Repository containing 'first_publisher_subscriber' package with one talker and one listener node. Talker node publishes message and provides service named 'modify_output'. Listener node subscribes to the messages from talker and calls 'modify_output' after fixed interval of time. Both the nodes can be launched using single launch file.
The launch file provides additional functionality to record the rosbag while launching the nodes.
- ROS version:
- Melodic
- Packages:
- catkin
- roscpp
- std_msgs
- message_generation
- geometry_msgs
- tf2_ros
- rostest
It is assumed that the user has installed ROS Melodic full desktop version and has created a catkin workspace folder with src folder inside it.
Open terminal in the 'src/' directory of your 'catkin_ws/' and run following commands
git clone https://github.com/HrushikeshBudhale/beginner_tutorials.git
cd ..
catkin_make --pkg first_publisher_subscriber
source devel/setup.bash
In your 'catkin_ws/', enter following command to launch both talker and listener nodes.
source devel/setup.bash
roslaunch first_publisher_subscriber beginner_tutorial.launch
To launch the talker node with user defined frequency, enter following command by replacing <value> by a number
roslaunch first_publisher_subscriber beginner_tutorial.launch pub_freq:=<value>
To call ros service through command line enter following command by replacing <value> by a custom message string
rosservice call /modify_output "data: '<value>'"
This will modify the message being published by the talker node.
To start recording rosbag on launching the nodes, enter following command.
roslaunch first_publisher_subscriber beginner_tutorial.launch record_bag:=true
The generated rosbag will be saved in the results directory of this package.
Open terminal in 'csatkin_ws/' and enter following command
catkin_make run_tests_first_publisher_subscriber
This will execute 2 existing tests in test_talker.cpp