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Updated CMakeLists.txt for newer ROS. Added simple tutorial that uses object oriented classes.
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-107
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-107
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‎action_tut/CMakeLists.txt

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@@ -32,14 +32,16 @@ include_directories(include
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)
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add_executable(example_action_server src/example_action_server.cpp)
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add_dependencies(example_action_server example_action_gencpp)
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#add_dependencies(example_action_server example_action_gencpp)
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add_dependencies(example_action_server ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(
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example_action_server
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${catkin_LIBRARIES}
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)
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add_executable(example_action_client src/example_action_client.cpp)
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add_dependencies(example_action_client example_action_gencpp)
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#add_dependencies(example_action_client example_action_gencpp)
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add_dependencies(example_action_client ${${PROJECT_NAME}_EXPORTED_TARGETS})
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target_link_libraries(
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example_action_client
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${catkin_LIBRARIES}

‎beginner_tut/CMakeLists.txt

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@@ -1,24 +1,8 @@
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cmake_minimum_required(VERSION 2.8.3)
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project(beginner_tut)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs message_generation)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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#######################################
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## Declare ROS messages and services ##
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#######################################
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## Generate messages in the 'msg' folder
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add_message_files(
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FILES
@@ -37,100 +21,22 @@ generate_messages(
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std_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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# INCLUDE_DIRS include
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# LIBRARIES beginner_tut
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# CATKIN_DEPENDS roscpp rospy std_msgs
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# DEPENDS system_lib
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CATKIN_DEPENDS message_runtime
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a cpp library
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# add_library(beginner_tut
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# src/${PROJECT_NAME}/beginner_tut.cpp
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# )
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## Declare a cpp executable
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# add_executable(beginner_tut_node src/beginner_tut_node.cpp)
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add_executable(talker src/talker.cpp)
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target_link_libraries(talker ${catkin_LIBRARIES})
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add_dependencies(talker beginner_tut_gencpp)
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add_executable(listener src/listener.cpp)
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target_link_libraries(listener ${catkin_LIBRARIES})
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add_dependencies(listener beginner_tut_gencpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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# add_dependencies(beginner_tut_node beginner_tut_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(beginner_tut_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS beginner_tut beginner_tut_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tut.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎class_tut/CMakeLists.txt

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################################################################################
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# Author: Joshua Weaver
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# Date: 8-11-15
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################################################################################
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cmake_minimum_required(VERSION 2.8.3)
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project(class_tut)
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add_definitions(--std=c++11)
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################################################################################
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# Find necessary ros packages needed for class_demo
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################################################################################
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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message_generation
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)
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################################################################################
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# Setup catkin package to setup ros dependencies.
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################################################################################
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catkin_package(
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INCLUDE_DIRS include
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# LIBRARIES class_demo
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CATKIN_DEPENDS roscpp std_msgs
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# DEPENDS system_lib
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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################################################################################
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# Build class_demo executable
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################################################################################
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set(BINNAME class_tut)
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FILE(GLOB SRC
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src/*.cpp
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)
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add_executable(${BINNAME} ${SRC})
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target_link_libraries(${BINNAME}
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${catkin_LIBRARIES}
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)
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###############################################################
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# Install executable
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###############################################################
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install(TARGETS ${BINNAME}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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‎class_tut/include/class_tut/class_tut.h

