assignment 1- Add sangeet259_print_squares

assignment_1/sangeet259_print_squares/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(sangeet259_print_squares)
+
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy 
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+  add_message_files(
+    FILES
+    Num.msg
+  )
+
+## Generate services in the 'srv' folder
+  add_service_files(
+    FILES
+    Square.srv
+  )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+  generate_messages(
+    DEPENDENCIES
+    std_msgs
+  )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+   INCLUDE_DIRS include
+   LIBRARIES sangeet259_print_squares
+   CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
+   DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+add_executable(sangeet259_numbers src/sangeet259_numbers.cpp)
+target_link_libraries(sangeet259_numbers ${catkin_LIBRARIES})
+add_dependencies(sangeet259_numbers sangeet259_print_squares_generate_messages_cpp)
+
+add_executable(sangeet259_squares src/sangeet259_squares.cpp)
+target_link_libraries(sangeet259_squares ${catkin_LIBRARIES})
+add_dependencies(sangeet259_squares sangeet259_print_squares_generate_messages_cpp)
+
+add_executable(sangeet259_print src/sangeet259_print.cpp)
+target_link_libraries(sangeet259_print ${catkin_LIBRARIES})
+add_dependencies(sangeet259_print sangeet259_print_squares_generate_messages_cpp)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/sangeet259_print_squares.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/sangeet259_print_squares_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_sangeet259_print_squares.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

assignment_1/sangeet259_print_squares/msg/Num.msg

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+int64 num

assignment_1/sangeet259_print_squares/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>sangeet259_print_squares</name>
+  <version>0.0.0</version>
+  <description>The sangeet259_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]">sangeet</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 multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/sangeet259_print_squares</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, 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>
+  <build_depend>message_generation</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>message_runtime</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/sangeet259_print_squares/src/sangeet259_numbers.cpp

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+#include "ros/ros.h"			
+							//ros/ros.h is a convenience include that includes all the headers necessary to use the most common public pieces of the ROS system.
+#include "std_msgs/Int32.h"
+							//This includes the std_msgs/Int32 message, which resides in the std_msgs package. 
+							//This is a header generated automatically from the Int32.msg file in that package.
+
+#include <sstream>
+
+
+int main(int argc, char **argv)
+{
+
+  ros::init(argc, argv, "sangeet259_numbers"); // Initiliase ROS. Specify the name of our node as sangeet259_numbers .
+
+
+  ros::NodeHandle n; 		//Create a handle to this process' node. This will actually do the initialization of the node.
+
+
+  ros::Publisher numbers_pub = n.advertise<std_msgs::Int32>("topic_numbers", 777); 
+                           //Tell the master that we are going to be publish a message of type std_msgs/Int32 on the topic_numbers topic.
+                           //777 is just the size of buffer nothing special about the number, by_the_way I am a MSD fan :) !
+  ros::Rate loop_rate(1);  // It will send messages at the rate of 1Hz.
+
+
+  int number = 1;          //Initilise the numbers to be sent , with 1 , obviously !
+  while (ros::ok())        //Until ctrl+C is not pressed
+  {
+
+    std_msgs::Int32 num;   // create a Int32 type message object with name num to be sent as message across the topic.
+
+    num.data = number;    //set the data attribute of our num message 'the number we want to send'
+    number++;             //Increment the number by 1 in each loop.
+
+
+
+    numbers_pub.publish(num); //Publish the number of the current loop to the topic "topic_numbers"
+
+    ros::spinOnce();      //Need to call this funtion often to allow ROS process incoming messages
+
+    loop_rate.sleep();    //Makes the loop to sleep for 1 second before publishing the next message !
+  }
+
+  return 0;
+}

assignment_1/sangeet259_print_squares/src/sangeet259_print.cpp

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+#include "ros/ros.h"
+                      //ros/ros.h is a convenience include that includes all the headers necessary to use the most common public pieces of the ROS system.
+#include "std_msgs/Int32.h"
+                      //This includes the std_msgs/Int32 message, which resides in the std_msgs package. 
+                      //This is a header generated automatically from the Int32.msg file in that package.
+
+  void callback_topic_numbers(const std_msgs::Int32::ConstPtr& num)    
+  						        //callback function for topic_numbers
+    {
+  	ROS_INFO("topic_numbers : [%d]\n ",num->data);
+                      //ROS_INFO is a kind of printf function equivalent to stdout/stderr, prints the number in the terminal
+    }
+
+  void callback_topic_squares(const std_msgs::Int32::ConstPtr& square)    
+  						        //callback function for topic_squares
+    {
+  	ROS_INFO("topic_squares : [%d]\n",square->data);
+                      //ROS_INFO is a kind of printf function equivalent to stdout/stderr, prints the square in the terminal
+    }
+
+
+  int main(int argc,char **argv)
+  {
+  	ros::init(argc, argv, "sangeet259_print"); 
+                      // Initiliase ROS. Specify the name of our node as sangeet259_print
+  	ros::NodeHandle N1, N2;                   
+                      //Create two nodes for this process handle to handle two subscriptions
+	  ros::Rate loop_rate(1);
+                      //1 Hertz
+  	ros::Subscriber sub1 = N1.subscribe("topic_numbers", 777, callback_topic_numbers);
+                      //Subscribes to the topic "topic_numbers" and calls the callback function "callback_topic_numbers" whenever a new message arrives.
+  	loop_rate.sleep();
+  	ros::Subscriber sub2 = N2.subscribe("topic_squares", 777, callback_topic_squares);
+                      //Subscribes to the topic "topic_squares" and calls the callback function "callback_topic_squares" whenever a new message arrives.
+  	ros::spin();
+  	return 0;
+  }

assignment_1/sangeet259_print_squares/src/sangeet259_squares.cpp

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+#include "ros/ros.h"
+					//ros/ros.h is a convenience include that includes all the headers necessary to use the most common public pieces of the ROS system.
+#include "std_msgs/Int32.h"
+				//This includes the std_msgs/Int32 message, which resides in the std_msgs package. 
+				//This is a header generated automatically from the Int32.msg file in that package.
+
+void topic_numbers_Callback(const std_msgs::Int32::ConstPtr& msg)
+{
+	int n;
+	ros::NodeHandle sq1;   			// Created our first handle for this Node
+	ros::Publisher square_pub = sq1.advertise<std_msgs::Int32>("topic_squares", 777);  
+									//Advertise to master that we are going to publish to a topic "topic_squares" .
+	n = msg->data;        			//set the data part of msg to be equal to n . 
+	std_msgs::Int32 square;			//created a "square" object of std_msgs/Int32.
+	square.data = n*n;				//set the data in square as square of n.
+	square_pub.publish(square);		// Now, publish the square on the topic "topic_squares".
+	ros::spin();					
+}
+
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "sangeet259_squares");	
+									// Initiliase ROS. Specify the name of our node as sangeet259_squares
+	ros::NodeHandle sq2;			//This creates a second handle for this process' node
+	ros::Subscriber sub = sq2.subscribe("topic_numbers", 777, topic_numbers_Callback);
+									//Subscribes to the topic "topic_numbers" and calls the callback function "topic_numbers_Callback" whenever a new message arrives.
+
+	ros::spin();// As you are receiving callbacks, 
+				// therfore  if you were to add a subscription into this application, and did not have ros::spinOnce() here, your callbacks would never get called
+	return 0;
+}

assignment_1/sangeet259_print_squares/srv/Square.srv

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+int64 a
+---
+int64 square