Merge pull request #1 from kavyadevd/ros_pub_sub

Ros pub sub

Results/cppcheckoutput.txt

@@ -0,0 +1,4 @@
+Checking src/listener.cpp ...
+1/2 files checked 47% done
+Checking src/talker.cpp ...
+2/2 files checked 100% done

Results/cpplintoutput.txt

@@ -0,0 +1,2 @@
+Done processing ./src/listener.cpp
+Done processing ./src/talker.cpp

src/listener.cpp

@@ -33,20 +33,19 @@
  * This tutorial demonstrates simple receipt of messages over the ROS system.
  */
 // %Tag(CALLBACK)%
-void chatterCallback(const std_msgs::String::ConstPtr& msg)
-{
+void chatterCallback(const std_msgs::String::ConstPtr& msg) {
   ROS_INFO("I heard: [%s]", msg->data.c_str());
 }
 // %EndTag(CALLBACK)%
 
-int main(int argc, char **argv)
-{
+int main(int argc, char** argv) {
   /**
    * The ros::init() function needs to see argc and argv so that it can perform
-   * any ROS arguments and name remapping that were provided at the command line.
-   * For programmatic remappings you can use a different version of init() which takes
-   * remappings directly, but for most command-line programs, passing argc and argv is
-   * the easiest way to do it.  The third argument to init() is the name of the node.
+   * any ROS arguments and name remapping that were provided at the command
+   * line. For programmatic remappings you can use a different version of init()
+   * which takes remappings directly, but for most command-line programs,
+   * passing argc and argv is the easiest way to do it.  The third argument to
+   * init() is the name of the node.
    *
    * You must call one of the versions of ros::init() before using any other
    * part of the ROS system.
@@ -55,8 +54,8 @@ int main(int argc, char **argv)
 
   /**
    * 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.
+   * The first NodeHandle constructed will fully initialize this node, and the
+   * last NodeHandle destructed will close down the node.
    */
   ros::NodeHandle n;
 
@@ -66,27 +65,28 @@ int main(int argc, char **argv)
    * master node, which keeps a registry of who is publishing and who
    * is subscribing.  Messages are passed to a callback function, here
    * called chatterCallback.  subscribe() returns a Subscriber object that you
-   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
-   * object go out of scope, this callback will automatically be unsubscribed from
-   * this topic.
+   * must hold on to until you want to unsubscribe.  When all copies of the
+   * Subscriber object go out of scope, this callback will automatically be
+   * unsubscribed from this topic.
    *
    * The second parameter to the subscribe() function is the size of the message
    * queue.  If messages are arriving faster than they are being processed, this
-   * is the number of messages that will be buffered up before beginning to throw
-   * away the oldest ones.
+   * is the number of messages that will be buffered up before beginning to
+   * throw away the oldest ones.
    */
-// %Tag(SUBSCRIBER)%
+  // %Tag(SUBSCRIBER)%
   ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
-// %EndTag(SUBSCRIBER)%
+  // %EndTag(SUBSCRIBER)%
 
   /**
    * ros::spin() will enter a loop, pumping callbacks.  With this version, all
-   * callbacks will be called from within this thread (the main one).  ros::spin()
-   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
+   * callbacks will be called from within this thread (the main one).
+   * ros::spin() will exit when Ctrl-C is pressed, or the node is shutdown by
+   * the master.
    */
-// %Tag(SPIN)%
+  // %Tag(SPIN)%
   ros::spin();
-// %EndTag(SPIN)%
+  // %EndTag(SPIN)%
 
   return 0;
 }

src/talker.cpp

@@ -25,15 +25,11 @@
  * @brief Demonstrates simple sending of messages over the ROS system.
  */
 
-// %Tag(FULLTEXT)%
-// %Tag(ROS_HEADER)%
+// Include required headers
+#include <sstream>
+
 #include "ros/ros.h"
-// %EndTag(ROS_HEADER)%
-// %Tag(MSG_HEADER)%
 #include "std_msgs/String.h"
-// %EndTag(MSG_HEADER)%
-
-#include <sstream>
 
 int main(int argc, char **argv) {
   /**
@@ -47,18 +43,14 @@ int main(int argc, char **argv) {
    * You must call one of the versions of ros::init() before using any other
    * part of the ROS system.
    */
-  // %Tag(INIT)%
   ros::init(argc, argv, "talker");
-  // %EndTag(INIT)%
 
   /**
    * 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.
    */
-  // %Tag(NODEHANDLE)%
   ros::NodeHandle n;
-  // %EndTag(NODEHANDLE)%
 
   /**
    * The advertise() function is how you tell ROS that you want to
@@ -77,58 +69,39 @@ int main(int argc, char **argv) {
    * than we can send them, the number here specifies how many messages to
    * buffer up before throwing some away.
    */
-  // %Tag(PUBLISHER)%
   ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
-  // %EndTag(PUBLISHER)%
-
-  // %Tag(LOOP_RATE)%
   ros::Rate loop_rate(10);
-  // %EndTag(LOOP_RATE)%
 
   /**
    * A count of how many messages we have sent. This is used to create
    * a unique string for each message.
    */
-  // %Tag(ROS_OK)%
   int count = 0;
   while (ros::ok()) {
-    // %EndTag(ROS_OK)%
     /**
      * This is a message object. You stuff it with data, and then publish it.
      */
-    // %Tag(FILL_MESSAGE)%
     std_msgs::String msg;
 
     std::stringstream ss;
-    ss << "hello world " << count;
+    ss << " The counter is set to : " << count << ". \tFear the turtle";
     msg.data = ss.str();
-    // %EndTag(FILL_MESSAGE)%
 
-    // %Tag(ROSCONSOLE)%
     ROS_INFO("%s", msg.data.c_str());
-    // %EndTag(ROSCONSOLE)%
 
     /**
      * The publish() function is how you send messages. The parameter
      * is the message object. The type of this object must agree with the type
      * given as a template parameter to the advertise<>() call, as was done
      * in the constructor above.
      */
-    // %Tag(PUBLISH)%
     chatter_pub.publish(msg);
-    // %EndTag(PUBLISH)%
 
-    // %Tag(SPINONCE)%
     ros::spinOnce();
-    // %EndTag(SPINONCE)%
-
-    // %Tag(RATE_SLEEP)%
     loop_rate.sleep();
-    // %EndTag(RATE_SLEEP)%
     ++count;
   }
 
   return 0;
 }
 // %EndTag(FULLTEXT)%
-