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/**
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* @author Joshua Weaver
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* @date 6/22/17
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*
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* @brief Define a simple object class for an example of use within ROS
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*
7+
* A simple class to be used within ROS. Class is used to explain more complex
8+
* object oriented uses within ROS which is more similar to real applications
9+
* for projects than the listener and talker tutorials.
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*/
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#pragma once
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#include <ros/ros.h>
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#include "std_msgs/String.h"
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namespace ros_tutorials
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{
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class ClassTut
19+
{
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public:
21+
ClassTut();
22+
~ClassTut();
23+
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private:
25+
ros::NodeHandle nh; /// Nodehandle for ROS Node
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ros::NodeHandle pnh; /// Private nodehandle to access Node/namespace specfics
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28+
/// All subscriptions under node
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struct Subscriptions
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{
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ros::Subscriber listener;
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} mSubscriptions;
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34+
/// All publishers under node
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struct Publishers
36+
{
37+
ros::Publisher talker;
38+
} mPublishers;
39+
40+
/// Parameter to hold message for sending
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std::string mMessageToSend;
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/** Callback that handles receipt of listener messages
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*
45+
* Simple callback
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*
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* @param msg ROS message holding std_msgs String with data field
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*/
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void listenerCallback(const std_msgs::String::ConstPtr& msg);
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/** Function to hold run loop of application
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*
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* Holds while loop with ROS sleep to handle main loop of application.
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*/
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void runNode();
56+
};
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}

‎class_tut/package.xml

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<?xml version="1.0"?>
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<package>
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<name>class_tut</name>
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<version>0.0.0</version>
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<description>Simple tutorial on how to use classes with ROS</description>
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<maintainer email="epsilonorion@gmail.com">Joshua Weaver</maintainer>
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<license>BSD</license>
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<!-- <url type="website">http://wiki.ros.org/class_tut</url> -->
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<author email="epsilonorion@gmail.com">Joshua Weaver</author>
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>roscpp</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>message_generation</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>message_runetime</run_depend>
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<export>
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</export>
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</package>

‎class_tut/src/class_tut.cpp

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/**
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* @author Joshua Weaver
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* @date 8/11/15
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*
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* @brief Define a simple object class for an example of use within ROS
6+
*
7+
* A simple class to be used within ROS. Class is used to explain more complex
8+
* object oriented uses within ROS which is more similar to real applications
9+
* for projects than the listener and talker tutorials.
10+
*/
11+
#include "class_tut/class_tut.h"
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13+
using namespace ros_tutorials;
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ClassTut::ClassTut():
16+
pnh("~")
17+
{
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/// Setup parameters
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pnh.param<std::string>("message", mMessageToSend, "not_set");
20+
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/// Setup publishers
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mPublishers.talker = nh.advertise<std_msgs::String>( "talker", 10, true);
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/// Setup subscribers
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mSubscriptions.listener = nh.subscribe("listener", 10, &ClassTut::listenerCallback, this);
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ROS_INFO("Class tutorial initialized");
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runNode();
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}
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ClassTut::~ClassTut()
33+
{
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}
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void ClassTut::listenerCallback(const std_msgs::String::ConstPtr& msg)
38+
{
39+
ROS_INFO("Received: %s", msg->data.c_str());
40+
}
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void ClassTut::runNode()
43+
{
44+
ROS_INFO("Starting class tutorial node");
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46+
/// Set loop rate of main node to 1 Hz
47+
ros::Rate loopRate(1);
48+
49+
while(ros::ok())
50+
{
51+
/// Build ROS Message for talker publisher
52+
std_msgs::String msg;
53+
msg.data = mMessageToSend;
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mPublishers.talker.publish(msg);
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/// Spin ROS node at above loopRate
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ros::spinOnce();
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loopRate.sleep();
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}
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}

‎class_tut/src/main.cpp

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/**
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* @author Joshua Weaver
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* @date 8/11/15
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*
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* @brief Main file for starting ROS node on Class Tutorials
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*/
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#include "class_tut/class_tut.h"
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int main(int argc, char **argv)
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{
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/// Initialize ROS Node
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ROS_INFO("Class tutorial initializing...");
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ros::init(argc, argv, "class_tut");
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/// Create class object
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ros_tutorials::ClassTut classTut;
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/// ROS Spin is only needed if the class object doesn't have a loop (which it
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/// does) or if it is using a separately created thread to handle looping.
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/// Leaving this here for reference.
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ros::Rate r(10.0);
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ros::spin();
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ROS_INFO("Class tutorial shutting down...");
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return 0;
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}

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