Cpp code translation to python help [closed]

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Hi All,

My supervisor has given me some code that I can use with my project. However, he codes in C++ and I, as a beginner, code in python (at a very basic level I might add).

I am using ROS Kinetic & Ubuntu 16.04LTS and the aim of my project is communication between LabVIEW and ROS for robot navigation.

I have completed the ROS wiki tutorials on creating publishers & subscribers in Python, but I cannot get my head around the cpp code and I am trying to avoid it if possible as I feel it will just eat into my limited time left to complete this project. I have also completed numerous modules offered on Robot Ignite Academy and they have all been python focused, so I really do not have the time to now go and learn C++. I hope I`m not sounding lazy, Ive put in massive effort to get my skill level to where it is, I am a mechanical engineer with absolutely zero coding experience until I began this project a few weeks back.

Would anyone be of assistance or know where I could go for someone to walk me through the below code so that it can be translated to .py?

#include <ros/ros.h>

#include <move_base_msgs/MoveBaseAction.h>

#include <actionlib/client/simple_action_client.h>

#include "std_msgs/String.h"

#include <sstream>

#include <iostream> 

#include <unistd.h> 

using namespace std; 

string s;



void chatterCallback(const std_msgs::String::ConstPtr& msg)

{ 

s=msg->data; 

cout<<s<<endl; 

}

bool moveToGoal(double xGoal, double yGoal, double zOrientation, double wOrientation);



        double xPA = -0.04;

        double yPA = -0.95;

        double zPA = -0.712;

        double wPA = 0.702;



            double xDA = -0.2;

            double yDA = -2.4;

            double zDA = -0.008;

            double wDA = 0.100;







bool goalReached = false;





int main(int argc, char** argv){



    ros::init(argc, argv, "code_testing");

    ros::NodeHandle n;

    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 100);



ros::Subscriber sub = n.subscribe("chatter1", 100, chatterCallback);



     ros::Rate loop_rate(10);

     ros::spinOnce();





    do{



    ros::spinOnce();    

    std::cout<<"waiting next command"<<std::endl;



        if (s == "Go_to_PICK_Location_A"){

            goalReached = moveToGoal(xPA, yPA, zPA, wPA);



            if (goalReached)

                {

                for (int j = 1; j<250; j++)

                {



                std_msgs::String msg;

                std::stringstream ss;

                    ss << "Reached_PICK_Location_A";

                msg.data = ss.str();

                    ROS_INFO("%s", msg.data.c_str());

                    ros::spinOnce();

                chatter_pub.publish(msg);

                ros::Rate loop_rate(10);                     

                }           

            while (s == "Go_to_PICK_Location_A")

                {

                ROS_INFO("Reached PA; waiting instructions from LabVIEW");

                ros::spinOnce();

                    }

                }



            else{

                for (int i = 1; i<250; i++)

                {



                std_msgs::String msg;

                std::stringstream ss;

                    ss << "PICK_Location_A_Unreachable";

                msg.data = ss.str();

                    ROS_INFO("%s", msg.data.c_str());

                    ros::spinOnce();

                chatter_pub.publish(msg);

                ros::Rate loop_rate(10);                     

                }



            while (s == "Go_to_PICK_Location_A")

                {

                ROS_INFO("Can not reached PA; waiting instructions from LabVIEW");

                ros::spinOnce();

                    }

            }

    }







else if (s == "Go_to_DROP_Location_A"){

            goalReached = moveToGoal(xDA, yDA, zDA, wDA);



            if (goalReached)

                {

                for (int j = 1; j<250; j++)

                {



                std_msgs::String msg;

                std::stringstream ss;

                    ss << "Reached_DROP_Location_A";

                msg.data = ss.str();

                    ROS_INFO("%s", msg.data.c_str());

                    ros::spinOnce();

                chatter_pub.publish(msg);

                ros::Rate loop_rate(10);                     

                }           

            while (s == "Go_to_DROP_Location_A")

                {

                ROS_INFO("Reached DA; waiting instructions from LabVIEW");

                ros ...