Merge branch 'Week10_HW' into main

CMakeLists.txt

@@ -2,7 +2,23 @@ cmake_minimum_required(VERSION 2.8.3)
 project(beginner_tutorials)
 
 ## Find catkin and any catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+  roslaunch
+)
+
+add_service_files(
+  FILES
+  AddTwoInts.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
 
 ## Declare a catkin package
 catkin_package(
@@ -14,6 +30,8 @@ include_directories(include ${catkin_INCLUDE_DIRS})
 
 add_executable(talker src/talker.cpp src/talker_node.cpp)
 target_link_libraries(talker ${catkin_LIBRARIES})
+add_dependencies(talker beginner_tutorials_gencpp)
 
 add_executable(listener src/listener.cpp src/listener_node.cpp)
 target_link_libraries(listener ${catkin_LIBRARIES})
+add_dependencies(listener beginner_tutorials_gencpp)

README.md

@@ -61,10 +61,3 @@ rosrun beginner_tutorials talker
 ```
 rosrun beginner_tutorials listener
 ```
-
-
-
-
-
-
-hiii

include/beginner_tutorials/listener.hpp

@@ -15,6 +15,7 @@
 #include <std_msgs/String.h>
 #include <sstream>
 #include <string>
+#include "beginner_tutorials/AddTwoInts.h"
 
 class Listener {
  public:
@@ -42,8 +43,10 @@ class Listener {
     ros::NodeHandle* nh_p;  // nodehandle
 
  private:
-    std::string subscriber_topic_name;  // ROS subscriber topic name
+    std::string subscriber_topic_name,
+     service_name;  // ROS subscriber topic name
     ros::Subscriber chatter_sub;  // ROS Subscriber object
+    ros::ServiceClient client;  // ROS service client object
     /**
      * @brief Function to init params
      * 
@@ -54,6 +57,11 @@ class Listener {
      * 
      */
     void initSubscribers();
+    /**
+     * @brief Function to init service clients
+     * 
+     */
+    void initServiceClient();
     /**
      * @brief Callback function for subscriber
      * 

include/beginner_tutorials/talker.hpp

@@ -15,6 +15,7 @@
 #include <std_msgs/String.h>
 #include <sstream>
 #include <string>
+#include "beginner_tutorials/AddTwoInts.h"
 
 class Talker {
  public:
@@ -42,8 +43,9 @@ class Talker {
     ros::NodeHandle* nh_p;  // nodehandle
 
  private:
-    std::string publisher_topic_name;  // ROS publisher topic name
+    std::string publisher_topic_name, service_name;  // ROS publisher topic name
     ros::Publisher chatter_pub;  // ROS publisher object
+    ros::ServiceServer service;  // ROS service object
     int publisher_rate;  // rate of publishing
     /**
      * @brief Function to init params
@@ -55,5 +57,20 @@ class Talker {
      * 
      */
     void initPublishers();
+    /**
+     * @brief Function to init ros services
+     * 
+     */
+    void initServices();
+    /**
+     * @brief Service callback function
+     * 
+     * @param req request parameters
+     * @param res response parameters
+     * @return true if the service operations are successful
+     * @return false if the service operations fail
+     */
+    bool add(beginner_tutorials::AddTwoInts::Request  &req,  // NOLINT
+            beginner_tutorials::AddTwoInts::Response &res);  // NOLINT
 };
 #endif  // INCLUDE_BEGINNER_TUTORIALS_TALKER_HPP_

launch/talker_chatter.launch

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="platform_name" default="sakshi" />
+    <arg name="publisher_topic_name" default="/chatter" />
+    <arg name="publisher_rate" default="20" />
+    <arg name="service_name" default="/add_two_ints" />
+    <arg name="subscriber_topic_name" default="/chatter" />
+	<group>
+  		<node pkg="beginner_tutorials" type="talker" name="talker_$(arg platform_name)">
+            <param name="publisher_topic_name" value="$(arg publisher_topic_name)"/>
+            <param name="publisher_rate" value="$(arg publisher_rate)"/>
+            <param name="service_name" value="$(arg service_name)"/>
+        </node>
+	</group>
+
+    <group>
+  		<node pkg="beginner_tutorials" type="listener" name="listener_$(arg platform_name)">
+            <param name="subscriber_topic_name" value="$(arg subscriber_topic_name)"/>
+            <param name="service_name" value="$(arg service_name)"/>
+        </node>
+	</group>
+
+
+</launch>

package.xml

@@ -7,13 +7,13 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
-  <maintainer email="sakshi@todo.todo">sakshi</maintainer>
+  <maintainer email="sakshi@umd.edu">sakshi</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>TODO</license>
+  <license>MIT</license>
 
