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| <a href="README_8md.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> [](https://opensource.org/licenses/MIT)</div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> # ROS Beginner Tutorials</div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> A beginner ROS package that implements simple publisher-subscriber nodes in ROS</div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> </div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> ## Installations</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00009"></a><span class="lineno"> 9</span> To install ROS refer [this link](http://wiki.ros.org/ROS/Installation).</div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> </div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> Preferred Ubuntu 18.04, ROS Melodic</div><div class="line"><a name="l00012"></a><span class="lineno"> 12</span> </div><div class="line"><a name="l00013"></a><span class="lineno"> 13</span> </div><div class="line"><a name="l00014"></a><span class="lineno"> 14</span> ### Step 1. Clone repository and build the package</div><div class="line"><a name="l00015"></a><span class="lineno"> 15</span> ```bash</div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> git clone --recursive https://github.com/kavyadevd/beginner_tutorials.git</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> cp <repository_path> <catkin_workspace_path/src/></div><div class="line"><a name="l00018"></a><span class="lineno"> 18</span> cd <catkin_workspace></div><div class="line"><a name="l00019"></a><span class="lineno"> 19</span> source ./devel/setup.bash</div><div class="line"><a name="l00020"></a><span class="lineno"> 20</span> catkin_make</div><div class="line"><a name="l00021"></a><span class="lineno"> 21</span> ```</div><div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div><div class="line"><a name="l00023"></a><span class="lineno"> 23</span> ### Step 2. Make sure that a roscore is up and running</div><div class="line"><a name="l00024"></a><span class="lineno"> 24</span> ```bash</div><div class="line"><a name="l00025"></a><span class="lineno"> 25</span> roscore</div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> ```</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> ### Step 3. In new terminal run publisher node </div><div class="line"><a name="l00028"></a><span class="lineno"> 28</span> ```bash</div><div class="line"><a name="l00029"></a><span class="lineno"> 29</span> rosrun beginner_tutorials talker</div><div class="line"><a name="l00030"></a><span class="lineno"> 30</span> ```</div><div class="line"><a name="l00031"></a><span class="lineno"> 31</span> ### Step 4. In new terminal run subscriber node </div><div class="line"><a name="l00032"></a><span class="lineno"> 32</span> ```bash</div><div class="line"><a name="l00033"></a><span class="lineno"> 33</span> rosrun beginner_tutorials listener</div><div class="line"><a name="l00034"></a><span class="lineno"> 34</span> ```</div><div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div><div class="line"><a name="l00036"></a><span class="lineno"> 36</span> #### To run launch file</div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> </div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> ```bash</div><div class="line"><a name="l00039"></a><span class="lineno"> 39</span> roslaunch beginner_tutorials LaunchTalkerListener.launch frequency:=<desired-frequency></div><div class="line"><a name="l00040"></a><span class="lineno"> 40</span> ```</div><div class="line"><a name="l00041"></a><span class="lineno"> 41</span> This command will launch published and subscriber.</div><div class="line"><a name="l00042"></a><span class="lineno"> 42</span> </div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> #### To run service</div><div class="line"><a name="l00044"></a><span class="lineno"> 44</span> ```bash</div><div class="line"><a name="l00045"></a><span class="lineno"> 45</span> rosservice call /ServiceFile "<desired-custom-message>"</div><div class="line"><a name="l00046"></a><span class="lineno"> 46</span> ```</div><div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div><div class="line"><a name="l00048"></a><span class="lineno"> 48</span> #### To invoke rqt logger and console on separate terminals run the following two commands</div><div class="line"><a name="l00049"></a><span class="lineno"> 49</span> ```bash</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> rosrun rqt_console rqt_console</div><div class="line"><a name="l00051"></a><span class="lineno"> 51</span> rosrun rqt_logger_level rqt_logger_level</div><div class="line"><a name="l00052"></a><span class="lineno"> 52</span> ```</div><div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div><div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div><div class="line"><a name="l00055"></a><span class="lineno"> 55</span> ## Plugins</div><div class="line"><a name="l00056"></a><span class="lineno"> 56</span> </div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00058"></a><span class="lineno"> 58</span> - CppCheckEclipse</div><div class="line"><a name="l00059"></a><span class="lineno"> 59</span> </div><div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  To install and run cppcheck in Eclipse</div><div class="line"><a name="l00061"></a><span class="lineno"> 61</span> </div><div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  1. In Eclipse, go to Window -> Preferences -> C/C++ -> cppcheclipse.</div><div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  Set cppcheck binary path to "/usr/bin/cppcheck".</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  2. To run CPPCheck on a project, right-click on the project name in the Project Explorer </div><div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  and choose cppcheck -> Run cppcheck.</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  </div><div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  3. To run on terminal</div><div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  ```bash</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  cppcheck --enable=all --std=c++11 -I include/ --suppress=missingIncludeSystem $( find . -name *.cpp -or -name *.h | grep -vE -e "^./build/" -e "^./vendor/") > Results/cppcheckoutput.xml</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  ```</div><div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  Results are present at Results/cppcheckoutput.xml</div><div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div><div class="line"><a name="l00074"></a><span class="lineno"> 74</span> - Cpplint</div><div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  1. To run cpplint on terminal</div><div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  ```bash</div><div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  cpplint $( find . -name *.cpp | grep -vE -e "^./build/" -e "^./vendor/") $( find . -name *.hpp | grep -vE -e "^./build/" -e "^./vendor/") > Results/cpplintoutput.txt</div><div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  ```</div><div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  Results are present at Results/cpplintoutput.xml</div><div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div><div class="line"><a name="l00081"></a><span class="lineno"> 81</span> - Google C++ Style</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> </div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  To include and use Google C++ Style formatter in Eclipse</div><div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div><div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  1. In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. </div><div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  Import [eclipse-cpp-google-style][reference-id-for-eclipse-cpp-google-style] and apply.</div><div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  2. To use Google C++ style formatter, right-click on the source code or folder in </div><div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  Project Explorer and choose Source -> Format</div><div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div><div class="line"><a name="l00091"></a><span class="lineno"> 91</span> [reference-id-for-eclipse-cpp-google-style]: https://raw.githubusercontent.com/google/styleguide/gh-pages/eclipse-cpp-google-style.xml</div><div class="line"><a name="l00092"></a><span class="lineno"> 92</span> </div><div class="line"><a name="l00093"></a><span class="lineno"> 93</span> - Doxygen</div><div class="line"><a name="l00094"></a><span class="lineno"> 94</span> </div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  The HTML page for project outlines can be generated using the following commands</div><div class="line"><a name="l00096"></a><span class="lineno"> 96</span> </div><div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  1. doxygen -g</div><div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  2. doxygen Doxyfile</div><div class="line"><a name="l00099"></a><span class="lineno"> 99</span> </div><div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> ## Licensing</div><div class="line"><a name="l00102"></a><span class="lineno"> 102</span> The project is licensed under [MIT License](https://opensource.org/licenses/MIT). Click [here](https://github.com/kavyadevd/beginner_tutorials/blob/main/LICENSE) to know more</div></div><!-- fragment --></div><!-- contents --> | ||
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