Difference between revisions of "Writing a Simple Publisher and Subscriber (C++)"
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==Writing a Simple Publisher and Subscriber (C++)== | ==Writing a Simple Publisher and Subscriber (C++)== | ||
| + | Editor's Note: Error in build, bash: syntax error near unexpected token `talker' | ||
| + | |||
'''Writing the Publisher Node''' | '''Writing the Publisher Node''' | ||
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'''Building Nodes''' | '''Building Nodes''' | ||
| + | |||
| + | 1) Edit the CMakeList.txt file: | ||
| + | <nowiki>gedit beginner_tutorials/CMakeLists.txt</nowiki> | ||
| + | Add the following to the end of the file: | ||
| + | <nowiki>include_directories(include ${catkin_INCLUDE_DIRS}) | ||
| + | |||
| + | add_executable(talker src/talker.cpp) | ||
| + | target_link_libraries(talker ${catkin_LIBRARIES}) | ||
| + | add_dependencies(talker beginner_tutorials_generate_messages_cpp) | ||
| + | |||
| + | add_executable(listener src/listener.cpp) | ||
| + | target_link_libraries(listener ${catkin_LIBRARIES}) | ||
| + | add_dependencies(listener beginner_tutorials_generate_messages_cpp)</nowiki> | ||
| + | For a completely clean file, you can view the entire CMakeLists.txt file [https://raw.githubusercontent.com/ros/catkin_tutorials/master/create_package_pubsub/catkin_ws/src/beginner_tutorials/CMakeLists.txt here] | ||
| + | |||
| + | Save the file and close the editor. This should create a talker and listener files in your devel folder. | ||
Revision as of 16:43, 21 October 2014
Writing a Simple Publisher and Subscriber (C++)
Editor's Note: Error in build, bash: syntax error near unexpected token `talker'
Writing the Publisher Node
1) In a terminal, move to your beginner_tutorials folder:
cd ~/catkin_ws/src/beginner_tutorials
2) Create the file talker.cpp:
gedit src/talker.cpp
3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, advertise what we are doing, and finally loop what we are doing.
Writing the Subscriber Node
1) In a terminal, move to your beginner_tutorials folder:
cd ~/catkin_ws/src/beginner_tutorials
2) Create the file listener.cpp:
gedit src/listener.cpp
3) In the gedit editor, paste all from this link. Save the file and close the editor. For information on what is inside this file, see this link. In a nutshell, it initializes the ROS system, subscribes to the topic 'chatter', spin (wait for messages), when message arrives call the chatterCallback() function.
Building Nodes
1) Edit the CMakeList.txt file:
gedit beginner_tutorials/CMakeLists.txt
Add the following to the end of the file:
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)
For a completely clean file, you can view the entire CMakeLists.txt file here
Save the file and close the editor. This should create a talker and listener files in your devel folder.
