I hope this works pt5

.gitignore

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+#nothing here

software_training/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(software_training)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  message_generation
+  actionlib_msgs
+  actionlib
+)
+
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+## Generate messages in the 'msg' folder
+ add_message_files(
+   FILES
+   software_training_message.msg
+
+ )
+
+## Generate services in the 'srv' folder
+ add_service_files(
+   FILES
+   reset_service.srv
+
+ )
+
+## Generate actions in the 'action' folder
+ add_action_files(
+   FILES
+   software_training_action.action
+
+ )
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(
+   DEPENDENCIES
+   std_msgs
+   actionlib_msgs
+   #reset_service
+ )
+
+
+
+
+catkin_package(
+  CATKIN_DEPENDS 
+  roscpp 
+  std_msgs
+  message_runtime
+  actionlib_msgs
+
+)
+
+
+add_executable(software_training_node src/software_training_node.cpp)
+target_link_libraries(software_training_node ${catkin_LIBRARIES})
+add_dependencies(software_training_node software_training_generate_messages_cpp)
+
+add_executable(moving_turtle_service src/moving_turtle_service.cpp)
+target_link_libraries(moving_turtle_service ${catkin_LIBRARIES})
+add_dependencies(moving_turtle_service software_training_generate_messages_cpp)
+
+add_executable(moving_turtle_action_node src/moving_turtle_action_node.cpp)
+target_link_libraries(moving_turtle_action_node ${catkin_LIBRARIES})
+add_dependencies(moving_turtle_action_node software_training_generate_messages_cpp)

software_training/action/software_training_action.action

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+#goal
+float32 x_position_to_waypoint
+float32 y_position_to_waypoint
+---
+#result
+duration total_time
+---
+#feedback
+float32 x_distance_to_goal
+float32 y_distance_to_goal

software_training/launch/software_training.launch

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+<launch>
+    <node name="turtlesim_node" pkg="turtlesim" type="turtlesim_node">
+        <param name="background_b" value="0" type="int"/>
+        <param name="background_g" value="128" type="int"/>
+        <param name="background_r" value="128" type="int"/>
+    </node>
+
+    <node name="software_training_node" pkg="software_training" type="software_training_node"/>
+</launch>

software_training/msg/software_training_message.msg

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+float64 x_stationary_turtle_to_moving_turtle
+float64 y_stationary_turtle_to_moving_turtle
+float64 distance

software_training/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>software_training</name>
+  <version>0.0.0</version>
+  <description>The software_training package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">niiquaye</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/software_training</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>actionlib_msgs</exec_depend>
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

