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Ros pub sub
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| /build | ||
| /.vscode |
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| MIT License | ||
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| Copyright (c) 2021 Anubhav Paras | ||
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| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
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| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
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| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. |
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| # Simple ROS Publisher Subscriber | ||
| This is a simple example to run publisher and subscriber in ROS Melodic. | ||
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| [](https://opensource.org/licenses/MIT) | ||
| --- | ||
| ## Dependencies | ||
| - Ubuntu 18.04 (LTS) | ||
| - ROS Melodic | ||
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| ## Instructions to build and run the code | ||
| - Make sure you have ROS Melodic installed in your computer. If not refer to [site](http://wiki.ros.org/melodic/Installation/Ubuntu). | ||
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| - Create a workspace: | ||
| ``` | ||
| mkdir -p ~/pubsub_ws/src | ||
| cd ~/pubsub_ws/src | ||
| ``` | ||
| - Clone the repository into the workspace: | ||
| ``` | ||
| git clone https://github.com/anubhavparas/beginner_tutorials.git | ||
| ``` | ||
| - Build the workspace: | ||
| ``` | ||
| cd ~/pubsub_ws | ||
| catkin_make or catkin build (preferred) | ||
| source devel/setup.bash | ||
| ``` | ||
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| - Start ros master node in a separate terminal: | ||
| ``` | ||
| roscore | ||
| ``` | ||
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| - To run the publisher run the following in a new terminal: | ||
| ``` | ||
| cd ~/pubsub_ws/ | ||
| source devel/setup.bash | ||
| rosrun beginner_tutorials talker | ||
| ``` | ||
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| - To run the subscriber run the following in a new terminal: | ||
| ``` | ||
| cd ~/pubsub_ws/ | ||
| source devel/setup.bash | ||
| rosrun beginner_tutorials listener | ||
| ``` | ||
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| /** | ||
| * @file ros_publisher.hpp | ||
| * @author Anubhav Paras ([email protected]) | ||
| * @brief Class to publish fixed message over /chatter topic | ||
| * @version 0.1 | ||
| * @date 2021-11-01 | ||
| * | ||
| * @copyright Copyright (c) 2021 | ||
| * | ||
| */ | ||
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| #ifndef SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_PUBLISHER_HPP_ | ||
| #define SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_PUBLISHER_HPP_ | ||
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| #include <ros/ros.h> | ||
| #include <std_msgs/String.h> | ||
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| #include <sstream> | ||
| #include <string> | ||
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| /** | ||
| * @brief ROSPublisher class to publish messages | ||
| * | ||
| */ | ||
| class ROSPublisher { | ||
| public: | ||
| /** | ||
| * @brief Construct a new ROSPublisher object | ||
| * | ||
| * @param ros_node_h | ||
| */ | ||
| explicit ROSPublisher(ros::NodeHandle ros_node_h); | ||
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| /** | ||
| * @brief Destroy the ROSPublisher object | ||
| * | ||
| */ | ||
| virtual ~ROSPublisher(); | ||
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| /** | ||
| * @brief to run the publisher node and publish messages at some fixed rate. | ||
| * The loop rate is set to 10 | ||
| * The message that is to be sent is also fixed in this case: | ||
| * Message is: "Hey, I am chatting. I am saying:: <count>" | ||
| * | ||
| */ | ||
| virtual void run_publisher(); | ||
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| private: | ||
| /** | ||
| * NodeHandle is the main access point to communications with the ROS system. | ||
| * The first NodeHandle constructed will fully initialize this node, and the last | ||
| * NodeHandle destructed will close down the node. | ||
| */ | ||
| ros::NodeHandle ros_node_h; | ||
| ros::Publisher chatter_pub; | ||
| }; | ||
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| #endif // SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_PUBLISHER_HPP_ |
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| /** | ||
| * @file ros_subscriber.hpp | ||
| * @author Anubhav Paras ([email protected]) | ||
| * @brief Class to subscribe and read messages from /chatter topic | ||
| * @version 0.1 | ||
| * @date 2021-11-01 | ||
| * | ||
| * @copyright Copyright (c) 2021 | ||
| * | ||
| */ | ||
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| #ifndef SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_SUBSCRIBER_HPP_ | ||
| #define SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_SUBSCRIBER_HPP_ | ||
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| #include <ros/ros.h> | ||
| #include <std_msgs/String.h> | ||
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| #include <sstream> | ||
| #include <string> | ||
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| /** | ||
| * @brief ROSSubscriber class to publish messages | ||
| * | ||
| */ | ||
| class ROSSubscriber { | ||
| public: | ||
| /** | ||
| * @brief Construct a new ROSSubscriber object | ||
| * | ||
| * @param ros_node_h | ||
| */ | ||
| explicit ROSSubscriber(ros::NodeHandle ros_node_h); | ||
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| /** | ||
| * @brief Destroy the ROSSubscriber object | ||
| * | ||
| */ | ||
| virtual ~ROSSubscriber(); | ||
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| /** | ||
| * @brief to run the publisher node and publish messages at some fixed rate. | ||
| * The loop rate is set to 10 | ||
| * The message that is to be sent is also fixed in this case: | ||
| * Message is: "Hey, I am chatting. I am saying:: <count>" | ||
| * | ||
| */ | ||
| virtual void run_subscriber(); | ||
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| private: | ||
| /** | ||
| * NodeHandle is the main access point to communications with the ROS system. | ||
| * The first NodeHandle constructed will fully initialize this node, and the last | ||
| * NodeHandle destructed will close down the node. | ||
| */ | ||
| ros::NodeHandle ros_node_h; | ||
| ros::Subscriber chatter_sub; | ||
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| /** | ||
| * @brief callback method for the subscriber | ||
| * | ||
| * @param msg message read by the subsriber | ||
| */ | ||
| void chatter_call_back(const std_msgs::String::ConstPtr& msg); | ||
| }; | ||
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| #endif // SRC_BEGINNER_TUTORIALS_INCLUDE_BEGINNER_TUTORIALS_ROS_SUBSCRIBER_HPP_ |
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