auv task basher666

assignment_1/basher666_print_squares/CMakeLists.txt

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+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})

assignment_1/basher666_print_squares/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>basher666_print_squares</name>
+  <version>0.0.0</version>
+  <description>The basher666_print_squares package</description>
+
+  <maintainer email="[email protected]">swastik</maintainer>
+
+  <license>MIT</license>
+
+  <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>
+
+  <export>
+
+  </export>
+</package>

assignment_1/basher666_print_squares/src/basher666_numbers.cpp

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+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+
+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;
+}

assignment_1/basher666_print_squares/src/basher666_print.cpp

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+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+
+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;
+}

assignment_1/basher666_print_squares/src/basher666_squares.cpp

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+#include "ros/ros.h"
+#include "std_msgs/Int64.h"
+
+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::spin();
+
+  return 0;
+}