From 614aad71c9aa1a9ea42fdad2c6b1c8c6e0d3ee00 Mon Sep 17 00:00:00 2001 From: kritwishm Date: Thu, 2 Mar 2017 20:06:57 +0530 Subject: [PATCH 1/4] Added assignment by kritwshm(Kritwish Mondal) --- assignment_1/kritwishm_print_squares | 1 + 1 file changed, 1 insertion(+) create mode 160000 assignment_1/kritwishm_print_squares diff --git a/assignment_1/kritwishm_print_squares b/assignment_1/kritwishm_print_squares new file mode 160000 index 0000000..c0c11fb --- /dev/null +++ b/assignment_1/kritwishm_print_squares @@ -0,0 +1 @@ +Subproject commit c0c11fbba3f95f0ac3a164ce1944c8d7a2c9b517 From 5e54d5d802b6b1ef651bc117d09400a7ce8a5e22 Mon Sep 17 00:00:00 2001 From: kritwishm Date: Thu, 2 Mar 2017 20:33:26 +0530 Subject: [PATCH 2/4] Added assignment by kritwishm(Kritwish Mondal) --- assignment_1/kritwishm_print_squares | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/assignment_1/kritwishm_print_squares b/assignment_1/kritwishm_print_squares index c0c11fb..3881720 160000 --- a/assignment_1/kritwishm_print_squares +++ b/assignment_1/kritwishm_print_squares @@ -1 +1 @@ -Subproject commit c0c11fbba3f95f0ac3a164ce1944c8d7a2c9b517 +Subproject commit 38817202e26496352b75c8250bc2afc0dea9aebe From 0aaa60772f7341f3c90414d472ea32ba83f6332d Mon Sep 17 00:00:00 2001 From: kritwishm Date: Sat, 4 Mar 2017 22:06:41 +0530 Subject: [PATCH 3/4] Removed --- assignment_1/kritwishm_print_squares | 1 - 1 file changed, 1 deletion(-) delete mode 160000 assignment_1/kritwishm_print_squares diff --git a/assignment_1/kritwishm_print_squares b/assignment_1/kritwishm_print_squares deleted file mode 160000 index 3881720..0000000 --- a/assignment_1/kritwishm_print_squares +++ /dev/null @@ -1 +0,0 @@ -Subproject commit 38817202e26496352b75c8250bc2afc0dea9aebe From 0b600b736be8bbd59219b172a0c372ae3b633c89 Mon Sep 17 00:00:00 2001 From: kritwishm Date: Sat, 4 Mar 2017 22:08:31 +0530 Subject: [PATCH 4/4] Added assignment by kritwishm(Kritwish Mondal) --- .../kritwishm_print_squares/CMakeLists.txt | 212 ++++++++++++++++++ .../kritwishm_print_squares/package.xml | 21 ++ .../src/kritwishm_numbers.cpp | 32 +++ .../src/kritwishm_print.cpp | 28 +++ .../src/kritwishm_squares.cpp | 29 +++ 5 files changed, 322 insertions(+) create mode 100644 assignment_1/kritwishm_print_squares/CMakeLists.txt create mode 100644 assignment_1/kritwishm_print_squares/package.xml create mode 100644 assignment_1/kritwishm_print_squares/src/kritwishm_numbers.cpp create mode 100644 assignment_1/kritwishm_print_squares/src/kritwishm_print.cpp create mode 100644 assignment_1/kritwishm_print_squares/src/kritwishm_squares.cpp diff --git a/assignment_1/kritwishm_print_squares/CMakeLists.txt b/assignment_1/kritwishm_print_squares/CMakeLists.txt new file mode 100644 index 0000000..37ff5a7 --- /dev/null +++ b/assignment_1/kritwishm_print_squares/CMakeLists.txt @@ -0,0 +1,212 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kritwishm_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 kritwishm_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/${PROJECT_NAME}/kritwishm_print_squares.