This is a repository based on ROS tutorial that covers how to write a publisher and subscriber node in C++.
A service was added to the talker node that changes the base output string.The talker node also includes the logging levels.
The nodes can now be called simultaneously by using the launch feature. The launch file accepts one command-line argument namely frequency which is of type integer that modifies the publisher's frequency.
Ubuntu 16.04
ROS kinetic is required to run these nodes and can be installed by following the instructions provided here
This program is under MIT License. A copy of the license can be obtained from here
Copyright (c) 2017 Pranav Dhulipala
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
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The above copyright notice and this permission notice shall be included in all
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/
$ catkin_make
$ source devel/setup.bash
$ cd src/
$ git clone -b Week10_HW https://github.com/PranavDhulipala/beginner_tutorials
$ cd ..
$ catkin_makeIn a new terminal run
roscore
To run the talker, enter this command in a new terminal window.
cd catkin_ws
source devel/setup.bash
rosrun beginner_tutorials talker frequency
frequency is an argument to the node which has an integer value, regulates the rate at which the output is dispayed on the screen.
To run the listener, enter this command in a new terminal window.
cd catkin_ws
source devel/setup.bash
rosrun beginner_tutorials listener
Make sure that both talker and lister nodes are running. In a new terminal enter the command rosservice list which will output the running services, you should be able to see the /changeString
cd catkin_ws
source devel/setup.bash
rosservice call /changeString name
Run the below commands in the terminal
cd catkin_ws
source devel/setup.bash
roslaunch beginner_tutorials launch.launch frequency:=number
frequency is the argument that changes the publisher's frequency and number is of type integer which is passed as a value of the argument frequency.