forked from Archive/PX4-Autopilot
Get ROS examples to compile, add simple RC channels message
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ac0f01e92e
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3b2b280a41
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@ -8,6 +8,7 @@ find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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)
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## System dependencies are found with CMake's conventions
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@ -44,11 +45,10 @@ find_package(catkin REQUIRED COMPONENTS
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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add_message_files(
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FILES
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rc_channels.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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@ -99,18 +99,30 @@ include_directories(
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## Declare a cpp library
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# add_library(px4
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# src/${PROJECT_NAME}/px4test.cpp # src/platform/ros/ros.cpp
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# src/${PROJECT_NAME}/px4test.cpp # src/platforms/ros/ros.cpp
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# )
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## Declare a cpp executable
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add_executable(rostest_node src/platform/ros/ros.cpp)
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## Declare a test publisher
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add_executable(publisher src/examples/publisher/publisher.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(rostest_node px4_generate_messages_cpp)
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add_dependencies(publisher px4_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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target_link_libraries(rostest_node
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target_link_libraries(publisher
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${catkin_LIBRARIES}
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)
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## Declare a test subscriber
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add_executable(subscriber src/examples/subscriber/subscriber.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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add_dependencies(subscriber px4_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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target_link_libraries(subscriber
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${catkin_LIBRARIES}
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)
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@ -1,8 +1,8 @@
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Header header
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int32 RC_CHANNELS_FUNCTION_MAX=18
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uint64 timestamp_last_valid # Timestamp of last valid RC signal
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float32 channels[RC_CHANNELS_FUNCTION_MAX] # Scaled to -1..1 (throttle: 0..1)
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float32[18] channels # Scaled to -1..1 (throttle: 0..1)
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uint8 channel_count # Number of valid channels
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int8 function[RC_CHANNELS_FUNCTION_MAX] # Functions mapping
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int8[18] function # Functions mapping
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uint8 rssi # Receive signal strength index
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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bool signal_lost # Control signal lost, should be checked together with topic timeout
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@ -0,0 +1,137 @@
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/*
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* Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// %Tag(FULLTEXT)%
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// %Tag(ROS_HEADER)%
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#include "ros/ros.h"
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// %EndTag(ROS_HEADER)%
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// %Tag(MSG_HEADER)%
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#include "std_msgs/String.h"
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// %EndTag(MSG_HEADER)%
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#include <sstream>
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/**
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* This tutorial demonstrates simple sending of messages over the ROS system.
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*/
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int main(int argc, char **argv)
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{
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/**
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* The ros::init() function needs to see argc and argv so that it can perform
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* any ROS arguments and name remapping that were provided at the command line. For programmatic
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* remappings you can use a different version of init() which takes remappings
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* directly, but for most command-line programs, passing argc and argv is the easiest
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* way to do it. The third argument to init() is the name of the node.
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*
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* You must call one of the versions of ros::init() before using any other
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* part of the ROS system.
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*/
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// %Tag(INIT)%
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ros::init(argc, argv, "talker");
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// %EndTag(INIT)%
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/**
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* NodeHandle is the main access point to communications with the ROS system.
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* The first NodeHandle constructed will fully initialize this node, and the last
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* NodeHandle destructed will close down the node.
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*/
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// %Tag(NODEHANDLE)%
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ros::NodeHandle n;
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// %EndTag(NODEHANDLE)%
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/**
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* The advertise() function is how you tell ROS that you want to
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* publish on a given topic name. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. After this advertise() call is made, the master
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* node will notify anyone who is trying to subscribe to this topic name,
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* and they will in turn negotiate a peer-to-peer connection with this
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* node. advertise() returns a Publisher object which allows you to
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* publish messages on that topic through a call to publish(). Once
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* all copies of the returned Publisher object are destroyed, the topic
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* will be automatically unadvertised.
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*
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* The second parameter to advertise() is the size of the message queue
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* used for publishing messages. If messages are published more quickly
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* than we can send them, the number here specifies how many messages to
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* buffer up before throwing some away.
