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ROSBUILD_gensrv_lisp" + @echo "... clean-test-results" + @echo "... edit_cache" + @echo "... rebuild_cache" + @echo "... rosbuild_precompile" + @echo "... rosbuild_premsgsrvgen" + @echo "... rospack_genmsg" + @echo "... rospack_genmsg_libexe" + @echo "... rospack_gensrv" + @echo "... test" + @echo "... test-future" + @echo "... test-results" + @echo "... test-results-run" + @echo "... tests" + @echo "... src/Board.o" + @echo "... src/Board.i" + @echo "... src/Board.s" + @echo "... src/Dice.o" + @echo "... src/Dice.i" + @echo "... src/Dice.s" + @echo "... src/Dice6.o" + @echo "... src/Dice6.i" + @echo "... src/Dice6.s" + @echo "... src/Game.o" + @echo "... src/Game.i" + @echo "... src/Game.s" + @echo "... src/Image.o" + @echo "... src/Image.i" + @echo "... src/Image.s" + @echo "... src/Player.o" + @echo "... src/Player.i" + @echo "... src/Player.s" + @echo "... src/Position.o" + @echo "... src/Position.i" + @echo "... src/Position.s" + @echo "... src/main.o" + @echo "... src/main.i" + @echo "... src/main.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/Abinash/OOP_Assignment/bin/OOPs b/Abinash/OOP_Assignment/bin/OOPs new file mode 100755 index 0000000..545a562 Binary files /dev/null and b/Abinash/OOP_Assignment/bin/OOPs differ diff --git a/Abinash/OOP_Assignment/bin/fgame.bmp b/Abinash/OOP_Assignment/bin/fgame.bmp new file mode 100644 index 0000000..6623c68 Binary files /dev/null and b/Abinash/OOP_Assignment/bin/fgame.bmp differ diff --git a/Abinash/OOP_Assignment/cmake_install.cmake b/Abinash/OOP_Assignment/cmake_install.cmake new file mode 100644 index 0000000..5f86277 --- /dev/null +++ b/Abinash/OOP_Assignment/cmake_install.cmake @@ -0,0 +1,44 @@ +# Install script for directory: /home/abinashmeher999/fuerte_workspace/OOPs_PS + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +ELSE(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +ENDIF(CMAKE_INSTALL_COMPONENT) + +FILE(WRITE "/home/abinashmeher999/fuerte_workspace/OOPs_PS/${CMAKE_INSTALL_MANIFEST}" "") +FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) + FILE(APPEND "/home/abinashmeher999/fuerte_workspace/OOPs_PS/${CMAKE_INSTALL_MANIFEST}" "${file}\n") +ENDFOREACH(file) diff --git a/Abinash/OOP_Assignment/fgame.bmp b/Abinash/OOP_Assignment/fgame.bmp new file mode 100644 index 0000000..66a50f7 Binary files /dev/null and b/Abinash/OOP_Assignment/fgame.bmp differ diff --git a/Abinash/OOP_Assignment/fgame.png b/Abinash/OOP_Assignment/fgame.png new file mode 100644 index 0000000..b015b3c Binary files /dev/null and b/Abinash/OOP_Assignment/fgame.png differ diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Board.h b/Abinash/OOP_Assignment/include/OOPs_PS/Board.h new file mode 100644 index 0000000..a399257 --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Board.h @@ -0,0 +1,28 @@ +#ifndef BOARD_H +#define BOARD_H +#include "Position.h" +#include "Image.h" + +struct pix{ + char c; + Position p; +}; + +struct Chan{ + Position r[100];int rn; + Position g[100];int gn; + Position b[100];int bn; +}; + +class Board +{ + public: + int height,width; + Chan A; + Board(); + private: + //void mapped(Image,int*,int*,chan *pa); + +}; + +#endif // BOARD_H diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Dice.h b/Abinash/OOP_Assignment/include/OOPs_PS/Dice.h new file mode 100644 index 0000000..287c844 --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Dice.h @@ -0,0 +1,13 @@ +#ifndef DICE_H +#define DICE_H + + +class Dice +{ + public: + virtual int roll()=0; + protected: + private: +}; + +#endif // DICE_H diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Dice6.h b/Abinash/OOP_Assignment/include/OOPs_PS/Dice6.h new file mode 100644 index 0000000..5b36d3f --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Dice6.h @@ -0,0 +1,15 @@ +#ifndef DICE6_H +#define DICE6_H + +#include "Dice.h" + + +class Dice6 : public Dice +{ + public: + int roll(); + protected: + private: +}; + +#endif // DICE6_H diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Game.h b/Abinash/OOP_Assignment/include/OOPs_PS/Game.h new file mode 100644 index 0000000..e12a39a --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Game.h @@ -0,0 +1,27 @@ +#ifndef GAME_H +#define GAME_H +#include "Player.h" +#include "Dice6.h" +#include "Board.h" +#include "Dice.h" + + +class Game +{ + public: + void StartGame(); + void get_players ();//takes no of players and makes players with unique ids + Player** winset; + int no_winners; + Game(); + private: + + int no_players; + + void trialturn();//executes one turn for each player + Player *Set; + Dice6 dice; + Board bd1; +}; + +#endif // GAME_H diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Image.h b/Abinash/OOP_Assignment/include/OOPs_PS/Image.h new file mode 100644 index 0000000..aaec14f --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Image.h @@ -0,0 +1,26 @@ +#ifndef IMAGE_H +#define IMAGE_H +#include +#include +#include +#include +#include +#include +#include "Position.h" +#include "Board.h" + +class Image +{ + public: + Image(cv::Mat,Board*); + + protected: + private: + cv::Mat img; + int blob_count; + int **VISITED; + queue track; +}; + +#endif // IMAGE_H + diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Player.h b/Abinash/OOP_Assignment/include/OOPs_PS/Player.h new file mode 100644 index 0000000..ff84264 --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Player.h @@ -0,0 +1,20 @@ +#ifndef PLAYER_H +#define PLAYER_H +#include "Position.h" +#include "Board.h" +#include +#include + +class Player +{ + public: + Position pos; + int score,id; + void Getdice(int,Board*); + Player(); + private: + void shift_position(Position*,int,Board*); + void upgrade_score(int*,int); +}; + +#endif // PLAYER_H diff --git a/Abinash/OOP_Assignment/include/OOPs_PS/Position.h b/Abinash/OOP_Assignment/include/OOPs_PS/Position.h new file mode 100644 index 0000000..53ad893 --- /dev/null +++ b/Abinash/OOP_Assignment/include/OOPs_PS/Position.h @@ -0,0 +1,15 @@ +#ifndef POSITION_H +#define POSITION_H + + +class Position +{ + public: + int x; + int y; + Position(); + protected: + private: +}; + +#endif // POSITION_H diff --git a/Abinash/OOP_Assignment/mainpage.dox b/Abinash/OOP_Assignment/mainpage.dox new file mode 100644 index 0000000..0200814 --- /dev/null +++ b/Abinash/OOP_Assignment/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b OOPs_PS + + + +--> + + +*/ diff --git a/Abinash/OOP_Assignment/manifest.xml b/Abinash/OOP_Assignment/manifest.xml new file mode 100644 index 0000000..b570aaf --- /dev/null +++ b/Abinash/OOP_Assignment/manifest.xml @@ -0,0 +1,15 @@ + + + + OOPs_PS + + + Abinash Meher + BSD + + http://ros.org/wiki/OOPs_PS + + + + + diff --git a/Abinash/OOP_Assignment/src/Board.cpp b/Abinash/OOP_Assignment/src/Board.cpp new file mode 100644 index 0000000..c831df8 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Board.cpp @@ -0,0 +1,19 @@ +#include "Board.h" +#include +#include + +//void Board::mapped(Image img,int *x,int *y,chan *pa) +//{ + + +//} + +Board::Board() +{ + srand((unsigned int)time(NULL)); + Chan *x; + x=&A; + x->rn=0; + x->gn=0; + x->bn=0;//Board::mapped(img,&height,&width,&A); +} diff --git