Client library

[aaronchongth]

• hot mess incoming

• some documentation added, with examples

• getting pose from transforms, and all other ROS1 topics, then publishes FreeFleetData_RobotState over DDS

• getting commands over DDS, currently using FreeFleetData_Location, then calls a MoveBase action server goal

• WIP: gotta decide whether to use Location or PathSequence

[aaronchongth]

Just a note, I learnt about the discovery feature on both DDS writer and reader, which some of their examples employ, however I found that it was impossible for the reader to pick up anything, unless the writer uses something like the below code block, which uses dds_set_status_mask even though the reader was not using it :thinking:

  rc = dds_set_status_mask(writer, DDS_PUBLICATION_MATCHED_STATUS);
  if (rc != DDS_RETCODE_OK)
    DDS_FATAL("dds_set_status_mask: %s\n", dds_strretcode(-rc));

  while(!(status & DDS_PUBLICATION_MATCHED_STATUS))
  {
    rc = dds_get_status_changes (writer, &status);
    if (rc != DDS_RETCODE_OK)
      DDS_FATAL("dds_get_status_changes: %s\n", dds_strretcode(-rc));

    /* Polling sleep. */
    dds_sleepfor (DDS_MSECS (20));
  }