Implented point to point DWM action server

mg_msgs/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(mg_msgs)
+
+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(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Point2d.msg"
+  "action/MoveStraight.action"
+  "action/MovePoint.action"
+  "action/LookAt.action"
+)
+
+ament_package()

mg_msgs/action/LookAt.action

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+float64 x
+float64 y
+
+float64 step 0.01
+float64 tolerance 0.001
+float64 max_wheel_speed 3
+float64 max_angular 3.14
+float64 max_vel 2
+float64 pos_mult 15
+float64 ornt_mult 4
+float64 t_ornt_mult 0.1
+float64 obst_mult_a -5
+float64 obst_mult_b -30
+float64 obst_mult_c -9
+string[] ignore_tags []
+---
+uint8 SUCCESS=0
+uint8 BLOCKED=1
+uint8 TIMEOUT=2
+uint8 MISALIGNED=3
+uint8 UNKNOWN=254
+
+uint8 error
+---
+float64 distance_passed

mg_msgs/action/MovePoint.action

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+float64 x 
+float64 y 
+
+float64 step 0.01
+float64 tolerance 0.001
+float64 max_wheel_speed 3
+float64 max_angular 3.14
+float64 max_vel 2
+float64 pos_mult 15
+float64 ornt_mult 4
+float64 t_ornt_mult 0.1
+float64 obst_mult_a -5
+float64 obst_mult_b -30
+float64 obst_mult_c -9
+string[] ignore_tags []
+---
+uint8 SUCCESS=0
+uint8 BLOCKED=1
+uint8 TIMEOUT=2
+uint8 MISALIGNED=3
+uint8 UNKNOWN=254
+
+uint8 error
+---
+float64 distance_passed

mg_msgs/action/MoveStraight.action

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+float64 distance
+
+float64 step 0.01
+float64 tolerance 0.001
+float64 max_wheel_speed 3
+float64 max_angular 3.14
+float64 max_vel 2
+float64 pos_mult 15
+float64 ornt_mult 4
+float64 t_ornt_mult 0.1
+float64 obst_mult_a -5
+float64 obst_mult_b -30
+float64 obst_mult_c -9
+string[] ignore_tags []
+---
+uint8 SUCCESS=0
+uint8 BLOCKED=1
+uint8 TIMEOUT=2
+uint8 MISALIGNED=3
+uint8 UNKNOWN=254
+
+uint8 error
+---
+float64 distance_passed

mg_msgs/msg/Point2d.msg

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+float64 x
+float64 y

mg_msgs/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>mg_msgs</name>
+  <version>0.0.0</version>
+  <description>This contains various msg/action used within the project</description>
+  <maintainer email="82343504+Pimpest@users.noreply.github.com">Pimpest</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>