a/Abinash/OOP_Assignment/src/Board.h b/Abinash/OOP_Assignment/src/Board.h new file mode 100644 index 0000000..70662e5 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Board.h @@ -0,0 +1,27 @@ +#ifndef BOARD_H +#define BOARD_H +#include "Position.h" + +struct pix{ + char c; + Position p; +}; + +struct Chan{ + Position r[100];int rn; + Position g[100];int gn; + Position b[100];int bn; +}; + +class Board +{ + public: + int height,width; + Chan A; + Board(); + private: + //void mapped(Image,int*,int*,chan *pa); + +}; + +#endif // BOARD_H diff --git a/Abinash/OOP_Assignment/src/Dice.cpp b/Abinash/OOP_Assignment/src/Dice.cpp new file mode 100644 index 0000000..01b0fbc --- /dev/null +++ b/Abinash/OOP_Assignment/src/Dice.cpp @@ -0,0 +1,4 @@ +#include "Dice.h" +#include +#include + diff --git a/Abinash/OOP_Assignment/src/Dice.h b/Abinash/OOP_Assignment/src/Dice.h new file mode 100644 index 0000000..287c844 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Dice.h @@ -0,0 +1,13 @@ +#ifndef DICE_H +#define DICE_H + + +class Dice +{ + public: + virtual int roll()=0; + protected: + private: +}; + +#endif // DICE_H diff --git a/Abinash/OOP_Assignment/src/Dice6.cpp b/Abinash/OOP_Assignment/src/Dice6.cpp new file mode 100644 index 0000000..5c8d2d8 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Dice6.cpp @@ -0,0 +1,10 @@ +#include "Dice6.h" +#include +#include + + +int Dice6::roll() +{ + srand((unsigned int)time(NULL)); + return (rand()%6)+1;//ctor +} diff --git a/Abinash/OOP_Assignment/src/Dice6.h b/Abinash/OOP_Assignment/src/Dice6.h new file mode 100644 index 0000000..5b36d3f --- /dev/null +++ b/Abinash/OOP_Assignment/src/Dice6.h @@ -0,0 +1,15 @@ +#ifndef DICE6_H +#define DICE6_H + +#include "Dice.h" + + +class Dice6 : public Dice +{ + public: + int roll(); + protected: + private: +}; + +#endif // DICE6_H diff --git a/Abinash/OOP_Assignment/src/Game.cpp b/Abinash/OOP_Assignment/src/Game.cpp new file mode 100644 index 0000000..4a60dd1 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Game.cpp @@ -0,0 +1,62 @@ +#include "Game.h" + +void Game::get_players() +{ + int i; + std::cout<<"Enter the number of players\n"; + std::cin>>no_players; + Set=new Player [no_players]; + winset=new Player* [no_players]; + for (i=0;i(i,j)[0]==255 && img0.at(i,j)[1]==0 && img0.at(i,j)[2]==0) bin.at(i,j)=255; + if (img0.at(i,j)[1]==255 && img0.at(i,j)[0]==0 && img0.at(i,j)[2]==0) bin.at(i,j)=255; + if (img0.at(i,j)[2]==255 && img0.at(i,j)[1]==0 && img0.at(i,j)[0]==0) bin.at(i,j)=255; + } + } + return bin; +} + +void Image::find_pass_center(cv::Mat bin,Board *bd) +{ + Position* Ctmp = new Position[blob_count]; + int *Cn = new int[blob_count]; + Position tmp; + + for (int m=0;m(tmp.y,tmp.x)[0]==255) + { + (bd->A).b[(bd->A).bn].x=tmp.x; + (bd->A).b[(bd->A).bn].y=tmp.y; + ((bd->A).bn)++; + + } + if (img.at(tmp.y,tmp.x)[1]==255) + { + (bd->A).g[(bd->A).gn].x=tmp.x; + (bd->A).g[(bd->A).gn].y=tmp.y; + ((bd->A).gn)++; + + } + if (img.at(tmp.y,tmp.x)[2]==255) + { + (bd->A).r[(bd->A).rn].x=tmp.x; + (bd->A).r[(bd->A).rn].y=tmp.y; + ((bd->A).rn)++; + + } + } +} + +void Image::blob_detect(cv::Mat bin,Board *bd) +{ + std::queue tracki; + std::queue trackj; + int x,y; + int height=bin.rows; int width=bin.cols; + + VISITED=new int*[height]; + + for(int i=0;i(i,j)==255) + { + if(VISITED[i][j]==-1) + { + tracki.push(i); + trackj.push(j); + while(tracki.empty()==0 && trackj.empty()==0) + { + + + + int k,l; + x=tracki.front(); + y=trackj.front(); + tracki.pop(); + trackj.pop(); + + for(k=x-1;k<=x+1;k++) + { + + for(l=y-1;l<=y+1;l++) + { + + if(k=0 && l>=0) + { + + + if (VISITED[k][l]==-1 && bin.at(k,l)==255) + { + tracki.push(k); + trackj.push(l); + VISITED[k][l]=blob_count;} + } + } + } + + VISITED[x][y]=blob_count; + } + blob_count++; + } + } + } + } + std::cin.get(); + Image::find_pass_center(bin,bd); +} + +Image::Image(std::string file,Board *bd) +{ + cv::Mat bin; + //std::cout<<"r"< +#include +#include +#include +#include +#include +#include +#include +#include "Position.h" +#include "Board.h" + +class Image +{ + public: + Image(std::string ,Board*); + void blob_detect(cv::Mat,Board*); + + protected: + private: + cv::Mat img; + int blob_count; + int **VISITED; + + void find_pass_center(cv::Mat,Board*); + cv::Mat image_transform_binary(cv::Mat); +}; + +#endif // IMAGE_H + diff --git a/Abinash/OOP_Assignment/src/Player.cpp b/Abinash/OOP_Assignment/src/Player.cpp new file mode 100644 index 0000000..72b0457 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Player.cpp @@ -0,0 +1,127 @@ +#include "Player.h" + +void Player::upgrade_score(int* x,int y) +{ + switch (y){ + case 1: + *x+=10; + break; + case 2: + case 4: + case 6: + (*x)+=y*2; + break; + default: + *x+=y; + break; + } + return; +} + +void Player::shift_position(Position *x,int y,Board *bd) +{ + int i,j,k,flag=-1; + float minim,dist; + + switch (y){ + case 1: + { + for (i=0,flag=-1;i<(bd->A.bn);i++) + { + + if (((bd->A).b[i].x)>(x->x) && ((bd->A).b[i].y)>(x->y)) + { + //std::cout<<"t"<A.b[i].x)-(x->x))*((bd->A.b[i].x)-(x->x))+((bd->A.b[i].y)-(x->y))*((bd->A.b[i].y)-(x->y)); + dist=sqrt(dist); + if (i==0){minim=dist;flag=k;} + if (distx)=(bd->A).b[flag].x;(x->y)=(bd->A).b[flag].y;} + + } + break; + case 2: + case 4: + case 6: + { + for (j=0,flag=-1;j<(bd->A.rn);j++) + { + + + if (((bd->A).r[j].x)>(x->x) && ((bd->A).r[j].y)>(x->y)) + { + //std::cout<<"t"<A.r[j].x)-(x->x))*((bd->A.r[j].x)-(x->x))+((bd->A.r[j].y)-(x->y))*((bd->A.r[j].y)-(x->y)); + dist=sqrt(dist); + if (j==0){minim=dist;flag=k;} + if (distx)=(bd->A).r[flag].x;(x->y)=(bd->A).r[flag].y;} + + } + break; + default: + { + for (k=0,flag=-1;k<(bd->A.gn);k++) + { + + if (((bd->A).g[k].x)>(x->x) && ((bd->A).g[k].y)>(x->y)) + { + //std::cout<<"t"<A.g[k].x)-(x->x))*((bd->A.g[k].x)-(x->x))+((bd->A.g[k].y)-(x->y))*((bd->A.g[k].y)-(x->y)); + dist=sqrt(dist); + if (k==0){minim=dist;flag=k;} + if (distx)=(bd->A).g[flag].x;(x->y)=(bd->A).g[flag].y;} + + } + break; + } + return; +} + +void Player::Getdice(int dice,Board *bd) +{ + + this->upgrade_score(&score,dice); + //std::cout<<"P2"; + this->shift_position(&pos,dice,bd); + switch (dice){ + case 1: + std::cout <<"\tPlayer_"<id<<" Gets a "<id<<" Gets a "<id<<" Gets a "< +#include + +class Player +{ + public: + Position pos; + int score,id; + void Getdice(int,Board*); + Player(); + private: + void shift_position(Position*,int,Board*); + void upgrade_score(int*,int); +}; + +#endif // PLAYER_H diff --git a/Abinash/OOP_Assignment/src/Position.cpp b/Abinash/OOP_Assignment/src/Position.cpp new file mode 100644 index 0000000..b15204d --- /dev/null +++ b/Abinash/OOP_Assignment/src/Position.cpp @@ -0,0 +1,7 @@ +#include "Position.h" + +Position::Position() +{ + x=0; + y=0;//ctor +} diff --git a/Abinash/OOP_Assignment/src/Position.h b/Abinash/OOP_Assignment/src/Position.h new file mode 100644 index 0000000..53ad893 --- /dev/null +++ b/Abinash/OOP_Assignment/src/Position.h @@ -0,0 +1,15 @@ +#ifndef POSITION_H +#define POSITION_H + + +class Position +{ + public: + int x; + int y; + Position(); + protected: + private: +}; + +#endif // POSITION_H diff --git a/Abinash/OOP_Assignment/src/main.cpp b/Abinash/OOP_Assignment/src/main.cpp new file mode 100644 index 0000000..10709ad --- /dev/null +++ b/Abinash/OOP_Assignment/src/main.cpp @@ -0,0 +1,36 @@ +#include +#include +#include +#include +#include +#include +#include +#include "Position.h" +#include "Board.h" +#include "Player.h" +#include "Image.h" +#include "Dice.h" +#include "Game.h" +#include "Dice6.h" + +using namespace std; + +int main() +{ + srand((unsigned int)time(NULL)); + Game bgame; + cout<<"s"<id< + +--> + + +*/ diff --git a/Abinash/ROS_Assignment/manifest.xml b/Abinash/ROS_Assignment/manifest.xml new file mode 100644 index 0000000..1aa4987 --- /dev/null +++ b/Abinash/ROS_Assignment/manifest.xml @@ -0,0 +1,17 @@ + + + + beginner_tutorials + + + Abinash Meher + BSD + + http://ros.org/wiki/beginner_tutorials + + + + + + + diff --git a/Abinash/ROS_Assignment/src/helloROS.cpp b/Abinash/ROS_Assignment/src/helloROS.cpp new file mode 100644 index 0000000..afb1c78 --- /dev/null +++ b/Abinash/ROS_Assignment/src/helloROS.cpp @@ -0,0 +1,8 @@ +#include +using namespace std; +int main() +{ +cout<<"Hello"; +return 0; +} + diff --git a/Abinash/ROS_Assignment/src/listener.cpp b/Abinash/ROS_Assignment/src/listener.cpp new file mode 100644 index 0000000..cda4ff6 --- /dev/null +++ b/Abinash/ROS_Assignment/src/listener.cpp @@ -0,0 +1,66 @@ +// %Tag(FULLTEXT)% +#include "ros/ros.h" +#include "std_msgs/String.h" + +/** + * This tutorial demonstrates simple receipt of messages over the ROS system. + */ +// %Tag(CALLBACK)% +void chatterCallback(const std_msgs::String::ConstPtr& msg) +{ + ROS_INFO("I heard: [%s]", msg->data.c_str()); +} +// %EndTag(CALLBACK)% + +int main(int argc, char **argv) +{ + /** + * The ros::init() function needs to see argc and argv so that it can perform + * any ROS arguments and name remapping that were provided at the command line. For programmatic + * remappings you can use a different version of init() which takes remappings + * directly, but for most command-line programs, passing argc and argv is the easiest + * way to do it. The third argument to init() is the name of the node. + * + * You must call one of the versions of ros::init() before using any other + * part of the ROS system. + */ + ros::init(argc, argv, "listener"); + + /** + * NodeHandle is the main access point to communications with the ROS system. + * The first NodeHandle constructed will fully initialize this node, and the last + * NodeHandle destructed will close down the node. + */ + ros::NodeHandle n; + + /** + * The subscribe() call is how you tell ROS that you want to receive messages + * on a given topic. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. Messages are passed to a callback function, here + * called chatterCallback. subscribe() returns a Subscriber object that you + * must hold on to until you want to unsubscribe. When all copies of the Subscriber + * object go out of scope, this callback will automatically be unsubscribed from + * this topic. + * + * The second parameter to the subscribe() function is the size of the message + * queue. If messages are arriving faster than they are being processed, this + * is the number of messages that will be buffered up before beginning to throw + * away the oldest ones. + */ +// %Tag(SUBSCRIBER)% + ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); +// %EndTag(SUBSCRIBER)% + + /** + * ros::spin() will enter a loop, pumping callbacks. With this version, all + * callbacks will be called from within this thread (the main one). ros::spin() + * will exit when Ctrl-C is pressed, or the node is shutdown by the master. + */ +// %Tag(SPIN)% + ros::spin(); +// %EndTag(SPIN)% + + return 0; +} +// %EndTag(FULLTEXT)% diff --git a/Abinash/ROS_Assignment/src/talker.cpp b/Abinash/ROS_Assignment/src/talker.cpp new file mode 100644 index 0000000..d309588 --- /dev/null +++ b/Abinash/ROS_Assignment/src/talker.cpp @@ -0,0 +1,112 @@ +// %Tag(FULLTEXT)% +// %Tag(ROS_HEADER)% +#include "ros/ros.h" +// %EndTag(ROS_HEADER)% +// %Tag(MSG_HEADER)% +#include "std_msgs/String.h" +// %EndTag(MSG_HEADER)% + +#include + +/** + * This tutorial demonstrates simple sending of messages over the ROS system. + */ +int main(int argc, char **argv) +{ + /** + * The ros::init() function needs to see argc and argv so that it can perform + * any ROS arguments and name remapping that were provided at the command line. For programmatic + * remappings you can use a different version of init() which takes remappings + * directly, but for most command-line programs, passing argc and argv is the easiest + * way to do it. The third argument to init() is the name of the node. + * + * You must call one of the versions of ros::init() before using any other + * part of the ROS system. + */ +// %Tag(INIT)% + ros::init(argc, argv, "talker"); +// %EndTag(INIT)% + + /** + * NodeHandle is the main access point to communications with the ROS system. + * The first NodeHandle constructed will fully initialize this node, and the last + * NodeHandle destructed will close down the node. + */ +// %Tag(NODEHANDLE)% + ros::NodeHandle n; +// %EndTag(NODEHANDLE)% + + /** + * The advertise() function is how you tell ROS that you want to + * publish on a given topic name. This invokes a call to the ROS + * master node, which keeps a registry of who is publishing and who + * is subscribing. After this advertise() call is made, the master + * node will notify anyone who is trying to subscribe to this topic name, + * and they will in turn negotiate a peer-to-peer connection with this + * node. advertise() returns a Publisher object which allows you to + * publish messages on that topic through a call to publish(). Once + * all copies of the returned Publisher object are destroyed, the topic + * will be automatically unadvertised. + * + * The second parameter to advertise() is the size of the message queue + * used for publishing messages. If messages are published more quickly + * than we can send them, the number here specifies how many messages to + * buffer up before throwing some away. + */ +// %Tag(PUBLISHER)% + ros::Publisher chatter_pub = n.advertise("chatter", 1000); +// %EndTag(PUBLISHER)% + +// %Tag(LOOP_RATE)% + ros::Rate loop_rate(10); +// %EndTag(LOOP_RATE)% + + /** + * A count of how many messages we have sent. This is used to create + * a unique string for each message. + */ +// %Tag(ROS_OK)% + int count = 0; + while (ros::ok()) + { +// %EndTag(ROS_OK)% + /** + * This is a message object. You stuff it with data, and then publish it. + */ +// %Tag(FILL_MESSAGE)% + std_msgs::String msg; + + std::stringstream ss; + ss << "hello world " << count; + msg.data = ss.str(); +// %EndTag(FILL_MESSAGE)% + +// %Tag(ROSCONSOLE)% + ROS_INFO("%s", msg.data.c_str()); +// %EndTag(ROSCONSOLE)% + + /** + * The publish() function is how you send messages. The parameter + * is the message object. The type of this object must agree with the type + * given as a template parameter to the advertise<>() call, as was done + * in the constructor above. + */ +// %Tag(PUBLISH)% + chatter_pub.publish(msg); +// %EndTag(PUBLISH)% + +// %Tag(SPINONCE)% + ros::spinOnce(); +// %EndTag(SPINONCE)% + +// %Tag(RATE_SLEEP)% + loop_rate.sleep(); +// %EndTag(RATE_SLEEP)% + ++count; + } + + + return 0; +} +// %EndTag(FULLTEXT)% +