assignment_1 Submission

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)

assignment_1/kritwishm_print_squares/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package>
+
+  <name>kritwishm_print_squares</name>
+  <version>0.0.0</version>
+  <description>The kritwishm_print_squares package</description>
+  <maintainer email="[email protected]">Kritwish Mondal</maintainer>
+  <license>TODO</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+  <export>
+  </export>
+
+</package>

assignment_1/kritwishm_print_squares/src/kritwishm_numbers.cpp

@@ -0,0 +1,32 @@
+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+#include <sstream>
+
+int main(int argc, char **argv)
+{
+
+	ros::init(argc, argv, "numbers");
+	ros::NodeHandle n;
+
+	ros::Publisher chatter_pub=n.advertise<std_msgs::Int64>("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;
+}
+
+

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;
+}

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<std_msgs::Int64>("topic_squares",1000);
+  	ros::Rate loop_rate(1);
+
+	ros::spin();
+
+  return 0;
+}