vijay4313 / beginner_tutorials

A repo of all beginner tutorials from ROS

ROS tutorials - ROS services & RQT Console | ENPM 808X

Overview

An implementation of ROS tutorial for a simple publisher/subscriber setup with service routines to change the published text and rates

Dependencies

• The implementation setup requires ROS kinetic and catkin running on Ubuntu 16.04 distribution
• Follow the tutorial to install ROS
• Follow the link to install catkin

Building the repo via command-line

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone -b Week10_HW --recursive https://github.com/vijay4313/beginner_tutorials.git
cd ..
catkin_make

Running Demo

To run the demo:

1. Open a new terminal and type

roscore

This initiates the ROS system and its dependencies

2. Run the talker (Publisher) in a new terminal

cd ~catkin_ws
source ./devel/setup.bash
rosrun beginner_tutorials talker

3. Run the listener (Subscriber) in a new terminal

cd ~catkin_ws
source ./devel/setup.bash
rosrun beginner_tutorials listener

Stop the program by typing Ctrl+C in each terminal

Running Using Launch file

roslaunch beginner_tutorials pubsub.launch

The launcher will launch both publisher and subscriber in separate terminals with default text and publish frequency

Modifying the display text

In a separate terminal:

cd ~/catkin_ws/
source devel/setup.bash
rosservice call  /talker/change_string  'ENPM808X'

Setting logger levels

rosrun rqt_logger_level rqt_logger_level

Select the node and select logger level as needed form the GUI

Viewing the logger messages

In a new terminal

rqt_console