From b46f26461109cd402855023f9ca32011193ad27f Mon Sep 17 00:00:00 2001 From: RomainV Date: Sun, 17 May 2020 21:23:22 +0200 Subject: [PATCH] first commit --- src/CMakeLists.txt | 1 + src/calculator.cpp | 104 ++++++++++++++++ src/using_markers/CMakeLists.txt | 208 +++++++++++++++++++++++++++++++ src/using_markers/package.xml | 59 +++++++++ 4 files changed, 372 insertions(+) create mode 120000 src/CMakeLists.txt create mode 100644 src/calculator.cpp create mode 100644 src/using_markers/CMakeLists.txt create mode 100644 src/using_markers/package.xml diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 120000 index 0000000..581e61d --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/kinetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/src/calculator.cpp b/src/calculator.cpp new file mode 100644 index 0000000..218f802 --- /dev/null +++ b/src/calculator.cpp @@ -0,0 +1,104 @@ + #include + #include "std_msgs/String.h" + #include + #include + #include + + float old_posx = 0; + unsigned int value ; + + //TEST RECEPTION LISTENER + void chatterCallback(const std_msgs::String::ConstPtr& msg) + { + std::istringstream myStream (msg->data.c_str()); + myStream >> value; + std::cout << "The value received is " << value << std::endl; + } + + int main( int argc, char** argv ) + { + std_msgs::String msg; + std::stringstream ss; + ros::init(argc, argv, "calculator"); + ros::NodeHandle n; + ros::Subscriber sub = n.subscribe("speed_sensed", 1000, chatterCallback); + ros::Publisher marker_pub = n.advertise("visualization_marker", 1); + ros::Publisher response_pub = n.advertise("response", 1); + ros::Rate r(1); + + // Set our initial shape type to be a cube + uint32_t shape = visualization_msgs::Marker::ARROW; + + while (ros::ok()) + { + ss << value; + msg.data = ss.str(); + ss.str(""); + visualization_msgs::Marker marker; + // Set the frame ID and timestamp. See the TF tutorials for information on these. + marker.header.frame_id = "/my_frame"; + marker.header.stamp = ros::Time::now(); + + // Set the namespace and id for this marker. This serves to create a unique ID + // Any marker sent with the same namespace and id will overwrite the old one + marker.ns = "basic_shapes"; + marker.id = 0; + + // Set the marker type. Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER + marker.type = shape; + + // Set the marker action. Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL) + marker.action = visualization_msgs::Marker::ADD; + + // Set the pose of the marker. This is a full 6DOF pose relative to the frame/time specified in the header + marker.pose.position.x = old_posx; + marker.pose.position.y = 0; + marker.pose.position.z = 0; + marker.pose.orientation.x = 0.0; + marker.pose.orientation.y = 0.0; + marker.pose.orientation.z = 0.0; + marker.pose.orientation.w = 1.0; + + + // Set the scale of the marker -- 1x1x1 here means 1m on a side + marker.scale.x = 1.0; + marker.scale.y = 1.0; + marker.scale.z = 1.0; + + // Set the color -- be sure to set alpha to something non-zero! + marker.color.r = 0.0f; + marker.color.g = 1.0f; + marker.color.b = 0.0f; + marker.color.a = 1.0; + + marker.lifetime = ros::Duration(); + + // Publish the marker + while (marker_pub.getNumSubscribers() < 1) + { + if (!ros::ok()) + { + return 0; + } + ROS_WARN_ONCE("Please create a subscriber to the marker"); + sleep(1); + } + marker_pub.publish(marker); + + while (response_pub.getNumSubscribers() < 1) + { + if (!ros::ok()) + { + return 0; + } + ROS_WARN_ONCE("Please create a subscriber for response"); + sleep(1); + } + response_pub.publish(msg); + ros::spinOnce(); + + //MON CODE + old_posx=value/10.0; + r.sleep(); + } + } \ No newline at end of file diff --git a/src/using_markers/CMakeLists.txt b/src/using_markers/CMakeLists.txt new file mode 100644 index 0000000..95d0c40 --- /dev/null +++ b/src/using_markers/CMakeLists.txt @@ -0,0 +1,208 @@ +cmake_minimum_required(VERSION 2.8.3) +project(using_markers) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages + +find_package(catkin REQUIRED COMPONENTS + roscpp + visualization_msgs +) + + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES using_markers +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/using_markers.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/using_markers_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_using_markers.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() +add_executable(calculator ~/Documents/pir/catkin_ws/src/calculator.cpp) +target_link_libraries(calculator ${catkin_LIBRARIES}) +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/src/using_markers/package.xml b/src/using_markers/package.xml new file mode 100644 index 0000000..c2763ce --- /dev/null +++ b/src/using_markers/package.xml @@ -0,0 +1,59 @@ + + + using_markers + 0.0.0 + The using_markers package + + + + + romainv + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + + + + + + + +