140295 YasueShuta Homework for 20151021

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
+  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 and a run_depend tag for each package in MSG_DEP_SET
+##   * 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
+##     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
+# )
+add_message_files(
+  FILES
+  Hello.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
+# )
+generate_messages(
+  DEPENDENCIES
+  geometry_msgs
+)
+
+###################################
+## 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
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES beginner_tutorials
+#  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(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a cpp library
+# add_library(beginner_tutorials
+#   src/${PROJECT_NAME}/beginner_tutorials.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(beginner_tutorials_node src/beginner_tutorials_node.cpp)
+
+## 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(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)
+
+### for listener, listener2
+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():
+    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.ROSInterryptException: 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
+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.ROSInterryptException: 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;
+}

20150930/src/beginner_tutorials/src/listener2.cpp

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+#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;
+}

20151007/README.md

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+# Shukudai
+03-140295 安江秀太
+1)
+1-1) make はMakefileを用いてビルド, catkin_makeはcatkinによって自動生成されたROSに対応したCMakeListにしたがってビルドする.
+ROSに必要なファイルがCMakeListやpackage.xmlにしたがって自動で用意されるため,
+rosで実行するソースファイルをビルドするときには,
+確実性や利便性において自分でMakefileを書くよりもcatkin_makeを用いるほうが良い．
+1-2) pythonで書かれたコードの中で使用されるrosの構造体や，インスタンスの依存関係などを設定したり, subscribeやactionに必要なnodeやtopicなどを生成するファイルを作ったりする必要があるから．
+1-3) ros::spin()はサーバなど常に入力待ち状態を保持したいときなどに用いられる無限ループ．コールバックを呼ぶときに用い, ノードが閉じるまで続く.
+ros::spinOnce()はその場で一度だけコールバックを待つときに必要. 
+2) 実行しました.
+3) 
+topic: mobile_base/commands/motor_power message: kobuki_msgs/MotorPower
+topic: mobile_base/commands/velocity    message: geometry_msgs/Twist
+4) mykeyop.pyにてlinear.x = 0.5,angular.z = 0.3
+5) できませんでした．