Abhishek-Nalawade/beginner_tutorials

Beginner Tutorials

A simple tutorial for the standard ROS cpp publisher and subscriber setup

To Build

1. Create a catkin workspace
2. Clone the repository using

git clone https://github.com/Abhishek-Nalawade/beginner_tutorials

To Run

1. Go in catkin workspace directory and type catkin_make clean && catkin_make
2. source devel/setup.bash
3. roslaunch roslaunch beginner_tutorials tutorial.launch arg1:=1
4. Or for default argument use roslaunch roslaunch beginner_tutorials tutorial.launch
5. You can also run the publisher and subcriber nodes separately using two terminals
   a) rosrun beginner_tutorials publisher
   b) rosrun beginner_tutorials subscriber

ROS Service

To change the output string that is being published

1. Open a new terminal and navigate to catkin_ws
2. source devel/setup.bash
3. rosservice call /change_base_output_string "New string "

Inspect TF Frames

1. cd catkin_ws
2. source devel/setup.bash
3. rosrun tf tf_echo /world /talk
4. rosrun tf view_frames
5. evince frames.pdf
6. rosrun rqt_tf_tree rqt_tf_tree

Test

To run the tests

1. cd catkin_ws
2. source devel/setup.bash
3. catkin_make run_tests_beginner_tutorials

Rosbag

The rosbag recording is disabled by default.

To generate a new rosbag file type

roslaunch beginner_tutorials tutorial.launch rosbagEnable:=true

A bag file will be saved in Results directory. To play the ROS bag file, terminate the talker and listener nodes, and type the following in a new terminal.

rosrun beginner_tutorials subscriber

Open new terminal, and navigate to Results directory.

cd cakin_ws/src/beginner_tutorials/Results rosbag play bag.bag

Inspecting the bag

To inspect a recorded bag file: cd into the resutls directory where rosbags are stored and type

rosbag info bag.bag

Dependencies

1. Ubuntu 18.04
2. ROS Melodic
3. roscpp
4. std_msgs
5. message_generation