shubhamjena_assignment1

assignment_1/shubhamjena_print_squares/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(shubhamjena_print_squares)
+
+
+find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
+
+## Generate added messages and services with any dependencies listed here
+ generate_messages(DEPENDENCIES std_msgs)
+
+catkin_package()
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+add_executable(numbers_shubhamjena src/numbers_shubhamjena.cpp)
+target_link_libraries(numbers_shubhamjena ${catkin_LIBRARIES})
+add_dependencies(numbers_shubhamjena shubhamjena_print_squares_generate_messages_cpp)
+
+add_executable(squares_shubhamjena src/squares_shubhamjena.cpp)
+target_link_libraries(squares_shubhamjena ${catkin_LIBRARIES})
+add_dependencies(squares_shubhamjena shubhamjena_print_squares_generate_messages_cpp)
+
+add_executable(print_shubhamjena src/print_shubhamjena.cpp)
+target_link_libraries(print_shubhamjena ${catkin_LIBRARIES})
+add_dependencies(print_shubhamjena shubhamjena_print_squares_generate_messages_cpp)
+
+

assignment_1/shubhamjena_print_squares/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>shubhamjena_print_squares</name>
+  <version>0.0.0</version>
+  <description>The shubhamjena_print_squares package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">shubham</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>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/shubhamjena_print_squares</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

assignment_1/shubhamjena_print_squares/src/numbers_shubhamjena.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+#include <sstream>
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "numbers_shubhamjena");
+  ros::NodeHandle n;
+  ros::Publisher num_pub = n.advertise<std_msgs::String>("topic_numbers", 1000);
+  ros::Rate loop_rate(1);
+
+  int count = 0;
+  while (ros::ok())
+  {
+    std_msgs::String msg;
+    std::stringstream ss;
+    ss<<count;
+    msg.data = ss.str();
+
+    num_pub.publish(msg);
+
+    ros::spinOnce();
+
+    loop_rate.sleep();
+    ++count;
+  }
+
+
+  return 0;
+}
+
+

assignment_1/shubhamjena_print_squares/src/print_shubhamjena.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+
+void topic_numbersCallback(const std_msgs::String::ConstPtr& msg)
+{
+  ROS_INFO("topic_numbers [%s]", msg->data.c_str());
+}
+
+void topic_squaresCallback(const std_msgs::String::ConstPtr& msg)
+{
+  ROS_INFO("topic_squares [%s]", msg->data.c_str());
+}
+
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "print_shubamjena");
+
+  ros::NodeHandle n;
+  ros::Subscriber sub1 = n.subscribe("topic_numbers", 1000, topic_numbersCallback);
+  ros::Subscriber sub2 = n.subscribe("topic_squares", 1000, topic_squaresCallback);  
+
+  ros::spin();
+
+  return 0;
+}
+

assignment_1/shubhamjena_print_squares/src/squares_shubhamjena.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include <sstream>
+
+   int a=0;
+
+void topic_numbersCallback(const std_msgs::String::ConstPtr& msg)
+{
+   a =atoi(msg->data.c_str());
+   a=a*a;
+
+}
+
+
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "squares_shubhamjena");
+
+  ros::NodeHandle n;
+  ros::Subscriber sub = n.subscribe("topic_numbers", 1000, topic_numbersCallback);
+
+ros::Publisher sq_num_pub = n.advertise<std_msgs::String>("topic_squares",1000);
+
+
+ros::Rate loop_rate(1);
+while (ros::ok())
+  {
+    std_msgs::String msg;
+    std::stringstream ss;
+    ss<<a;
+    msg.data = ss.str();
+    sq_num_pub.publish(msg);
+    ros::spinOnce();
+    loop_rate.sleep();
+
+  }
+
+
+  ros::spin();
+
+  return 0;
+}
+
+