20151014の宿題です。

20150930/src/beginner_tutorials/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(beginner_tutorials)
+
+## 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
+  geometry_msgs
+   geometry_msgs
+  message_generation
+  message_runtime
+  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 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
+#   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
+#   geometry_msgs#   std_msgs
+#    geometry_msgs#   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
+add_message_files(FILES Hello.msg)
+generate_messages(DEPENDENCIES geometry_msgs)
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES beginner_tutorials
+#  CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs
+#  CATKIN_DEPENDS  geometry_msgs message_generation 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(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(beginner_tutorials
+#   src/${PROJECT_NAME}/beginner_tutorials.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(beginner_tutorials ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(beginner_tutorials_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(beginner_tutorials_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 beginner_tutorials beginner_tutorials_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_beginner_tutorials.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)
+
+add_executable(listener src/listener.cpp)
+target_link_libraries(listener ${catkin_LIBRARIES})
+add_executable(listener2 src/listener.cpp)
+target_link_libraries(listener2 ${catkin_LIBRARIES})
+#add_executable(listener src/listener.cpp)
+#target_link_libraries(listener ${catkin_LIBRARIES})
+#add_executable(listener2 src/listener2.cpp)
+target_link_libraries(listener2 ${catkin_LIBRARIES})

20150930/src/beginner_tutorials/msg/Hello.msg

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+Header header
+string hello
+geometry_msgs/Vector3 pos

20150930/src/beginner_tutorials/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>beginner_tutorials</name>
+  <version>0.0.0</version>
+  <description>The beginner_tutorials package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">mech-user</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 mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, 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>geometry_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>roscpp</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>

20150930/src/beginner_tutorials/scripts/talker.py

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+#!/usr/bin/env python
+import roslib
+import rospy
+from std_msgs.msg import String
+def talker():
+<<<<<<< HEAD
+	pub = rospy.Publisher('chatter',String)
+	rospy.init_node('talker')
+	while not rospy.is_shutdown():
+		str = "hello world %s"%rospy.get_time()
+		rospy.loginfo(str)
+		pub.publish(String(str))
+		rospy.sleep(1.0)
+if __name__ == '__main__':
+	try:
+		talker()
+	except rospy.ROSInterruptException: pass
+=======
+    pub = rospy.Publisher('chatter',String)
+    rospy.init_node('talker')
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(String(str))
+        rospy.sleep(1.0)
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass
+>>>>>>> f5cb1c287b2c6b3c296cb4a319bcf6c4e661da94

20150930/src/beginner_tutorials/scripts/talker.py~

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+#!/usr/bin/env python
+import roslib
+import rospy
+from std_msgs.msg import String
+def talker():
+    pub = rospy.Pulisher('chatter',String)
+    rospy.init_node('talker')
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(String(str))
+        rospy.sleep(1.0)
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass

20150930/src/beginner_tutorials/scripts/talker2.py

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+#!/usr/bin/env python
+import roslib
+import rospy
+from std_msgs.msg import String
+<<<<<<< HEAD
+from beginner_tutorials.msg import Hello
+
+def talker2():
+	pub = rospy.Publisher('chatter2',Hello)
+	rospy.init_node('talker')
+	while not rospy.is_shutdown():
+		str = "hello world %s"%rospy.get_time()
+		rospy.loginfo(str)
+		hello = Hello();
+		hello.hello = "world"
+		hello.pos.x = 0;
+		hello.pos.y = 1;
+		hello.pos.z = 2;
+		pub.publish(hello);
+		rospy.sleep(1.0)
+if __name__ == '__main__':
+	try:
+		talker2()
+	except rospy.ROSInterruptException: pass
+=======
+from beginner_tutorials.msgs import Hello
+
+def talker():
+    pub = rospy.Publisher('chatter2',String)
+    rospy.init_node('talker')
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        hello = Hello();
+        hello.hello = "world"
+        hello.pos.x = 0;
+        hello.pos.y = 1;
+        hello.pos.z = 2;
+        pub.publish(hello)
+        rospy.sleep(1.0)
+if __name__ == '__main__':
+    try:
+        talker2()
+    except rospy.ROSInterruptException: pass
+>>>>>>> f5cb1c287b2c6b3c296cb4a319bcf6c4e661da94

20150930/src/beginner_tutorials/scripts/talker2.py~

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+#!/usr/bin/env python
+import roslib
+import rospy
+from std_msgs.msg import String
+def talker():
+    pub = rospy.Publisher('chatter',String)
+    rospy.init_node('talker')
+    while not rospy.is_shutdown():
+        str = "hello world %s"%rospy.get_time()
+        rospy.loginfo(str)
+        pub.publish(String(str))
+        rospy.sleep(1.0)
+if __name__ == '__main__':
+    try:
+        talker()
+    except rospy.ROSInterruptException: pass

20150930/src/beginner_tutorials/src/listener.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+
+void chatterCallback(const std_msgs::String::ConstPtr& msg)
+{
+  ROS_INFO("I heard: [%s]", msg->data.c_str());
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "listener");
+  ros::NodeHandle n;
+  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
+  ros::spin();
+  return 0;
+}