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+  <h1>All modules for which code is available</h1>
+<ul><li><a href="scripts/info_service.html">scripts.info_service</a></li>
+<li><a href="scripts/last_target_service.html">scripts.last_target_service</a></li>
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+  <h1>Source code for scripts.info_service</h1><div class="highlight"><pre>
+<span></span><span class="ch">#!/usr/bin/env python</span>
+<span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">.. module:: info_service</span>
+<span class="sd">   :platform: Unix</span>
+<span class="sd">   :synopsis: Python module for the assignment_2_2023</span>
+<span class="sd">.. moduleauthor:: Annika Delucchi</span>
+<span class="sd">  </span>
+<span class="sd">Description:</span>
+<span class="sd">    This module implements a ROS node that provides a service to retrieve the distance from the goal and the average velocity of the robot.</span>
+<span class="sd">    To make it feasible, a service file `info_service.srv` is created in the package directory, defining the expected service response type.</span>
+<span class="sd">    The subscriber implemented in this node&#39;s callback function extracts the target position from ROS parameters and the actual position from the custom message sent by `set_target_client.py`. The distance is computed as the Euclidean distance using the Python built-in function `math.dist(des_coordinates, actual_coordinates)`.</span>
+<span class="sd">    The velocity values are also extracted from the custom message, collected in a list of dimension `window_size` with a default value of 10 (modifiable in the launch file). The average velocity is then computed as `average_vel_x = sum(vel_data) / min(len(vel_data), velocity_window_size)`.</span>
+<span class="sd">    These computed values compose the response of the service.</span>
+<span class="sd">    The `info_service.py` module is run by the launch file, and the service can be called using the command `rosservice call /info_service` in the terminal.</span>
+
+<span class="sd">    </span>
+<span class="sd">Service:</span>
+<span class="sd">    /info_service</span>
+
+<span class="sd">Subscriber:</span>
+<span class="sd">    /pos_vel</span>
+<span class="sd">&quot;&quot;&quot;</span>
+
+<span class="kn">import</span> <span class="nn">rospy</span>
+<span class="kn">from</span> <span class="nn">geometry_msgs.msg</span> <span class="kn">import</span> <span class="n">Point</span><span class="p">,</span> <span class="n">Pose</span><span class="p">,</span> <span class="n">Twist</span>
+<span class="kn">from</span> <span class="nn">nav_msgs.msg</span> <span class="kn">import</span> <span class="n">Odometry</span>
+<span class="kn">import</span> <span class="nn">math</span>
+<span class="kn">import</span> <span class="nn">assignment_2_2023.msg</span>
+<span class="kn">from</span> <span class="nn">assignment_2_2023.msg</span> <span class="kn">import</span> <span class="n">Vel</span>
+<span class="kn">from</span> <span class="nn">actionlib_msgs.msg</span> <span class="kn">import</span> <span class="n">GoalStatusArray</span>
+<span class="kn">from</span> <span class="nn">assignment_2_2023.srv</span> <span class="kn">import</span> <span class="n">info_service</span><span class="p">,</span> <span class="n">info_serviceResponse</span>
+
+<div class="viewcode-block" id="get_distance_and_averagevelocity"><a class="viewcode-back" href="../../index.html#scripts.info_service.get_distance_and_averagevelocity">[docs]</a><span class="k">def</span> <span class="nf">get_distance_and_averagevelocity</span><span class="p">(</span><span class="n">msg</span><span class="p">):</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Callback function for the subscriber to the topic /pos_vel.</span>
+<span class="sd">    </span>
+<span class="sd">    :param msg: custom message containing the actual position and velocity of the robot</span>
+<span class="sd">    :param des_pos_x: desired position x</span>
+<span class="sd">    :param des_pos_y: desired position y</span>
+<span class="sd">    :type des_pos_x: float</span>
+<span class="sd">    :type des_pos_y: float</span>
+<span class="sd">    :param window_size: size of the window for the average velocity</span>
+<span class="sd">    :type msg: assignment_2_2023.msg.Vel</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">global</span> <span class="n">success</span><span class="p">,</span> <span class="n">average_vel_x</span><span class="p">,</span> <span class="n">distance</span>
+
+    <span class="c1"># desired position </span>
+    <span class="n">des_x</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_param</span><span class="p">(</span><span class="s1">&#39;/des_pos_x&#39;</span><span class="p">)</span>
+    <span class="n">des_y</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_param</span><span class="p">(</span><span class="s1">&#39;/des_pos_y&#39;</span><span class="p">)</span>
+
+    <span class="c1"># actual position</span>
+    <span class="n">actual_x</span> <span class="o">=</span> <span class="n">msg</span><span class="o">.</span><span class="n">pos_x</span>
+    <span class="n">actual_y</span> <span class="o">=</span> <span class="n">msg</span><span class="o">.</span><span class="n">pos_y</span>
+
+    <span class="c1"># compute distance</span>
+    <span class="n">des_coordinates</span> <span class="o">=</span> <span class="p">[</span><span class="n">des_x</span><span class="p">,</span> <span class="n">des_y</span><span class="p">]</span>
+    <span class="n">actual_coordinates</span> <span class="o">=</span> <span class="p">[</span><span class="n">actual_x</span><span class="p">,</span> <span class="n">actual_y</span><span class="p">]</span>
