Added OOP and ROS assignments.

Abinash/OOP_Assignment/Board.cpp

@@ -0,0 +1,29 @@
+#include "Board.h"
+#include <cstdlib>
+#include <ctime>
+
+//void Board::mapped(Image img,int *x,int *y,chan *pa)
+//{
+
+
+//}
+
+Board::Board()
+{
+   srand((unsigned int)time(NULL));
+   Chan *x;
+   int i,j,k;
+   x=&A;
+   x->rn=99;
+   x->gn=99;
+   x->bn=99;//Board::mapped(img,&height,&width,&A);
+   for (i=0;i<99;i++)
+   {
+      x->r[i].x=rand()%640;
+      x->g[i].x=rand()%640;
+      x->b[i].x=rand()%640;
+      x->r[i].y=-(rand()%480);
+      x->g[i].y=-(rand()%480);
+      x->b[i].y=-(rand()%480);
+   }
+}

Abinash/OOP_Assignment/Board.h

@@ -0,0 +1,28 @@
+#ifndef BOARD_H
+#define BOARD_H
+#include "Position.h"
+#include "Image.h"
+
+typedef struct{
+   char c;
+   Position p;
+}pix;
+
+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

Abinash/OOP_Assignment/Dice.cpp

@@ -0,0 +1,4 @@
+#include "Dice.h"
+#include <ctime>
+#include <cstdlib>
+

Abinash/OOP_Assignment/Dice.h

@@ -0,0 +1,13 @@
+#ifndef DICE_H
+#define DICE_H
+
+
+class Dice
+{
+   public:
+   virtual int roll()=0;
+   protected:
+   private:
+};
+
+#endif // DICE_H

Abinash/OOP_Assignment/Dice6.cpp

@@ -0,0 +1,10 @@
+#include "Dice6.h"
+#include <ctime>
+#include <cstdlib>
+
+
+int Dice6::roll()
+{
+   srand((unsigned int)time(NULL));
+   return (rand()%6)+1;//ctor
+}

Abinash/OOP_Assignment/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

Abinash/OOP_Assignment/Game.cpp

@@ -0,0 +1,63 @@
+#include "Game.h"
+#include <conio.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<no_players;i++)
+   {
+      Set[i].id=i;
+   }
+}
+
+void Game::trialturn()
+{
+   int i;
+   for (i=0;i<no_players;i++)
+   {
+      getch();
+      Set[i].Getdice(dice.roll(),&bd1);
+      std::cout<<"\tPlayer_"<<Set[i].id<<" @ "<<Set[i].pos.x<<","<<Set[i].pos.y<<" With score="<<Set[i].score<<"\n"<<std::endl;
+   }
+   return;
+}
+
+void Game::StartGame()
+{
+   int j,k,l;
+
+   Player* tmpset=new Player [no_players];
+   for (l=0;l<no_players;l++)
+      {
+         tmpset[l]=Set[l];
+      }
+   for (j=0;no_winners==0;j++)
+   {
+      std::cout<<"Round--"<<j+1<<std::endl;
+      Game::trialturn();
+      for (k=0;k<no_players;k++)
+      {
+         if (tmpset[k].pos.x==Set[k].pos.x && tmpset[k].pos.x==Set[k].pos.x)
+         {
+
+            winset[no_winners++]=&Set[k];
+
+         }
+      }
+      for (l=0;l<no_players;l++)
+      {
+         tmpset[l]=Set[l];
+      }
+   }
+   return;
+}
+
+Game::Game()
+{
+   no_winners=0;
+}
+

Abinash/OOP_Assignment/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

Abinash/OOP_Assignment/Image.cpp

@@ -0,0 +1,6 @@
+#include "Image.h"
+
+//Image::Image(IplImage *img)
+//{
+  // pointer=img;
+//}

Abinash/OOP_Assignment/Image.h

@@ -0,0 +1,17 @@
+#ifndef IMAGE_H
+#define IMAGE_H
+//#include <cv.h>
+//#include <cxcore.h>
+//#include <highgui.h>
+
+
+class Image
+{
+   public:
+//      IplImage *pointer;
+ //     Image(IplImage* );
+   protected:
+   private:
+};
+
+#endif // IMAGE_H

