This repository contains basic ROS C++ subscriber and publisher taken from the ROS website.
- Takler (src/talker.cpp): publisher
- Listener (src/listener.cpp): subscriber
A launch file named week10HW.launch can be used to launch both talker and listener nodes
A service message named changeText.srv is used to change the output string upon request by the client
This project depends on the following:
- ROS kinetic : To install follow ROS installation page
- catkin : To install catkin follow this tutorial
and has been tested to work on ubuntu 16.04 LTS
Assuming dependencies are met. Follow below commands:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone -b Week10_HW --single-branch https://github.com/saimouli/beginner_tutorials.git
cd ..
catkin_make
Source the following command in bashrc
nano ~/.bashrc
source ~/catkin_ws/devel/setup.bash
source ~/.bashrc
To launch nodes, can either use a launch file or rosrun. Launch file will let user to launch several nodes in one command. Instructions for both types are below:
To use launch file type the following command in the terminal:
roslaunch begineer_tutorials week10HW.launch
User can change the frequency at which the loop operates by the following command;
roslaunch begineer_tutorials week10HW.launch frequency:=7
In a new terminal[1] type
roscore
In an another terminal[2] type
cd ~/catkin_ws
rosrun beginner_tutorials talker
- if you like to change the frequency enter:
- input must be an integer and greater than zero.
cd ~/catkin_ws
rosrun beginner_tutorials talker <frequency>
Yet in an another new terminal[3] type
cd ~/catkin_ws
rosrun beginner_tutorials listener
If the user would like to change the output string message, type the following command in a new terminal
rosservice call /changeText "sample text"
To see the message log in real time, use rqt_console GUI by typing the following command in a new terminal:
rqt_console