ros exam

cmake_minimum_required(VERSION 3.0.2)
project(topic_tutorial)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-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
)

## 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 exec_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 exec_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
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.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 exec_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 your 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 topic_tutorial
#  CATKIN_DEPENDS 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
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/topic_tutorial.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(my_publisher src/my_publisher.cpp)
add_executable(my_subscriber src/my_subscriber.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(my_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(my_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(my_publisher ${catkin_LIBRARIES})
target_link_libraries(my_subscriber ${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
catkin_install_python(PROGRAMS
  scripts/py_publisher.py scripts/py_subscriber.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_topic_tutorial.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)

<?xml version="1.0"?>
<package format="2">
  <name>topic_tutorial</name>
  <version>0.0.0</version>
  <description>The topic_tutorial package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="jucha@microschool.kr">juchajam</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/topic_tutorial</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, 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 depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

#include "ros/ros.h" // ROS 헤더파일
#include "std_msgs/String.h" // String 메시지 헤더파일

int main(int argc, char** argv)
{
    ros::init(argc, argv, "my_publisher"); // 노드 이름 초기화
    ros::NodeHandle nh; // ROS 시스템과 통신을 위한 노드 핸들 선언

    // 퍼블리셔 선언
    // 패키지(std_msgs)의 메시지파일(String)을 이용한 퍼블리셔(pub)를 만든다.
    // 토픽은 (my_topic)이며, 퍼블리셔큐(queue) 사이즈는 (100)이다.
    ros::Publisher pub = nh.advertise<std_msgs::String>("my_topic", 100);

    ros::Rate loop_rate(10); // 루프 주기를 10Hz로 설정한다.

    std_msgs::String msg;
    msg.data = "Hello"; // msg의 data에 Hello를 넣는다.

    while (ros::ok())
    {
        pub.publish(msg); // pub이 msg를 퍼블리시한다.
        loop_rate.sleep(); // 위에서 정한 주기에 따라 sleep 한다.
    }

    return 0;
}

//my_publisher.cpp

#include "ros/ros.h" // ROS 헤더파일
#include "std_msgs/String.h" // std_msgs 패키지의 String 메시지 헤더 파일

void msgCallback(const std_msgs::String::ConstPtr& msg)
{
    ROS_INFO("msg : %s", msg->data.c_str());
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "my_subscriber"); // 노드 이름 초기화
    ros::NodeHandle nh; // 노드 핸들 선언

    // 서브크라이버 선언
    // 패키지(std_msgs)의 메시지(String)를 이용한 서브스크라이버(sub)를 선언한다.
    // 토픽은 (my_topic)이며, 서브스크라이버큐(queue) 사이즈를 100으로 설정한다.
    // 콜백 함수는 (msgCallback)이다.
    ros::Subscriber sub = nh.subscribe("my_topic", 100, msgCallback);

    // 콜백 함수 호출을 위한 함수, 메시지가 수신되기를 대기
    // 수신되었을 경우 콜백 함수를 호출한다.
    ros::spin();

    return 0;
}

//my_subscriber.cpp

my first ros study

2022년 9월 27일 시작
topic_tutorial 패키지 생성
my_publisher, my_subscriber 노드 생성
빌드
실행
2022년 9월 28일
topic_tutorial 패키지에 python scripts 추가
py_publisher.py, py_subscriber.py 노드 생성
빌드
실행
ROS 명령어
roscore
ROS Master를 실행한다.
노드를 켜기 전에 가장 먼저 실행
    roscore
rosrun
노드를 실행한다.
rosrun 패키지이름 노드이름
    rosrun <패키지이름> <노드이름>
catkin_create_pkg
현재 위치한 작업 공간에 패키지를 생성한다.
catkin_create_pkg 패키지이름 의존성
    catkin_create_pkg <패키지이름> <의존성1> <의존성2> .... 
    catkin_create_pkg topic_tutorial roscpp rospy std_msgs
과제 1
topic_test 패키지를 만들고, cpp, python 중 원하는 언어를 선택하여 노드를 만든다.
publisher 노드 1개, subscriber 노드 1개
publisher 노드의 이름은 my_test_publisher이고 std_msgs 패키지의 Int64 메시지를 publish한다.
subscriber 노드의 이름은 my_test_subscriber이고 std_msgs 패키지의 Int64 메시지를 subscribe한다.
publisher 노드는 메시지에 0부터 100까지 숫자를 담아서 0.25초 주기로 publish한다.
subscriber 노드는 메시지에 담긴 숫자를 출력한다.
메시지에 담는 숫자는 매번 1씩 증가시키고 100에 도달하면 다시 0부터 보낸다.