beginner_tutorials

branch:Week10_HW

Overview

This is a Programming Assignment for ENPM808X: Software Development for Robotics course. This ROS package demonstrates a node publishing a message to a topic and a node subscribing to that message. In addition to this, a service was added to the publisher node to change the published message.

Build and install the package

#Make catkin workspace
mkdir -p catkin_ws/src
cd ~/catkin_ws
#Initialize catkin workspace
catkin_make 
cd src/
#Clone package
git clone https://github.com/bharatm11/beginner_tutorials
cd ..
#Build Workspace
catkin_make 

Running the package

Source the workspace

cd ~/catkin_ws
source devel/setup.bash

Open a terminal and type:

roscore

This starts a rosmaster.

Now, open a new terminal and type:

rosrun beginner_tutorials talker

This starts the publisher.

Lastly, open a new terminal and type:

rosrun beginner_tutorials listener

This starts the subscriber.

To listen to the published topic, open a new terminal and type:

rostopic echo /chatter 

Running roslaunch

roslaunch beginner_tutorials beginner_tutorial.launch freq:=15

where freq is the argument of publisher frequency

Running the Service

Make sure the talker has been launched, then enter run service with value of num as 3 or anything else

rosservice call /ModifyString "num: 3"

or

rosservice call /ModifyString "num: 2"

to change the message published by talker.

Dependencies

ROS Kinetic