12月9日の宿題を提出します

20151021/src/enshu_20151021/CMakeLists.txt → 20150930/src/beginner_tutorials/CMakeLists.txt

@@ -1,11 +1,16 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(enshu_20151021)
+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
-  euslisp
+  geometry_msgs
+  message_generation
+  message_runtime
+  roscpp
+  rospy
+  std_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -26,10 +31,10 @@ find_package(catkin REQUIRED COMPONENTS
 ## * 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:
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
 ##     * add a run_depend tag for "message_runtime"
 ## * In this file (CMakeLists.txt):
 ##   * add "message_generation" and every package in MSG_DEP_SET to
@@ -65,27 +70,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   std_msgs  # Or other packages containing 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
+#   geometry_msgs#   std_msgs
 # )
 
 ###################################
@@ -97,10 +82,14 @@ find_package(catkin REQUIRED COMPONENTS
 ## 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 enshu_20151021
-#  CATKIN_DEPENDS euslisp
+#  LIBRARIES beginner_tutorials
+#  CATKIN_DEPENDS geometry_msgs message_generation message_runtime roscpp rospy std_msgs
 #  DEPENDS system_lib
 )
 
@@ -115,25 +104,20 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-## Declare a C++ library
-# add_library(enshu_20151021
-#   src/${PROJECT_NAME}/enshu_20151021.cpp
+## Declare a cpp library
+# add_library(beginner_tutorials
+#   src/${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(enshu_20151021 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-# add_executable(enshu_20151021_node src/enshu_20151021_node.cpp)
+## Declare a cpp 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(enshu_20151021_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(beginner_tutorials_node beginner_tutorials_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(enshu_20151021_node
+# target_link_libraries(beginner_tutorials_node
 #   ${catkin_LIBRARIES}
 # )
 
@@ -152,7 +136,7 @@ include_directories(
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS enshu_20151021 enshu_20151021_node
+# 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}
@@ -177,10 +161,15 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_enshu_20151021.cpp)
+# catkin_add_gtest(${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/listener2.cpp)
+target_link_libraries(listener2 ${catkin_LIBRARIES})

20150930/src/beginner_tutorials/msg/Hello.msg

@@ -0,0 +1,3 @@
+Header header
+string hello
+geometry_msgs/Vector3 pos

20150930/src/beginner_tutorials/package.xml

@@ -0,0 +1,60 @@
+<?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

@@ -0,0 +1,19 @@
+#!/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 ="hwllo 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

@@ -0,0 +1,23 @@
+#!/usr/bin/env python
+import roslib 
+import rospy
+from std_msgs.msg import String
+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

20150930/src/beginner_tutorials/src/listener.cpp

@@ -0,0 +1,17 @@
+#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;
+
+}

20150930/src/beginner_tutorials/src/listener2.cpp

@@ -0,0 +1,20 @@
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "beginner_tutorials/Hello.h"
+
+void chatterCallback(const beginner_tutorials::Hello::ConstPtr& msg)
+{
+  ROS_INFO("I heard: [%s %f %f %f]", msg->hello.c_str(),
+	   msg->pos.x, msg->pos.y, msg->pos.z);
+}
+
+int main(int argc, char **argv)
+{
+  ros::init(argc, argv, "listener2");
+  ros::NodeHandle n;
+  ros::Subscriber sub = n.subscribe("chatter2", 1000, chatterCallback);
+  ros::spin();
+  return 0;
+
+}
+