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autonomousdriving
torcs_dl
Commits
102b5e42
Commit
102b5e42
authored
Feb 16, 2018
by
Svetlana
Browse files
Created ROS package prototypes for communication within ROS
parent
5b1f233d
Changes
8
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.gitignore
0 → 100644
View file @
102b5e42
*.idea*
*cmake-build-*
/torcs/config.log
/torcs/config.status
/torcs/Make-config
RosWorkspace/src/
basic_ports
/CMakeLists.txt
→
RosWorkspace/src/
listener
/CMakeLists.txt
View file @
102b5e42
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
basic_ports
)
project
(
listener
)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
...
...
@@ -97,13 +97,13 @@ find_package(catkin REQUIRED COMPONENTS
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## INCLUDE_DIRS: uncomment this if you
r
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
basic_ports
# LIBRARIES
listener
# CATKIN_DEPENDS roscpp std_msgs
# DEPENDS system_lib
)
...
...
@@ -121,7 +121,7 @@ include_directories(
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/
basic_ports
.cpp
# src/${PROJECT_NAME}/
listener
.cpp
# )
## Add cmake target dependencies of the library
...
...
@@ -132,7 +132,7 @@ include_directories(
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
#
add_executable(${PROJECT_NAME}
_node src/basic_ports_node
.cpp)
add_executable
(
${
PROJECT_NAME
}
src/main
.cpp
)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
...
...
@@ -145,9 +145,9 @@ include_directories(
# add_dependencies(${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}
#
)
target_link_libraries
(
${
PROJECT_NAME
}
${
catkin_LIBRARIES
}
)
#############
## Install ##
...
...
@@ -189,7 +189,7 @@ include_directories(
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_
basic_ports
.cpp)
# catkin_add_gtest(${PROJECT_NAME}-test test/test_
listener
.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
...
...
RosWorkspace/src/
basic_ports
/package.xml
→
RosWorkspace/src/
listener
/package.xml
View file @
102b5e42
<?xml version="1.0"?>
<package>
<name>
basic_ports
</name>
<package
format=
"2"
>
<name>
listener
</name>
<version>
0.0.0
</version>
<description>
The
basic_ports
package
</description>
<description>
The
listener
package
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"
alex@todo.todo"
>
alex
</maintainer>
<maintainer
email=
"
svetlana.pavlitskaya@rwth-aachen.de"
>
Sveta
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
...
...
@@ -19,7 +19,7 @@
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/
basic_ports
</url> -->
<!-- <url type="website">http://wiki.ros.org/
listener
</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
...
...
@@ -28,22 +28,33 @@
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *
_
depend tags are used to specify dependencies -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use
run
_depend for packages you need at runtime: -->
<!-- <
run
_depend>message_runtime</
run
_depend> -->
<!-- Use
exec
_depend for packages you need at runtime: -->
<!-- <
exec
_depend>message_runtime</
exec
_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>
catkin
</buildtool_depend>
<build_depend>
roscpp
</build_depend>
<build_depend>
std_msgs
</build_depend>
<run_depend>
roscpp
</run_depend>
<run_depend>
std_msgs
</run_depend>
<build_export_depend>
roscpp
</build_export_depend>
<build_export_depend>
std_msgs
</build_export_depend>
<exec_depend>
roscpp
</exec_depend>
<exec_depend>
std_msgs
</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
...
...
RosWorkspace/src/listener/src/main.cpp
0 → 100644
View file @
102b5e42
// %Tag(FULLTEXT)%
#include
"ros/ros.h"
#include
"std_msgs/String.h"
// %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
)
{
ros
::
init
(
argc
,
argv
,
"listener"
);
ros
::
NodeHandle
n
;
// %Tag(SUBSCRIBER)%
ros
::
Subscriber
sub
=
n
.
subscribe
(
"chatter"
,
1000
,
chatterCallback
);
// %EndTag(SUBSCRIBER)%
// %Tag(SPIN)%
ros
::
spin
();
// %EndTag(SPIN)%
return
0
;
}
// %EndTag(FULLTEXT)%
RosWorkspace/src/publisher/CMakeLists.txt
0 → 100644
View file @
102b5e42
cmake_minimum_required
(
VERSION 2.8.3
)
project
(
publisher
)
## 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
std_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 run_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 run_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
# )
################################################
## 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 run_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 publisher
# CATKIN_DEPENDS roscpp std_msgs
# 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/${PROJECT_NAME}/publisher.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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
(
${
PROJECT_NAME
}
src/main.cpp
)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${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
}
${
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 and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${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_publisher.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
RosWorkspace/src/publisher/package.xml
0 → 100644
View file @
102b5e42
<?xml version="1.0"?>
<package
format=
"2"
>
<name>
publisher
</name>
<version>
0.0.0
</version>
<description>
The publisher package
</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"svetlana.pavlitskaya@rwth-aachen.de"
>
Sveta
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>
TODO
</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/publisher</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>
catkin
</buildtool_depend>
<build_depend>
roscpp
</build_depend>
<build_depend>
std_msgs
</build_depend>
<build_export_depend>
roscpp
</build_export_depend>
<build_export_depend>
std_msgs
</build_export_depend>
<exec_depend>
roscpp
</exec_depend>
<exec_depend>
std_msgs
</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
RosWorkspace/src/publisher/src/main.cpp
0 → 100644
View file @
102b5e42
// %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>
int
main
(
int
argc
,
char
**
argv
)
{
// %Tag(INIT)%
ros
::
init
(
argc
,
argv
,
"publisher"
);
// %EndTag(INIT)%
// %Tag(NODEHANDLE)%
ros
::
NodeHandle
n
;
// %EndTag(NODEHANDLE)%
// %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)%
// %Tag(ROS_OK)%
int
count
=
0
;
while
(
ros
::
ok
())
{
// %EndTag(ROS_OK)%
// %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)%
// %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)%
RosWorkspace/src/torcs/package.xml
View file @
102b5e42
...
...
@@ -7,7 +7,7 @@
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer
email=
"
alex@todo.todo"
>
alex
</maintainer>
<maintainer
email=
"
svetlana.pavlitskaya@rwth-aachen.de"
>
Sveta
</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
...
...
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