From fd01c2271a2aaff47010b219231aceb72a2e37e6 Mon Sep 17 00:00:00 2001
From: Swastik Haldar <swastik.haldar@gmail.com>
Date: Tue, 21 Feb 2017 18:19:12 +0530
Subject: [PATCH 1/2] auv task for basher666

---
 .../basher666_print_squares/CMakeLists.txt    | 27 ++++++++++
 .../basher666_print_squares/package.xml       | 54 +++++++++++++++++++
 .../src/basher666_numbers.cpp                 | 28 ++++++++++
 .../src/basher666_print.cpp                   | 30 +++++++++++
 .../src/basher666_squares.cpp                 | 34 ++++++++++++
 5 files changed, 173 insertions(+)
 create mode 100644 assignment_1/basher666_print_squares/CMakeLists.txt
 create mode 100644 assignment_1/basher666_print_squares/package.xml
 create mode 100644 assignment_1/basher666_print_squares/src/basher666_numbers.cpp
 create mode 100644 assignment_1/basher666_print_squares/src/basher666_print.cpp
 create mode 100644 assignment_1/basher666_print_squares/src/basher666_squares.cpp

diff --git a/assignment_1/basher666_print_squares/CMakeLists.txt b/assignment_1/basher666_print_squares/CMakeLists.txt
new file mode 100644
index 0000000..0ff347f
--- /dev/null
+++ b/assignment_1/basher666_print_squares/CMakeLists.txt
@@ -0,0 +1,27 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(basher666_print_squares)
+
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+
+catkin_package()
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(basher666_numbers src/basher666_numbers.cpp)
+target_link_libraries(basher666_numbers ${catkin_LIBRARIES})
+
+add_executable(basher666_squares src/basher666_squares.cpp)
+target_link_libraries(basher666_squares ${catkin_LIBRARIES})
+
+add_executable(basher666_print src/basher666_print.cpp)
+target_link_libraries(basher666_print ${catkin_LIBRARIES})
diff --git a/assignment_1/basher666_print_squares/package.xml b/assignment_1/basher666_print_squares/package.xml
new file mode 100644
index 0000000..c748105
--- /dev/null
+++ b/assignment_1/basher666_print_squares/package.xml
@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<package>
+  <name>basher666_print_squares</name>
+  <version>0.0.0</version>
+  <description>The basher666_print_squares package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="swastik.haldar@gmail.com">swastik</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>MIT</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/basher666_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="jane.doe@example.com">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>std_msgs</build_depend>
+  <run_depend>roscpp</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>
diff --git a/assignment_1/basher666_print_squares/src/basher666_numbers.cpp b/assignment_1/basher666_print_squares/src/basher666_numbers.cpp
new file mode 100644
index 0000000..c9f5682
--- /dev/null
+++ b/assignment_1/basher666_print_squares/src/basher666_numbers.cpp
@@ -0,0 +1,28 @@
+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+#include <sstream>
+#include <bits/stdc++.h>
+
+using namespace std;
+
+int main(int argc,char **argv)
+{
+  ros::init(argc,argv,"basher666_numbers"); //initializing the node basher666_numbers
+
+  ros::NodeHandle n;
+
+  ros::Publisher num_pub=n.advertise<std_msgs::Int64>("topic_numbers",1000); //setting the topic_numbers as the topic
+  ros::Rate loop_rate(1); //setting loop_rate as 1 hz
+  int count=1;
+  while(ros::ok())
+    {
+      std_msgs::Int64 x;
+      x.data=count;
+      num_pub.publish(x); //publishing the data to the topic
+      ROS_INFO("%ld sent to topic_numbers\n",x.data);
+      ros::spinOnce();
+      loop_rate.sleep();
+      count++;
+    }
+  return 0;
+}
diff --git a/assignment_1/basher666_print_squares/src/basher666_print.cpp b/assignment_1/basher666_print_squares/src/basher666_print.cpp
new file mode 100644
index 0000000..ac1e5ad
--- /dev/null
+++ b/assignment_1/basher666_print_squares/src/basher666_print.cpp
@@ -0,0 +1,30 @@
+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+#include <bits/stdc++.h>
+
+using namespace std;
+
+void sqcallback(const std_msgs::Int64::ConstPtr& sqr)  //callback function for topic_squares
+{
+  ROS_INFO("%ld received from topic_squares",sqr->data);
+  return;
+}
+
+void numcallback(const std_msgs::Int64::ConstPtr& num) //callback function for topic_numbers
+{
+  ROS_INFO("%ld received from topic_numbers",num->data);
+  return;
+}
+
+int main(int argc,char **argv)
+{
+  ros::init(argc,argv,"basher666_print");
+  ros::NodeHandle n;
+  ros::Rate loop_rate(1); //for 1 hz rate
+
+  ros::Subscriber sub1=n.subscribe("topic_numbers",1000,numcallback); //subscribing to the topic_numbers
+  ros::Subscriber sub2=n.subscribe("topic_squares",1000,sqcallback);  // subscribing to the topic_squares  
+  ros::spin();
+  loop_rate.sleep();
+  return 0;
+}
diff --git a/assignment_1/basher666_print_squares/src/basher666_squares.cpp b/assignment_1/basher666_print_squares/src/basher666_squares.cpp
new file mode 100644
index 0000000..02e41fa
--- /dev/null
+++ b/assignment_1/basher666_print_squares/src/basher666_squares.cpp
@@ -0,0 +1,34 @@
+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+#include <bits/stdc++.h>
+using namespace std;
+
+ros::Publisher sq_pub; //creating the publisher object globally for convenience
+void numberscallback(const std_msgs::Int64::ConstPtr& num)
+{
+  ROS_INFO("heard %ld from topic_numbers \n",num->data);
+  std_msgs::Int64 sq;
+  sq.data=(num->data)*(num->data);
+
+  if(ros::ok())    //publishing the square only once for each number from topic_numbers
+    {
+      sq_pub.publish(sq);
+      ROS_INFO("sent %ld to topic_squares\n",sq.data);
+      ros::spinOnce();
+      //loop_rate.sleep();
+    }
+  
+}
+int main(int argc,char **argv)
+{
+  ros::init(argc,argv,"basher666_squares");
+  ros::NodeHandle n;
+  ros::NodeHandle n2;
+  ros::Rate loop_rate(1);
+  sq_pub=n2.advertise<std_msgs::Int64>("topic_squares",1000);  //selecting topic_squares as the topic to publish
+  ros::Subscriber square=n.subscribe("topic_numbers",1000,numberscallback); //selecting topic_numbers as the topic to subscribe
+  ROS_INFO("hahahaha \n");
+  ros::spin();
+  
+  return 0;
+}

