feat: Implement assignment

.fish/activate.fish

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+# Self-contained environment: ros2-lectures
+# Exported on: Thu Dec  4 09:45:42 AM CET 2025
+# Original environment from: /home/wessel/.config/fish/environments/configs/ros2-lectures
+
+# ROS2 development environment (requires distrobox)
+# Environment: ros2-lectures
+
+# First check if running inside distrobox
+if not test -f /run/.containerenv; and test -z "$CONTAINER_ID"
+    echo (set_color red)"This ROS2 environment should only be run inside a distrobox container"(set_color normal)
+    return 1
+end
+
+# Check if a previous initialization has occurred
+if test -n "$__ENV_INITIALIZED"
+    echo (set_color yellow)"Environment already initialized"(set_color normal)
+    return 0
+end
+
+# Mark as initialized (only after distrobox check passes)
+set -gx __ENV_INITIALIZED "1"
+set -gx CURRENT_ENV "ros2-lectures"
+# Source ROS2 setup files using bass
+if type -q bass
+    bass source /opt/ros/jazzy/setup.bash
+    if test -f ./install/setup.bash
+        bass source ./install/setup.bash
+    end
+else
+    echo (set_color red)"Error: bass is required for ROS2 environment. Install with: fisher install edc/bass"(set_color normal)
+    return 1
+end
+
+# Set environment variable for the prompt prefix
+set -gx ROS2_ACTIVE 1
+
+# Save the original prompt function if it exists
+# Only save if we don't already have a backup or if current prompt is not from an environment
+if not functions -q __env_orig_prompt
+    if functions -q fish_prompt
+        functions -c fish_prompt __env_orig_prompt
+    else
+        function __env_orig_prompt
+            echo -n (whoami)'@'(prompt_hostname)' '(set_color $fish_color_cwd)(prompt_pwd)(set_color normal)'> '
+        end
+    end
+else
+    # If we already have a backup, we're switching environments
+    # No need to create a new backup
+end
+
+# Define new prompt with ROS2 prefix
+function fish_prompt
+    echo -n (set_color magenta)'(ros2-lectures)'(set_color normal)' '
+    __env_orig_prompt
+end
+
+# ROS2 aliases and functions
+alias cb="colcon build"
+alias cbe="colcon build && env deactivate && cd ."
+alias cbs="colcon build --symlink-install"
+alias cbt="colcon build --packages-select"
+alias ct="colcon test"
+alias ctr="colcon test-result"
+
+# For communication between nodes on other devices
+export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
+export ROS_DOMAIN_ID=5
+
+echo (set_color green)"Activated ROS2 environment: ros2-lectures"(set_color normal)
+
+# Custom deactivation function
+function __env_custom_deactivate
+    # Remove ROS2-specific variables and aliases
+    set -e ROS2_ACTIVE
+    functions -e cb cbs cbt ct ctr 2>/dev/null
+
+    echo (set_color blue)"ROS2 environment cleanup completed"(set_color normal)
+end

.fish/readme.norg

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+* Exported Fish Environment: ros2-lectures
+This directory contains a self-contained fish environment.
+
+** Files Structure
+   @code
+   .fish/
+   |-- activate.fish
+   |-- readme.norg
+   |-- bin/
+   @end
+
+** Usage
+
+*** Automatic Activation (Recommended)
+    The environment will automatically activate when you `cd` into this directory
+    if your Fish shell is configured with the auto-activation script.
+
+    @code fish
+    function check_and_source_activate
+      if test -f (pwd)/.fish/activate.fish
+        source (pwd)/.fish/activate.fish
+      elif test -f (pwd)/activate.fish
+        source (pwd)/activate.fish
+      end
+    end
+
+    function cd
+      builtin cd $argv && check_and_source_activate
+    end
+    @end
+
+*** Manual Activation
+    To manually activate the environment, run from the project root:
+    @code bash
+    source ./.fish/activate.fish
+    @end
+
+*** Deactivation
+    To deactivate the environment, run:
+    @code bash
+    env deactivate
+    @end
+
+    Or simply `cd` to a different directory if using auto-activation.
+
+** What This Environment Provides
+   - Prompt showing the environment name
+   - Environment-specific aliases and functions
+   - Custom environment variables
+   - Automatic cleanup when deactivated
+
+** Requirements
+   - Fish shell
+   - `bass` plugin (`fisher install edc/bass`) for compatibility with bash scripts
+
+** Sharing
+   This environment is completely self-contained. You can:
+   - Copy this directory to another machine
+   - Share it with others
+   - Version control it with your project (add .fish/ to your repo)

src/soup_relay_pkg/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(soup_relay_pkg)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+add_executable(soup_relay src/soup_relay.cpp)
+target_include_directories(soup_relay PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_compile_features(soup_relay PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  soup_relay
+  "rclcpp"
+  "std_msgs"
+)
+
+install(TARGETS soup_relay
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/soup_relay_pkg/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>soup_relay_pkg</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="contact@wessel.gg">wessel</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/soup_relay_pkg/src/soup_relay.cpp

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+#include <string>
+#include <iostream>
+#include <rclcpp/rclcpp.hpp>
+#include <std_msgs/msg/string.hpp>
+
+class SoupRelayNode : public rclcpp::Node {
+public:
+    SoupRelayNode() : Node("soup_relay_node") {
+        auto topic_publisher = this->declare_parameter<std::string>("topic_publisher", "vin7");
+        auto topic_subscriber = this->declare_parameter<std::string>("topic_subscriber", "vin6");
+
+        publisher_ = this->create_publisher<std_msgs::msg::String>(topic_publisher, 10);
+        subscriber_ = this->create_subscription<std_msgs::msg::String>(
+            topic_subscriber, 10,
+            std::bind(&SoupRelayNode::message_callback, this, std::placeholders::_1)
+        );
+
+        RCLCPP_INFO(this->get_logger(),
+            "listener='%s', publisher='%s'", topic_subscriber.c_str(), topic_publisher.c_str()
+        );
+    }
+
+private:
+    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
+    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
+
+    void message_callback(const std_msgs::msg::String::SharedPtr msg) {
+        auto new_msg = std_msgs::msg::String();
+        new_msg.data = trim(msg->data, " ") + " makkelijk";
+
+        RCLCPP_INFO(this->get_logger(),
+            "incoming='%s', outgoing='%s'", msg->data.c_str(), new_msg.data.c_str()
+        );
+
+        publisher_->publish(new_msg);
+    }
+
+    std::string trim(const std::string& str, const std::string& whitespace = " \t") {
+        const auto strBegin = str.find_first_not_of(whitespace);
+        if (strBegin == std::string::npos) return "";
+
+        const auto strEnd = str.find_last_not_of(whitespace);
+        const auto strRange = strEnd - strBegin + 1;
+
+        return str.substr(strBegin, strRange);
+    }
+};
+
+int main(int argc, char *argv[]) {
+    rclcpp::init(argc, argv);
+    rclcpp::spin(std::make_shared<SoupRelayNode>());
+    rclcpp::shutdown();
+    return 0;
+}