+    <span class="n">distance</span> <span class="o">=</span> <span class="n">math</span><span class="o">.</span><span class="n">dist</span><span class="p">(</span><span class="n">des_coordinates</span><span class="p">,</span> <span class="n">actual_coordinates</span><span class="p">)</span>
+
+    <span class="c1"># compute linear average velocity</span>
+    <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="n">msg</span><span class="o">.</span><span class="n">vel_x</span><span class="p">,</span> <span class="nb">list</span><span class="p">):</span>
+        <span class="n">vel_data</span> <span class="o">=</span> <span class="n">msg</span><span class="o">.</span><span class="n">vel_x</span><span class="p">[</span><span class="o">-</span><span class="n">velocity_window_size</span><span class="p">:]</span>
+    <span class="k">else</span><span class="p">:</span>
+        <span class="n">vel_data</span> <span class="o">=</span> <span class="p">[</span><span class="n">msg</span><span class="o">.</span><span class="n">vel_x</span><span class="p">]</span>
+
+    <span class="n">average_vel_x</span> <span class="o">=</span> <span class="nb">sum</span><span class="p">(</span><span class="n">vel_data</span><span class="p">)</span> <span class="o">/</span> <span class="nb">min</span><span class="p">(</span><span class="nb">len</span><span class="p">(</span><span class="n">vel_data</span><span class="p">),</span> <span class="n">velocity_window_size</span><span class="p">)</span></div>
+
+<div class="viewcode-block" id="get_values"><a class="viewcode-back" href="../../index.html#scripts.info_service.get_values">[docs]</a><span class="k">def</span> <span class="nf">get_values</span><span class="p">(</span><span class="n">s</span><span class="p">):</span>      
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Callback function for the service /info_service. Returns the distance from the goal and the average velocity of the robot.</span>
+<span class="sd">    </span>
+<span class="sd">    :param s: service request</span>
+<span class="sd">    :type s: assignment_2_2023.srv.info_serviceRequest</span>
+<span class="sd">    :return: service response containing the distance from the goal and the average velocity of the robot</span>
+<span class="sd">    :rtype: assignment_2_2023.srv.info_serviceResponse</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">global</span> <span class="n">average_vel_x</span><span class="p">,</span> <span class="n">distance</span>
+
+    <span class="n">rospy</span><span class="o">.</span><span class="n">loginfo</span><span class="p">(</span><span class="s2">&quot;Distance= </span><span class="si">%f</span><span class="s2"> Average velocity = </span><span class="si">%f</span><span class="s2">&quot;</span><span class="p">,</span> <span class="n">distance</span><span class="p">,</span> <span class="n">average_vel_x</span><span class="p">)</span>
+    <span class="k">return</span> <span class="n">info_serviceResponse</span><span class="p">(</span><span class="n">distance</span><span class="p">,</span> <span class="n">average_vel_x</span><span class="p">)</span>	</div>
+
+<div class="viewcode-block" id="info_service_main"><a class="viewcode-back" href="../../index.html#scripts.info_service.info_service_main">[docs]</a><span class="k">def</span> <span class="nf">info_service_main</span><span class="p">():</span>
+<span class="w">    </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">    Initializes the node info_service.</span>
+<span class="sd">    &quot;&quot;&quot;</span>
+    <span class="k">global</span> <span class="n">velocity_window_size</span>
+
+    <span class="n">rospy</span><span class="o">.</span><span class="n">init_node</span><span class="p">(</span><span class="s1">&#39;info_service&#39;</span><span class="p">)</span>
+    <span class="n">rospy</span><span class="o">.</span><span class="n">loginfo</span><span class="p">(</span><span class="s2">&quot;Info service node initialized&quot;</span><span class="p">)</span>
+
+    <span class="c1"># Read window size from the parameter server (set in the launch file)</span>
+    <span class="n">velocity_window_size</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">get_param</span><span class="p">(</span><span class="s1">&#39;/window_size&#39;</span><span class="p">)</span>
+
+    <span class="c1"># SUBSCRIBER: Subscribe to the custom message</span>
+    <span class="n">subscriber</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">Subscriber</span><span class="p">(</span><span class="s2">&quot;/pos_vel&quot;</span><span class="p">,</span> <span class="n">Vel</span><span class="p">,</span> <span class="n">get_distance_and_averagevelocity</span><span class="p">)</span>
+
+    <span class="c1"># SERVICE: Service to get the interested values</span>
+    <span class="n">service</span> <span class="o">=</span> <span class="n">rospy</span><span class="o">.</span><span class="n">Service</span><span class="p">(</span><span class="s2">&quot;info_service&quot;</span><span class="p">,</span> <span class="n">info_service</span><span class="p">,</span> <span class="n">get_values</span><span class="p">)</span>
+
+    <span class="n">rospy</span><span class="o">.</span><span class="n">spin</span><span class="p">()</span></div>
+
+<span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s2">&quot;__main__&quot;</span><span class="p">:</span>
+    <span class="n">info_service_main</span><span class="p">()</span>
+</pre></div>
+
+           </div>
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