Abinash/OOP_Assignment/OOPs PS.cbp

@@ -0,0 +1,57 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_project_file>
+	<FileVersion major="1" minor="6" />
+	<Project>
+		<Option title="OOPs PS" />
+		<Option pch_mode="2" />
+		<Option compiler="gcc" />
+		<Build>
+			<Target title="Debug">
+				<Option output="bin/Debug/OOPs PS" prefix_auto="1" extension_auto="1" />
+				<Option object_output="obj/Debug/" />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-g" />
+				</Compiler>
+			</Target>
+			<Target title="Release">
+				<Option output="bin/Release/OOPs PS" prefix_auto="1" extension_auto="1" />
+				<Option object_output="obj/Release/" />
+				<Option type="1" />
+				<Option compiler="gcc" />
+				<Compiler>
+					<Add option="-O2" />
+				</Compiler>
+				<Linker>
+					<Add option="-s" />
+				</Linker>
+			</Target>
+		</Build>
+		<Compiler>
+			<Add option="-Wall" />
+			<Add option="-fexceptions" />
+		</Compiler>
+		<Unit filename="Board.cpp" />
+		<Unit filename="Board.h" />
+		<Unit filename="Dice.cpp" />
+		<Unit filename="Dice.h" />
+		<Unit filename="Dice6.cpp" />
+		<Unit filename="Dice6.h" />
+		<Unit filename="Game.cpp" />
+		<Unit filename="Game.h" />
+		<Unit filename="Image.cpp" />
+		<Unit filename="Image.h" />
+		<Unit filename="Player.cpp" />
+		<Unit filename="Player.h" />
+		<Unit filename="Position.cpp" />
+		<Unit filename="Position.h" />
+		<Unit filename="main.cpp" />
+		<Extensions>
+			<code_completion />
+			<envvars />
+			<debugger />
+			<lib_finder disable_auto="1" />
+		</Extensions>
+	</Project>
+</CodeBlocks_project_file>

Abinash/OOP_Assignment/OOPs PS.depend

@@ -0,0 +1,71 @@
+# depslib dependency file v1.0
+1394618834 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\main.cpp
+	<iostream>
+	<ctime>
+	<cstdlib>
+	"Position.h"
+	"Board.h"
+	"Player.h"
+	"Image.h"
+	"Dice.h"
+	"Game.h"
+	"Dice6.h"
+
+1394456855 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\position.h
+
+1394456844 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\position.cpp
+	"Position.h"
+
+1394456386 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\src\position.cpp
+	"Position.h"
+
+1394456386 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\src\position.h
+
+1394562841 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\board.cpp
+	"Board.h"
+	<cstdlib>
+	<ctime>
+
+1394558684 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\board.h
+	"Position.h"
+	"Image.h"
+
+1394556573 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\image.h
+
+1394518589 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\dice.cpp
+	"Dice.h"
+	<ctime>
+	<cstdlib>
+
+1394518570 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\dice.h
+
+1394560446 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\dice6.cpp
+	"Dice6.h"
+	<ctime>
+	<cstdlib>
+
+1394476911 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\dice6.h
+	"Dice.h"
+
+1394619055 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\game.cpp
+	"Game.h"
+	<conio.h>
+
+1394618834 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\game.h
+	"Player.h"
+	"Dice6.h"
+	"Board.h"
+	"Dice.h"
+
+1394619179 c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\player.h
+	"Position.h"
+	"Board.h"
+	<iostream>
+	<cmath>
+
+1394556587 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\image.cpp
+	"Image.h"
+
+1394619758 source:c:\users\abinash\skydrive\documents\code chef\new folder\oops ps\player.cpp
+	"Player.h"
+

Abinash/OOP_Assignment/OOPs PS.layout

@@ -0,0 +1,79 @@
+<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
+<CodeBlocks_layout_file>
+	<ActiveTarget name="Debug" />
+	<File name="Position.cpp" open="1" top="0" tabpos="4" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="0" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="main.cpp" open="1" top="0" tabpos="1" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="475" topLine="8" />
+		</Cursor>
+	</File>
+	<File name="Game.h" open="1" top="0" tabpos="9" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="219" topLine="8" />
+		</Cursor>
+	</File>
+	<File name="Dice.h" open="1" top="0" tabpos="12" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="86" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Board.h" open="1" top="0" tabpos="7" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="233" topLine="6" />
+		</Cursor>
+	</File>
+	<File name="Dice6.cpp" open="1" top="0" tabpos="13" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="155" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Game.cpp" open="1" top="0" tabpos="10" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="445" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Dice.cpp" open="1" top="0" tabpos="8" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="57" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Dice6.h" open="1" top="0" tabpos="11" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="111" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Image.h" open="1" top="0" tabpos="14" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="163" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Player.cpp" open="1" top="1" tabpos="3" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="2369" topLine="101" />
+		</Cursor>
+	</File>
+	<File name="Image.cpp" open="1" top="0" tabpos="15" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="79" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Player.h" open="1" top="0" tabpos="2" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="239" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Position.h" open="1" top="0" tabpos="5" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="109" topLine="0" />
+		</Cursor>
+	</File>
+	<File name="Board.cpp" open="1" top="0" tabpos="6" split="0" active="1" splitpos="0" zoom_1="0" zoom_2="0">
+		<Cursor>
+			<Cursor1 position="186" topLine="0" />
+		</Cursor>
+	</File>
+</CodeBlocks_layout_file>

