From 4f82c33a84afe0d0e645e9740b28985ddeefc7db Mon Sep 17 00:00:00 2001
From: RonaldsonBellande <ronaldsonbellande@gmail.com>
Date: Thu, 28 Mar 2024 19:54:22 -0400
Subject: [PATCH] usage & demo

---
 README.md                                     |  4 +-
 ros_web_api_bellande_step/CMakeLists.txt      | 39 +++++++++++++++++++
 ros_web_api_bellande_step/package.xml         | 37 ++++++++++++++++++
 .../src/bellande_step_api_2d.py               | 39 +++++++++++++++++++
 4 files changed, 118 insertions(+), 1 deletion(-)
 create mode 100644 ros_web_api_bellande_step/CMakeLists.txt
 create mode 100644 ros_web_api_bellande_step/package.xml
 create mode 100644 ros_web_api_bellande_step/src/bellande_step_api_2d.py

diff --git a/README.md b/README.md
index 93e6913..5a81ec3 100644
--- a/README.md
+++ b/README.md
@@ -1 +1,3 @@
-# Web-ROS-API
+# Bellande Web ROS/ROS2 API
+
+## - Functionality is to use Bellande API and Models for different functionality related to computer science
diff --git a/ros_web_api_bellande_step/CMakeLists.txt b/ros_web_api_bellande_step/CMakeLists.txt
new file mode 100644
index 0000000..3dc542f
--- /dev/null
+++ b/ros_web_api_bellande_step/CMakeLists.txt
@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_step)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_step_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_step_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()
diff --git a/ros_web_api_bellande_step/package.xml b/ros_web_api_bellande_step/package.xml
new file mode 100644
index 0000000..8d89adb
--- /dev/null
+++ b/ros_web_api_bellande_step/package.xml
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_web_api_bellande_step</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/ros_web_api_bellande_step/src/bellande_step_api_2d.py b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
new file mode 100644
index 0000000..a815209
--- /dev/null
+++ b/ros_web_api_bellande_step/src/bellande_step_api_2d.py
@@ -0,0 +1,39 @@
+import json
+import requests
+import os
+
+# Get the parameters from the launch file
+x1 = float(os.getenv('x1'))
+y1 = float(os.getenv('y1'))
+x2 = float(os.getenv('x2'))  # Read x2 from launch file
+y2 = float(os.getenv('y2'))  # Read y2 from launch file
+limit = int(os.getenv('limit'))
+
+# URL and endpoint path
+url = "https://bellanderoboticssensorsresearchinnovationcenter-kot42qxp.b4a.run"
+endpoint_path = "/api/Bellande_Step/bellande_step_2d"
+
+# JSON payload
+payload = {
+    "node0": {"x": x1, "y": y1},
+    "node1": {"x": x2, "y": y2}
+}
+
+# Headers
+headers = {
+    'accept': 'application/json',
+    'Content-Type': 'application/json'
+}
+
+# Make POST request
+try:
+    response = requests.post(
+        url + endpoint_path + '?limit=' + str(limit),
+        json=payload,
+        headers=headers
+    )
+    response.raise_for_status()  # Raise an error for unsuccessful responses
+    data = response.json()
+    print("Next Step:", data['next_step'])
+except requests.exceptions.RequestException as e:
+    print("Error:", e)