From d43d29ed15e225ec22dae903e3edc480a6a8e821 Mon Sep 17 00:00:00 2001 From: mvp18 Date: Sun, 5 Mar 2017 08:29:33 +0530 Subject: [PATCH] Added assignment_1 mvp18_print_squares --- .../mvp18_print_squares/CMakeLists.txt | 199 ++++++++++++++++++ assignment_1/mvp18_print_squares/package.xml | 56 +++++ .../mvp18_print_squares/src/mvp18_numbers.cpp | 24 +++ .../mvp18_print_squares/src/mvp18_print.cpp | 23 ++ .../mvp18_print_squares/src/mvp18_squares.cpp | 30 +++ 5 files changed, 332 insertions(+) create mode 100644 assignment_1/mvp18_print_squares/CMakeLists.txt create mode 100644 assignment_1/mvp18_print_squares/package.xml create mode 100644 assignment_1/mvp18_print_squares/src/mvp18_numbers.cpp create mode 100644 assignment_1/mvp18_print_squares/src/mvp18_print.cpp create mode 100644 assignment_1/mvp18_print_squares/src/mvp18_squares.cpp diff --git a/assignment_1/mvp18_print_squares/CMakeLists.txt b/assignment_1/mvp18_print_squares/CMakeLists.txt new file mode 100644 index 0000000..257e5cf --- /dev/null +++ b/assignment_1/mvp18_print_squares/CMakeLists.txt @@ -0,0 +1,199 @@ +cmake_minimum_required(VERSION 2.8.3) +project(mvp18_print_squares) + +## Add support for C++11, supported in ROS Kinetic and newer +# add_definitions(-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 + rospy + std_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES mvp18_print_squares +# CATKIN_DEPENDS roscpp rospy std_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/mvp18_print_squares.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/mvp18_print_squares_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_mvp18_print_squares.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/assignment_1/mvp18_print_squares/package.xml b/assignment_1/mvp18_print_squares/package.xml new file mode 100644 index 0000000..ef0dab7 --- /dev/null +++ b/assignment_1/mvp18_print_squares/package.xml @@ -0,0 +1,56 @@ + + + mvp18_print_squares + 0.0.0 + The mvp18_print_squares package + + + + + soumava + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + + + + diff --git a/assignment_1/mvp18_print_squares/src/mvp18_numbers.cpp b/assignment_1/mvp18_print_squares/src/mvp18_numbers.cpp new file mode 100644 index 0000000..de7f95e --- /dev/null +++ b/assignment_1/mvp18_print_squares/src/mvp18_numbers.cpp @@ -0,0 +1,24 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" +#include + +int main(int argc, char **argv){ + ros::init(argc, argv, "mvp18_numbers"); + ros::NodeHandle n; + + ros::Publisher numbers_pub=n.advertise("topic_numbers",1000); +//Publishes data to the topic named "numbers" + ros::Rate loop_rate(1); + + int count=1; + while(ros::ok()){ + std_msgs::Int64 num; + num.data=count++; + + ROS_INFO("Pub1 : %d",num.data); + numbers_pub.publish(num); + ros::spinOnce(); + loop_rate.sleep(); + } + return 0; +} diff --git a/assignment_1/mvp18_print_squares/src/mvp18_print.cpp b/assignment_1/mvp18_print_squares/src/mvp18_print.cpp new file mode 100644 index 0000000..a41b104 --- /dev/null +++ b/assignment_1/mvp18_print_squares/src/mvp18_print.cpp @@ -0,0 +1,23 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" + +void callback_topic_numbers(const std_msgs::Int64::ConstPtr& num){ + ROS_INFO("topic_numbers - %d",num->data); +} +void callback_topic_squares(const std_msgs::Int64::ConstPtr& square){ + ROS_INFO("topic_squares - %d",square->data); +} +int main(int argc,char **argv){ + ros::init(argc, argv, "mvp18_print"); + ros::NodeHandle n; + ros::Rate loop_rate(1); + ros::Subscriber sub1=n.subscribe("topic_numbers",1000,callback_topic_numbers); +//Subscribes to the topic named "numbers" + loop_rate.sleep(); + ros::Subscriber sub2=n.subscribe("topic_squares",1000,callback_topic_squares); +//Subscribes to the topic named "squares" + + ros::spin(); + + return 0; +} diff --git a/assignment_1/mvp18_print_squares/src/mvp18_squares.cpp b/assignment_1/mvp18_print_squares/src/mvp18_squares.cpp new file mode 100644 index 0000000..76fcdde --- /dev/null +++ b/assignment_1/mvp18_print_squares/src/mvp18_squares.cpp @@ -0,0 +1,30 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" + + +void topic_numbers_Callback(const std_msgs::Int64::ConstPtr& msg) +{ + int n; + ros::NodeHandle sq1; + ros::Publisher square_pub = sq1.advertise("topic_squares", 1000); + + n = msg->data; + std_msgs::Int64 square; + square.data = n*n; + square_pub.publish(square); + ros::spin(); +} + + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "mvp18_squares"); + + ros::NodeHandle sq2; + ros::Subscriber sub = sq2.subscribe("topic_numbers", 1000, topic_numbers_Callback); + + + ros::spin(); + + return 0; +}