 
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
@@ -52,6 +52,8 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <exec_depend>message_runtime</exec_depend>
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>rospy</build_export_depend>
   <build_export_depend>std_msgs</build_export_depend>

results/cppcheck_process.txt

@@ -1,5 +1 @@
-[include/beginner_tutorials/listener.hpp:19]: (style) class 'Listener' does not have a copy constructor which is recommended since the class contains a pointer to allocated memory.
-[src/talker.cpp:13]: (warning) Member variable 'Talker::publisher_rate' is not initialized in the constructor.
-[src/talker.cpp:19]: (warning) Member variable 'Talker::publisher_rate' is not initialized in the constructor.
-[src/talker.cpp:20]: (style) Value of pointer 'nh_p', which points to allocated memory, is copied in copy constructor instead of allocating new memory.
-[include/beginner_tutorials/talker.hpp:19]: (warning) The class 'Talker' has 'copy constructor' but lack of 'operator='.
+(information) Cppcheck cannot find all the include files (use --check-config for details)

results/cppcheck_result.txt

@@ -1,8 +1,8 @@
 Checking src/listener.cpp ...
-1/4 files checked 31% done
+1/4 files checked 34% done
 Checking src/listener_node.cpp ...
 2/4 files checked 44% done
 Checking src/talker.cpp ...
-3/4 files checked 86% done
+3/4 files checked 90% done
 Checking src/talker_node.cpp ...
 4/4 files checked 100% done

src/listener.cpp

@@ -16,6 +16,7 @@ Listener::Listener(ros::NodeHandle* nh_p) {
     this->nh_p = nh_p;
     initParams();
     initSubscribers();
+    initServiceClient();
 }
 
 Listener::~Listener() {
@@ -25,17 +26,34 @@ Listener::~Listener() {
 void Listener::initParams() {
     this->nh_p->param<std::string>("subscriber_topic_name",
      this->subscriber_topic_name, "/chatter");
+    this->nh_p->param<std::string>("service_name",
+     this->service_name, "/talker_node/add_two_ints");
 }
 
 void Listener::initSubscribers() {
     this->chatter_sub = this->nh_p->subscribe(this->subscriber_topic_name,
      1, &Listener::chatter_callback, this);
 }
 
+void Listener::initServiceClient() {
+    this->client = this->nh_p->serviceClient<beginner_tutorials::AddTwoInts>(
+        this->service_name,
+        this);
+}
 void Listener::chatter_callback(const std_msgs::String::ConstPtr& msg) {
-    ROS_INFO("Yes, I heard [%s]", msg->data.c_str());
+    ROS_INFO_STREAM("Yes, I heard " << msg->data.c_str());
+    ROS_INFO_STREAM("Can you add two numbers for me?");
+    beginner_tutorials::AddTwoInts srv;
+    srv.request.a = 10;
+    srv.request.b = -10;
+    if (client.call(srv)) {
+        ROS_INFO_STREAM("Yes! The sum is : " << srv.response.sum);
+    } else {
+        ROS_ERROR_STREAM("Failed to call service add_two_ints");
+    }
 }
 
 void Listener::runNode() {
+  ROS_DEBUG_ONCE("Talker node activated.");
   ros::spin();
 }

src/talker.cpp

@@ -17,6 +17,7 @@ Talker::Talker(ros::NodeHandle* nh_p) {
     this->nh_p = nh_p;
     initParams();
     initPublishers();
+    initServices();
 }
 
 Talker::~Talker() {
@@ -28,6 +29,8 @@ void Talker::initParams() {
      this->publisher_topic_name, "/chatter");
     this->nh_p->param<int>("publisher_rate",
      this->publisher_rate, 10);
+    this->nh_p->param<std::string>("service_name",
+     this->service_name, "add_two_ints");
 }
 
 void Talker::initPublishers() {
@@ -36,18 +39,43 @@ void Talker::initPublishers() {
          this->publisher_rate, this);
 }
 
+void Talker::initServices() {
+  this->service = this->nh_p->advertiseService(this->service_name,
+   &Talker::add,
+   this);
+  ROS_INFO_STREAM("Ready to add two ints.");
+}
+
+bool Talker::add(beginner_tutorials::AddTwoInts::Request  &req,
+        beginner_tutorials::AddTwoInts::Response &res) {
+  if ((req.a < 0) || (req.b < 0)) {
+    ROS_WARN_STREAM("One of the numbers is negative");
+  }
+  res.sum = req.a + req.b;
+  if (res.sum == 0) {
+    ROS_ERROR_STREAM("Sum is 0!");
+  }
+  ROS_INFO_STREAM("request: x = " << req.a << " y = " <<  req.b);
+  ROS_INFO_STREAM("sending back response: " << res.sum);
+  return true;
+}
+
 void Talker::runNode() {
   int count = 0;
-  ros::Rate loop_rate(10);
+  ros::Rate loop_rate(this->publisher_rate);
   while (ros::ok()) {
+    ROS_DEBUG_STREAM("Talker node is active");
     std_msgs::String msg;
     std::stringstream ss;
     ss << "Can you hear " << count << " ?";
     msg.data = ss.str();
 
     ROS_INFO("%s", msg.data.c_str());
     this->chatter_pub.publish(msg);
-
+    uint32_t n_sub = this->chatter_pub.getNumSubscribers();
+    if (n_sub == 0) {
+      ROS_FATAL_STREAM("NO SUBSCRIBERS!");
+    }
     ros::spinOnce();
     loop_rate.sleep();
     ++count;

srv/AddTwoInts.srv

@@ -0,0 +1,4 @@
+int64 a
+int64 b
+---
+int64 sum