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${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/kritwishm_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_kritwishm_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) +include_directories(include ${catkin_INCLUDE_DIRS}) + +add_executable(kritwishm_numbers src/kritwishm_numbers.cpp) +target_link_libraries(kritwishm_numbers ${catkin_LIBRARIES}) +add_dependencies(kritwishm_numbers kritwishm_print_squares_generate_messages_cpp) + +add_executable(kritwishm_squares src/kritwishm_squares.cpp) +target_link_libraries(kritwishm_squares ${catkin_LIBRARIES}) +add_dependencies(kritwishm_squares kritwishm_print_squares_generate_messages_cpp) + +add_executable(kritwishm_print src/kritwishm_print.cpp) +target_link_libraries(kritwishm_print ${catkin_LIBRARIES}) +add_dependencies(kritwishm_print squares kritwishm_print_squares_generate_messages_cpp) diff --git a/assignment_1/kritwishm_print_squares/package.xml b/assignment_1/kritwishm_print_squares/package.xml new file mode 100644 index 0000000..d91d644 --- /dev/null +++ b/assignment_1/kritwishm_print_squares/package.xml @@ -0,0 +1,21 @@ + + + + kritwishm_print_squares + 0.0.0 + The kritwishm_print_squares package + Kritwish Mondal + TODO + + catkin + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + + + + + diff --git a/assignment_1/kritwishm_print_squares/src/kritwishm_numbers.cpp b/assignment_1/kritwishm_print_squares/src/kritwishm_numbers.cpp new file mode 100644 index 0000000..219a4df --- /dev/null +++ b/assignment_1/kritwishm_print_squares/src/kritwishm_numbers.cpp @@ -0,0 +1,32 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" +#include + +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "numbers"); + ros::NodeHandle n; + + ros::Publisher chatter_pub=n.advertise("topic_numbers",1000); + + ros::Rate loop_rate(1); + + int count=0; + while(ros::ok()) + { + std_msgs::Int64 msg; + msg.data=count; + + ROS_INFO("%d", msg.data); + chatter_pub.publish(msg); + + ros::spinOnce(); + + loop_rate.sleep(); + ++count; + } + return 0; +} + + diff --git a/assignment_1/kritwishm_print_squares/src/kritwishm_print.cpp b/assignment_1/kritwishm_print_squares/src/kritwishm_print.cpp new file mode 100644 index 0000000..453ae7b --- /dev/null +++ b/assignment_1/kritwishm_print_squares/src/kritwishm_print.cpp @@ -0,0 +1,28 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" + +void chatterCallback1(const std_msgs::Int64::ConstPtr& msg) +{ + ROS_INFO("Publish number:%d", msg->data); +} +void chatterCallback2(const std_msgs::Int64::ConstPtr& msg) +{ + ROS_INFO("Publish square:%d", msg->data); +} +int main(int argc, char **argv) +{ + + ros::init(argc, argv, "print"); + + + ros::NodeHandle n; + ros::Rate loop_rate(1); + + ros::Subscriber sub1= n.subscribe("topic_numbers", 1000, chatterCallback1); + loop_rate.sleep(); + ros::Subscriber sub2= n.subscribe("topic_squares", 1000, chatterCallback2); + + ros::spin(); + + return 0; +} diff --git a/assignment_1/kritwishm_print_squares/src/kritwishm_squares.cpp b/assignment_1/kritwishm_print_squares/src/kritwishm_squares.cpp new file mode 100644 index 0000000..074dc90 --- /dev/null +++ b/assignment_1/kritwishm_print_squares/src/kritwishm_squares.cpp @@ -0,0 +1,29 @@ +#include "ros/ros.h" +#include "std_msgs/Int64.h" +std_msgs::Int64 msg1; +ros::Publisher chatter_pub; +void chatterCallback(const std_msgs::Int64::ConstPtr& msg) +{ + + msg1.data=msg->data*msg->data; + if (ros::ok()) + { + chatter_pub.publish(msg1); + ROS_INFO("Published Number: %d", (msg1.data)); + } +} + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "squares"); + + ros::NodeHandle n; + + ros::Subscriber sub = n.subscribe("topic_numbers", 1000, chatterCallback); + chatter_pub=n.advertise("topic_squares",1000); + ros::Rate loop_rate(1); + + ros::spin(); + + return 0; +}