ROS Beginner Tutorials

A beginner ROS package that implements simple publisher-subscriber nodes in ROS. Additionally implements ROSbag, tf, and Rostest/gtest

Installations

To install ROS refer this link.

Requirements / Assumptions

Project requires and evironment with Ubuntu 18.04, ROS Melodic

Step 1. Clone repository and build the package

git clone --recursive https://github.com/kavyadevd/beginner_tutorials.git
cp <repository_path> <catkin_workspace_path/src/>
cd <catkin_workspace>
source ./devel/setup.bash
catkin_make

Step 2. Make sure that a roscore is up and running

roscore

Step 3. In new terminal run publisher node

rosrun beginner_tutorials talker

Step 4. In new terminal run subscriber node

rosrun beginner_tutorials listener

To run launch file

roslaunch beginner_tutorials LaunchTalkerListener.launch frequency:=<desired-frequency>

This command will launch published and subscriber.

To run service

rosservice call /ServiceFile "<desired-custom-message>"

To invoke rqt logger and console on separate terminals run the following two commands

rosrun rqt_console rqt_console
rosrun rqt_logger_level rqt_logger_level

View tf frames and tree

rosrun tf tf_echo /world /talk
rosrun rqt_tf_tree rqt_tf_tree

Running ROS test/ Gtest

To make the test files execute the following commands successively

catkin_make tests
catkin_make test

Launch the testcases launch by executing the following command

rostest beginner_tutorials TalkerListenerTest.launch frequency:=5

Output will be similiar to :

... logging to /home/kavya/.ros/log/rostest-Matrix-27255.log
[ROSUNIT] Outputting test results to /home/kavya/.ros/test_results/beginner_tutorials/rostest-test_TalkerListenerTest.xml
[ WARN] [1636828912.923804367]: Publisher message will be changed.
[Testcase: testTalkerListenerTest] ... ok

[ROSTEST]-----------------------------------------------------------------------

[beginner_tutorials.rosunit-TalkerListenerTest/TestPublisherExists][passed]
[beginner_tutorials.rosunit-TalkerListenerTest/TestMessageChangeService][passed]

SUMMARY
 * RESULT: SUCCESS
 * TESTS: 2
 * ERRORS: 0
 * FAILURES: 0

rostest log file is in /home/kavya/.ros/log/rostest-Matrix-27255.log

ROSbag

rosbag is a set of tools for recording from and playing back to ROS topics. It is intended to be high performance and avoids deserialization and reserialization of the messages. Read more

To record a bagfile run following commands: Terminal 1

rosrun beginner_tutorials talker

Terminal 2

mkdir ~/bagfiles
cd ~/bagfiles
rosbag record -a

This will record till you stop it by typing Ctrl+C

Check recorded bag file info using the command:

rosbag info <bag-file-name>

To check the validity of bag file we will start listener node and check if the recorded messages are heard by listener.

Terminal 1:

rosrun beginner_tutorials listener

Terminal 2:

rosbag play <rosbag-file-path>/<rosbag-file>.bag

To launch nodes with rosbag recording

roslaunch beginner_tutorials LaunchTalkerListener.launch rosbag_flag:=true

Note

An active operation running on a terminal can be terminated by giving a Ctrl+C input from keyboard at any time.

Plugins

• CppCheckEclipse

  To install and run cppcheck in Eclipse

  1. In Eclipse, go to Window -> Preferences -> C/C++ -> cppcheclipse. Set cppcheck binary path to "/usr/bin/cppcheck".

  2. To run CPPCheck on a project, right-click on the project name in the Project Explorer and choose cppcheck -> Run cppcheck.

  3. To run on terminal

  cppcheck --enable=all --std=c++11 -I include/ --suppress=missingIncludeSystem $( find . -name *.cpp -or -name *.h | grep -vE -e "^./build/" -e "^./vendor/") >     Results/cppcheckoutput.txt

  Results are present at Results/cppcheckoutput.txt

• Cpplint

  1. To run cpplint on terminal

  cpplint $( find . -name *.cpp | grep -vE -e "^./build/" -e "^./vendor/") $( find . -name *.hpp | grep -vE -e "^./build/" -e "^./vendor/") >                    Results/cpplintoutput.txt

  Results are present at Results/cpplintoutput.xml

• Google C++ Style

  To include and use Google C++ Style formatter in Eclipse

  1. In Eclipse, go to Window -> Preferences -> C/C++ -> Code Style -> Formatter. Import eclipse-cpp-google-style and apply.

  2. To use Google C++ style formatter, right-click on the source code or folder in Project Explorer and choose Source -> Format

• Doxygen

  The HTML page for project outlines can be generated using the following commands

  doxygen -g
  doxygen Doxyfile

Licensing

The project is licensed under MIT License. Click here to know more