software_training/src/moving_turtle_action_node.cpp

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+#include "ros/ros.h"
+#include "actionlib/server/simple_action_server.h"
+#include "software_training/software_training_actionAction.h"
+#include "geometry_msgs/Twist.h"
+#include <string>
+
+class moving_turtle_action_server{
+
+    protected:
+        //create node handle
+        ros::NodeHandle nh;
+        //create action server
+        actionlib::SimpleActionServer
+            <software_training::software_training_actionAction> action_server;
+        //action server name
+        std::string name;
+        //create feedback for action server
+        software_training::software_training_actionFeedback feedback;
+        //create result for action server 
+        software_training::software_training_actionResult result; 
+        //create publisher to cmd_vel topic for moving turtle
+        ros::Publisher pub_moving_turtle;
+    public:
+        //constructor
+        moving_turtle_action_server(std::string _name_of_server);
+        //callback function
+        void executeCB(const software_training::software_training_actionGoalConstPtr& goal);
+
+};
+
+moving_turtle_action_server::moving_turtle_action_server(std::string _name_of_server):
+    action_server(nh,_name_of_server, boost::bind(&moving_turtle_action_server::executeCB, this, _1), false),
+    name(_name_of_server)
+{
+    //start action server
+    action_server.start();
+    // instantiate publisher
+    pub_moving_turtle = nh.advertise<geometry_msgs::Twist>("/moving_turtle/cmd_vel",1000);
+}
+
+void moving_turtle_action_server::executeCB(
+    const software_training::software_training_actionGoalConstPtr& goal)
+{
+    //set a variable to check if finished 
+    //set ros rate
+    ros::Rate loop_rate{1};
+    //get components of the goal
+    double x_goal = goal->x_position_to_waypoint;
+    double y_goal = goal->y_position_to_waypoint;
+    //create a message to publish
+    geometry_msgs::Twist msg;
+    //initialize message to be published
+    msg.linear.x = 0.0;
+    msg.linear.y = 0.0;
+    msg.linear.z = 0.0;
+    msg.angular.x = 0.0;
+    msg.angular.y = 0.0;
+    msg.angular.z = 0.0;
+
+    //start of timer
+    ros::Time start = ros::Time::now();
+
+    while(ros::ok() && action_server.isActive() && !action_server.isNewGoalAvailable()){
+        //publish to cmd_vel topic one interval at a time  
+        if(msg.linear.x < x_goal || msg.linear.y < y_goal){
+            if(msg.linear.x < x_goal){
+                msg.linear.x++;
+                feedback.x_distance_to_goal = x_goal - msg.linear.x; 
+            }
+            if(msg.linear.y < y_goal){
+                msg.linear.y++;
+                feedback.y_distance_to_goal = y_goal - msg.linear.y;
+            }
+            //publish message
+            pub_moving_turtle.publish(msg);
+            //publish feedback
+            action_server.publishFeedback(feedback);
+        }
+        else if(msg.linear.x >= x_goal && msg.linear.y >= y_goal) break;
+        loop_rate.sleep();
+    }
+    //check to see if action is still up and running since we broke the loop
+    if(!ros::ok() || action_server.isPreemptRequested() || !action_server.isActive()){
+        ROS_ERROR_STREAM("moving_turtle_action_server NOT AVAILABLE/SHUTDOWN/NEW GOAL");
+    }
+    else{
+        //end of timer 
+        ros::Time end = ros::Time::now();
+        //get total time 
+        ros::Duration res_time = end - start; 
+        result.total_time = res_time; 
+        //set result
+        action_server.setSucceeded(result);
+    }
+
+}
+
+int main(int argc, char **argv){
+    ros::init(argc, argv, "moving_turtle_action_node");    
+    moving_turtle_action_server as("mover");
+    ros::spin();
+    return 0;
+}

software_training/src/moving_turtle_service.cpp

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+#include "ros/ros.h"
+#include "software_training/reset_service.h"
+#include "turtlesim/TeleportAbsolute.h"
+
+class server{
+    public:
+        //callback function for server 
+        bool callback(software_training::reset_service::Request& request, 
+        software_training::reset_service::Response& response);
+        // helper function to call moving_turtle_client - client call 
+        bool moving_turtle_client();
+
+};
+
+bool server::callback(software_training::reset_service::Request& request, 
+        software_training::reset_service::Response& response){
+    response.success = (moving_turtle_client())? true : false;
+    return true;
+}
+
+bool server::moving_turtle_client(){
+    turtlesim::TeleportAbsolute srv; 
+    srv.request.x = 5.544444561004639;
+    srv.request.y = 5.544444561004639;
+    srv.request.theta = 0;
+    ros::NodeHandle nh; 
+    ros::ServiceClient client = nh.serviceClient<turtlesim::TeleportAbsolute>
+        ("/moving_turtle/teleport_absolute");
+    if(client.call(srv)){
+        srv.response; 
+        ROS_INFO_STREAM("'moving_turtle' reseted");
+        return true; 
+    }
+    else{
+        ROS_ERROR_STREAM("the moving turtle service failed to call");
+        return false; 
+    }
+
+}
+
+
+int main(int argc, char ** argv){
+    ros::init(argc, argv, "moving_turtle_reset_server_node");
+    ros::NodeHandle nh;
+    server srv_object;
+    ros::ServiceServer srv = nh.advertiseService("moving_turtle_service", &server::callback, &srv_object);
+    ros::spin();
+    return 0;
+}