From 0afcd58e4423f19b657cf719490e4d47f7c5c32e Mon Sep 17 00:00:00 2001
From: Swastik Haldar <swastik.haldar@gmail.com>
Date: Wed, 22 Feb 2017 14:14:38 +0530
Subject: [PATCH 2/2] removed unnecessary tags and header files

---
 .../basher666_print_squares/package.xml       | 34 -------------------
 .../src/basher666_numbers.cpp                 |  4 ---
 .../src/basher666_print.cpp                   |  3 --
 .../src/basher666_squares.cpp                 |  3 --
 4 files changed, 44 deletions(-)

diff --git a/assignment_1/basher666_print_squares/package.xml b/assignment_1/basher666_print_squares/package.xml
index c748105..2044e04 100644
--- a/assignment_1/basher666_print_squares/package.xml
+++ b/assignment_1/basher666_print_squares/package.xml
@@ -4,51 +4,17 @@
   <version>0.0.0</version>
   <description>The basher666_print_squares package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="swastik.haldar@gmail.com">swastik</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>MIT</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/basher666_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="jane.doe@example.com">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>std_msgs</build_depend>
   <run_depend>roscpp</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>
diff --git a/assignment_1/basher666_print_squares/src/basher666_numbers.cpp b/assignment_1/basher666_print_squares/src/basher666_numbers.cpp
index c9f5682..ffdacb7 100644
--- a/assignment_1/basher666_print_squares/src/basher666_numbers.cpp
+++ b/assignment_1/basher666_print_squares/src/basher666_numbers.cpp
@@ -1,9 +1,5 @@
 #include "ros/ros.h"
 #include "std_msgs/Int64.h"
-#include <sstream>
-#include <bits/stdc++.h>
-
-using namespace std;
 
 int main(int argc,char **argv)
 {
diff --git a/assignment_1/basher666_print_squares/src/basher666_print.cpp b/assignment_1/basher666_print_squares/src/basher666_print.cpp
index ac1e5ad..92b682b 100644
--- a/assignment_1/basher666_print_squares/src/basher666_print.cpp
+++ b/assignment_1/basher666_print_squares/src/basher666_print.cpp
@@ -1,8 +1,5 @@
 #include "ros/ros.h"
 #include "std_msgs/Int64.h"
-#include <bits/stdc++.h>
-
-using namespace std;
 
 void sqcallback(const std_msgs::Int64::ConstPtr& sqr)  //callback function for topic_squares
 {
diff --git a/assignment_1/basher666_print_squares/src/basher666_squares.cpp b/assignment_1/basher666_print_squares/src/basher666_squares.cpp
index 02e41fa..21e1fd2 100644
--- a/assignment_1/basher666_print_squares/src/basher666_squares.cpp
+++ b/assignment_1/basher666_print_squares/src/basher666_squares.cpp
@@ -1,7 +1,5 @@
 #include "ros/ros.h"
 #include "std_msgs/Int64.h"
-#include <bits/stdc++.h>
-using namespace std;
 
 ros::Publisher sq_pub; //creating the publisher object globally for convenience
 void numberscallback(const std_msgs::Int64::ConstPtr& num)
@@ -27,7 +25,6 @@ int main(int argc,char **argv)
   ros::Rate loop_rate(1);
   sq_pub=n2.advertise<std_msgs::Int64>("topic_squares",1000);  //selecting topic_squares as the topic to publish
   ros::Subscriber square=n.subscribe("topic_numbers",1000,numberscallback); //selecting topic_numbers as the topic to subscribe
-  ROS_INFO("hahahaha \n");
   ros::spin();
   
   return 0;