beginner_tutorials

Overview

This repository contains beginner tutorials in C++ for a publisher and subscriber node in ROS for custom string message

Dependencies

• ROS Noetic
• Ubuntu 20.04

Build Instructions

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

Run instructions

1. Go to directory

cd catkin_ws

2. Source the workspace

source devel/setup.bash

3. To run talker and listener nodes In terminal 1

roscore

Open another terminal 2

rosrun beginner_tutorials talker

Open another terminal 3

rosrun beginner_tutorials listener

4. To run talker and listener nodes using launch file syncronously where you can change rate of publishing

roslaunch beginner_tutorials beginner_tutorials.launch rate:=5

Running ROS service

Use the follwing command to run ros service for changing the string

rosservice call /update "Homework 10"

Recording rosbag using launch file

Use the following launch file to start recording topic for 15seconds

roslaunch beginner_tutorials beginner_tutorials.launch rate:=5 bag_record:=true

Verify the bag file:

Play the rosbag file

rosbag play record.bag

Run recorded rosbag file

In one terminal start listener

source devel/setup.bash
rosrun beginner_tutorials listener

In another terminal play recorded bag file

cd results/
rosbag play record.bag

#Running tests Build the tests

cd catkin_ws
catkin_make
catkin_make run tests

Run the tests

cd catkin_ws
rostest beginner_tutorials test_talker.test