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*/
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// %Tag(PUBLISHER)%
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ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
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// %EndTag(PUBLISHER)%
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// %Tag(LOOP_RATE)%
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ros::Rate loop_rate(10);
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// %EndTag(LOOP_RATE)%
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/**
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* A count of how many messages we have sent. This is used to create
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* a unique string for each message.
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*/
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// %Tag(ROS_OK)%
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int count = 0;
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while (ros::ok())
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{
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// %EndTag(ROS_OK)%
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/**
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* This is a message object. You stuff it with data, and then publish it.
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*/
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// %Tag(FILL_MESSAGE)%
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std_msgs::String msg;
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std::stringstream ss;
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ss << "hello world " << count;
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msg.data = ss.str();
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// %EndTag(FILL_MESSAGE)%
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// %Tag(ROSCONSOLE)%
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ROS_INFO("%s", msg.data.c_str());
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// %EndTag(ROSCONSOLE)%
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/**
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* The publish() function is how you send messages. The parameter
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* is the message object. The type of this object must agree with the type
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* given as a template parameter to the advertise<>() call, as was done
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* in the constructor above.
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*/
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// %Tag(PUBLISH)%
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chatter_pub.publish(msg);
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// %EndTag(PUBLISH)%
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// %Tag(SPINONCE)%
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ros::spinOnce();
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// %EndTag(SPINONCE)%
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// %Tag(RATE_SLEEP)%
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loop_rate.sleep();
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// %EndTag(RATE_SLEEP)%
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++count;
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}
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return 0;
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}
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// %EndTag(FULLTEXT)%
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@ -0,0 +1,93 @@
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/*
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* Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived from
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* this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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// %Tag(FULLTEXT)%
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#include "ros/ros.h"
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#include "std_msgs/String.h"
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/**
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* This tutorial demonstrates simple receipt of messages over the ROS system.
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*/
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// %Tag(CALLBACK)%
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void chatterCallback(const std_msgs::String::ConstPtr& msg)
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{
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ROS_INFO("I heard: [%s]", msg->data.c_str());
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}
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// %EndTag(CALLBACK)%
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int main(int argc, char **argv)
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{
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/**
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* The ros::init() function needs to see argc and argv so that it can perform
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* any ROS arguments and name remapping that were provided at the command line. For programmatic
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* remappings you can use a different version of init() which takes remappings
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* directly, but for most command-line programs, passing argc and argv is the easiest
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* way to do it. The third argument to init() is the name of the node.
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*
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* You must call one of the versions of ros::init() before using any other
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* part of the ROS system.
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*/
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ros::init(argc, argv, "listener");
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/**
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* NodeHandle is the main access point to communications with the ROS system.
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* The first NodeHandle constructed will fully initialize this node, and the last
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* NodeHandle destructed will close down the node.
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*/
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ros::NodeHandle n;
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/**
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* The subscribe() call is how you tell ROS that you want to receive messages
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* on a given topic. This invokes a call to the ROS
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* master node, which keeps a registry of who is publishing and who
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* is subscribing. Messages are passed to a callback function, here
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* called chatterCallback. subscribe() returns a Subscriber object that you
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* must hold on to until you want to unsubscribe. When all copies of the Subscriber
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* object go out of scope, this callback will automatically be unsubscribed from
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* this topic.
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*
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* The second parameter to the subscribe() function is the size of the message
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* queue. If messages are arriving faster than they are being processed, this
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* is the number of messages that will be buffered up before beginning to throw
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* away the oldest ones.
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*/
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// %Tag(SUBSCRIBER)%
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ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
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// %EndTag(SUBSCRIBER)%
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/**
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* ros::spin() will enter a loop, pumping callbacks. With this version, all
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* callbacks will be called from within this thread (the main one). ros::spin()
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* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
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*/
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// %Tag(SPIN)%
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ros::spin();
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// %EndTag(SPIN)%
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return 0;
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}
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// %EndTag(FULLTEXT)%
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