Assignment 1 Submission (Amshumaan Varma)

assignment_1/g4gekkouga_print_squares/print_squares/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(print_squares)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES print_squares
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(g4gekkouga_numbers src/g4gekkouga_numbers.cpp)
+target_link_libraries(g4gekkouga_numbers ${catkin_LIBRARIES})
+add_dependencies(g4gekkouga_numbers beginner_tutorials_generate_messages_cpp)
+
+add_executable(g4gekkouga_squares src/g4gekkouga_squares.cpp)
+target_link_libraries(g4gekkouga_squares ${catkin_LIBRARIES})
+add_dependencies(g4gekkouga_squares beginner_tutorials_generate_messages_cpp)
+
+add_executable(g4gekkouga_print src/g4gekkouga_print.cpp)
+target_link_libraries(g4gekkouga_print ${catkin_LIBRARIES})
+add_dependencies(g4gekkouga_print beginner_tutorials_generate_messages_cpp)

assignment_1/g4gekkouga_print_squares/print_squares/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>print_squares</name>
+  <version>0.1.0</version>
+  <description>The print_squares package</description>
+
+  <maintainer email="[email protected]">Amshumaan</maintainer>
+
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <export>
+
+  </export>
+</package>

assignment_1/g4gekkouga_print_squares/print_squares/src/g4gekkouga_numbers.cpp

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+/*   Publisher Node to Publish numbers from 1 onwards to the topic topic_numbers  */
+
+#include "ros/ros.h"
+#include "std_msgs/Int64.h"  //This is the type of message that is used for communation btw the nodes
+
+int main(int argc, char **argv) {
+
+	ros::init(argc, argv, "g4gekkouga_numbers"); //
+
+	ros::NodeHandle n; //access point for the communation with the system
+
+	ros::Publisher topic_Numbers = n.advertise<std_msgs::Int64>("topic_numbers", 1000); // Now topic_Numbers can be used to communicate with the ROS to publish to topic_numbers 
+
+	ros::Rate loop_rate(1); // Setting the number generation rate to 1HZ
+
+	int count = 0;
+
+	while (ros::ok()) {	 // returns false on ctrl C in the console
+
+		count++;  //Starting from 1 and all following numbers
+
+		std_msgs::Int64 msg;  // For publishing to the topic
+		msg.data = count;
+
+		topic_Numbers.publish(msg);  // Publish the message to topic topic_numbers
+
+		ROS_INFO("Number Published : %d", msg.data); // Displays the number published to the topic in the correspoing console of this node 
+
+		loop_rate.sleep(); // To maintain the 1Hz Frequency rate
+	}
+
+	return 0;
+}
+
+
+

assignment_1/g4gekkouga_print_squares/print_squares/src/g4gekkouga_print.cpp

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+/*   Take the msg from topic_numbers and topic_squares and prints them accordingly  */
+
+#include "ros/ros.h"
+#include "std_msgs/Int64.h" ////This is the type of message that is used for communation btw the nodes
+
+
+ros::Subscriber topic_Numbers ; // to suscribe to topic_numbers
+
+ros::Subscriber topic_Squares ; // to suscribe to topic_numbers
+
+void getSquare(const std_msgs::Int64::ConstPtr& msgr) {
+
+    ROS_INFO("Received from topic_squares : %d \n", msgr->data); // as this fn is called when input received from topic_squares
+
+    return ;
+
+}
+
+void getNum(const std_msgs::Int64::ConstPtr& msgr) {
+
+    ROS_INFO("Received from topic_numbers : %d \n", msgr->data);  // as this fn is called when input received from topic_numbers
+
+	return ;     
+}
+
+int main(int argc, char **argv){
+
+	ros::init(argc, argv, "g4gekkouga_print");
+
+	ros::NodeHandle n; //access point for the communation with the system
+
+
+    topic_Numbers = n.subscribe("topic_numbers", 1000, getNum); // To receive msgs from topic_numbers
+
+    topic_Squares = n.subscribe("topic_squares", 1000, getSquare); // To receive msgs from topic_squares
+
+    ros::spin(); //required as there are callBacks to the functions
+
+    return 0;
+}

assignment_1/g4gekkouga_print_squares/print_squares/src/g4gekkouga_squares.cpp

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+/*   Computes the square of the numbers published to topic_numbers and published them to another topic topic_squares  */
+
+#include "ros/ros.h"
+#include "std_msgs/Int64.h" //This is the type of message that is used for communation btw the nodes
+
+ros::Publisher topic_Squares; // Made Global as to be used in callBack function also
+
+void squareCalc(const std_msgs::Int64::ConstPtr& msgr) {
+
+	ROS_INFO("Number Received : %d \n", msgr->data); // Msg received from topic_numbers and displayed in corresponding terminal
+
+    std_msgs::Int64 msgp;
+    msgp.data = (msgr->data)*(msgr->data); //new msg type var to store the computed square of the input
+
+	topic_Squares.publish(msgp); // Publishing the computed square to topic_squares
+
+/* Similarly here also the publishing rate is at 1Hz as the function is 
+called at this rate and publishes at the same rate */
+
+    ROS_INFO("Number Published : %d \n", msgp.data); // Msg Published to topic_squares and displayed in corresponding terminal
+
+   }
+
+ int main(int argc, char **argv) {
+
+ 	ros::init(argc, argv, "g4gekkouga_squares");
+
+    ros::NodeHandle n; //access point for the communation with the system
+
+    topic_Squares = n.advertise<std_msgs::Int64>("topic_squares", 1000); // Declared Globally and initializesd here to communicate with the ROS to publish to topic_squares
+
+    ros::Subscriber topic_Numbers = n.subscribe<std_msgs::Int64>("topic_numbers", 1000, squareCalc); //
+
+/*  There is no need for maintaing frequency manually as the publishing rate to topic_numbers is 1Hz ,
+     the callBack function will also take input at the rate of 1Hz   */
+
+
+    ros::spin(); // Required as there are callBacks as long as the _numbers node is publishing or Ctrl C is encountered
+
+    return 0;
+}