Abinash/OOP_Assignment/Player.cpp

@@ -0,0 +1,120 @@
+#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))
+         {
+            dist=((bd->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;
+            if (dist<minim){
+               minim=dist;
+               flag=i;
+            }
+         }
+      }
+
+      if(flag!=-1){(x->x)=(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))
+         {
+            dist=((bd->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;
+            if (dist<minim){
+               minim=dist;
+               flag=j;
+            }
+         }
+      }
+
+      if(flag!=-1){(x->x)=(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))
+         {
+            dist=((bd->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;
+            if (dist<minim){
+               minim=dist;
+               flag=k;
+            }
+         }
+      }
+
+      if(flag!=-1){(x->x)=(bd->A).g[flag].x;(x->y)=(bd->A).g[flag].y;}
+
+   }
+      break;
+   }
+   return;
+}
+
+void Player::Getdice(int dice,Board *bd)
+{
+
+   upgrade_score(&score,dice);
+   //std::cout<<"P2";
+   shift_position(&pos,dice,bd);
+   switch (dice){
+   case 1:
+      std::cout <<"\tPlayer_"<<this->id<<" Gets a "<<dice<<" Moves to Blue Circle"<<std::endl;
+      break;
+   case 2:
+   case 4:
+   case 6:
+      std::cout <<"\tPlayer_"<<this->id<<" Gets a "<<dice<<" Moves to Red Circle"<<std::endl;
+      break;
+   default:
+      std::cout <<"\tPlayer_"<<this->id<<" Gets a "<<dice<<" Moves to Green Circle"<<std::endl;
+      break;
+   }
+}
+
+Player::Player()
+{
+   score=0;
+}

Abinash/OOP_Assignment/Player.h

@@ -0,0 +1,20 @@
+#ifndef PLAYER_H
+#define PLAYER_H
+#include "Position.h"
+#include "Board.h"
+#include <iostream>
+#include <cmath>
+
+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

Abinash/OOP_Assignment/Position.cpp

@@ -0,0 +1,7 @@
+#include "Position.h"
+
+Position::Position()
+{
+   x=0;
+   y=0;//ctor
+}

Abinash/OOP_Assignment/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

Abinash/OOP_Assignment/include/Position.h

@@ -0,0 +1,14 @@
+#ifndef POSITION_H
+#define POSITION_H
+
+
+class Position
+{
+   public:
+      int x,y;
+      void Position();
+   protected:
+   private:
+};
+
+#endif // POSITION_H

Abinash/OOP_Assignment/main.cpp

@@ -0,0 +1,27 @@
+#include <iostream>
+#include <ctime>
+#include <cstdlib>
+#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()
+{
+   int b;
+   srand((unsigned int)time(NULL));
+   Game bgame;
+   bgame.get_players();
+   bgame.StartGame();
+   cout<<"Winners :"<<endl;
+   for (b=0;b<bgame.no_winners;b++)
+   {
+      cout<<"Player_"<<bgame.winset[b]->id<<endl;
+   }
+   return 0;
+}

Abinash/OOP_Assignment/src/Position.cpp

@@ -0,0 +1,6 @@
+#include "Position.h"
+
+Position::Position()
+{
+   x=0;y=0;
+}

Abinash/OOP_Assignment/src/Position.h

@@ -0,0 +1,12 @@
+#ifndef POSITION_H
+#define POSITION_H
+
+
+class Position
+{
+   public:
+      int x,y;
+      Position();
+};
+
+#endif // POSITION_H

Abinash/ROS_Assignment/CMakeLists.txt

@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
+#set the default path for built executables to the "bin" directory
+set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set the default path for built libraries to the "lib" directory
+set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+
+#uncomment if you have defined messages
+#rosbuild_genmsg()
+#uncomment if you have defined services
+#rosbuild_gensrv()
+
+#common commands for building c++ executables and libraries
+#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+rosbuild_add_executable(talker src/talker.cpp)
+rosbuild_add_executable(listener src/listener.cpp)

Abinash/ROS_Assignment/Makefile

@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk

Abinash/ROS_Assignment/mainpage.dox

@@ -0,0 +1,14 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b beginner_tutorials 
+
+<!-- 
+Provide an overview of your package.
+-->
+
+-->
+
+
+*/

Abinash/ROS_Assignment/manifest.xml

@@ -0,0 +1,17 @@
+<package>
+  <description brief="beginner_tutorials">
+
+     beginner_tutorials
+
+  </description>
+  <author>Abinash Meher</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>http://ros.org/wiki/beginner_tutorials</url>
+  <depend package="std_msgs"/>
+  <depend package="rospy"/>
+  <depend package="roscpp"/>
+
+</package>
+
+

Abinash/ROS_Assignment/src/helloROS.cpp

@@ -0,0 +1,8 @@
+#include <iostream>
+using namespace std;
+int main()
+{
+cout<<"Hello";
+return 0;
+}
+

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)%

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 <sstream>
+
+/**
+ * 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<std_msgs::String>("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)%
+