 console to access [FoxGlove Studio](https://foxglove.dev/) and open a connection to rosbridge on port 9090 of the ec2 instance's address. 
+
+<img src="https://foxglove.dev/images/blog/introducing-foxglove-studios-new-data-source-dialog/hero.png" width="50%" height="50%" />
+
+Select the Plot panel and the Teleop panel.
+
+<img src="https://foxglove.dev/images/docs/studio/panels/tab.png" width="25%" height="25%" />
+
+In the Teleop panel, configure the publish topic to /turtle/cmd_vel. 
+
+In the Plot panel, add /turtle1/pose.x and /turtle1/pose.y as the custom values to plot on the x-axis and y-axis, respectively.
+
+Use the Teleop panel to navigate the turtle around. The plot's values should change as the turtle’s position changes.
+
+<img src="https://foxglove.dev/images/blog/running-your-first-ros-node/plot.png" width="50%" height="50%" />
+
 #### TODO
 - Streamline the launch process for client docker images.
diff --git a/fogros2_examples/launch/turtlesim.launch.py b/fogros2_examples/launch/turtlesim.launch.py
new file mode 100644
index 0000000..7dd9c41
--- /dev/null
+++ b/fogros2_examples/launch/turtlesim.launch.py
@@ -0,0 +1,31 @@
+# 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.
+
+from launch import FogROSLaunchDescription
+from launch_ros.actions import Node
+import fogros2
+
+def generate_launch_description():
+    ld = FogROSLaunchDescription()
+    machine1 = fogros2.AWS(region="us-west-1", ec2_instance_type="t2.medium", ami_image="ami-09175f2ca3c3dc67c", launch_foxglove=True)
+    talker_node = Node(
+        package="fogros2_examples", executable="listener", output="screen")
+    listener_node = fogros2.CloudNode(
+        package="fogros2_examples", executable="talker", output="screen",
+        machine = machine1)
+    turtlesim_node = Node(
+        package="turtlesim", executable="turtlesim_node", output="screen")
+
+    ld.add_action(talker_node)
+    ld.add_action(listener_node)
+    ld.add_action(turtlesim_node)
+    return ld