From 3b2b280a41f093020eab1a8a8945603fb3ffacfb Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 6 Oct 2014 00:49:25 -0700 Subject: Get ROS examples to compile, add simple RC channels message --- src/examples/publisher/publisher.cpp | 137 +++++++++++++++++++++++++++++++++ src/examples/subscriber/subscriber.cpp | 93 ++++++++++++++++++++++ 2 files changed, 230 insertions(+) create mode 100644 src/examples/publisher/publisher.cpp create mode 100644 src/examples/subscriber/subscriber.cpp (limited to 'src') diff --git a/src/examples/publisher/publisher.cpp b/src/examples/publisher/publisher.cpp new file mode 100644 index 000000000..2c0f84476 --- /dev/null +++ b/src/examples/publisher/publisher.cpp @@ -0,0 +1,137 @@ +/* + * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ +// %Tag(FULLTEXT)% +// %Tag(ROS_HEADER)% +#include "ros/ros.h" +// %EndTag(ROS_HEADER)% +// %Tag(MSG_HEADER)% +#include "std_msgs/String.h" +// %EndTag(MSG_HEADER)% + +#include + +/** + * This tutorial demonstrates simple sending of messages over the ROS system. + */ +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. + * + * 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 + * publish on a given topic name. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. After this advertise() call is made, the master + * node will notify anyone who is trying to subscribe to this topic name, + * and they will in turn negotiate a peer-to-peer connection with this + * node. advertise() returns a Publisher object which allows you to + * publish messages on that topic through a call to publish(). Once + * all copies of the returned Publisher object are destroyed, the topic + * will be automatically unadvertised. + * + * The second parameter to advertise() is the size of the message queue + * used for publishing messages. If messages are published more quickly + * 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("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; + 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)% \ No newline at end of file diff --git a/src/examples/subscriber/subscriber.cpp b/src/examples/subscriber/subscriber.cpp new file mode 100644 index 000000000..e46055306 --- /dev/null +++ b/src/examples/subscriber/subscriber.cpp @@ -0,0 +1,93 @@ +/* + * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright notice, + * this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// %Tag(FULLTEXT)% +#include "ros/ros.h" +#include "std_msgs/String.h" + +/** + * This tutorial demonstrates simple receipt of messages over the ROS system. + */ +// %Tag(CALLBACK)% +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) +{ + /** + * 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. + * + * You must call one of the versions of ros::init() before using any other + * part of the ROS system. + */ + ros::init(argc, argv, "listener"); + + /** + * 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. + */ + ros::NodeHandle n; + + /** + * The subscribe() call is how you tell ROS that you want to receive messages + * on a given topic. This invokes a call to the ROS + * 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. + * + * 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. + */ +// %Tag(SUBSCRIBER)% + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); +// %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. + */ +// %Tag(SPIN)% + ros::spin(); +// %EndTag(SPIN)% + + return 0; +} +// %EndTag(FULLTEXT)% \ No newline at end of file -- cgit v1.2.3