added ros pubisher and subscriber demo codes

fc_ros_tutorials/demo_ros_publishers_subscribers/ros_publisher_common_msgs_cpp_examples/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_publisher_common_msgs_cpp_examples)
+
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  actionlib_msgs
+  nav_msgs
+  sensor_msgs
+  trajectory_msgs 
+  roscpp
+)
+
+catkin_package(
+  CATKIN_DEPENDS 
+    geometry_msgs
+    actionlib_msgs
+    nav_msgs
+    sensor_msgs
+    trajectory_msgs
+    roscpp
+)
+
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ros/include
+)
+
+add_executable(publisher_common_messages_examples 
+  ros/src/publisher_common_messages_example_node.cpp
+  ros/src/demo_class_example.cpp
+)
+
+target_link_libraries(publisher_common_messages_examples
+   ${catkin_LIBRARIES}
+)

fc_ros_tutorials/demo_ros_publishers_subscribers/ros_publisher_common_msgs_cpp_examples/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ros_publisher_common_msgs_cpp_examples</name>
+  <version>0.1.0</version>
+  <description>The ros_publisher_common_msgs_cpp_examples package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>trajectory_msgs</run_depend>
+</package>

fc_ros_tutorials/demo_ros_publishers_subscribers/ros_publisher_common_msgs_cpp_examples/ros/include/ros_publisher_common_msgs_cpp_examples/demo_class_example.h

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+/**
+ * demo_class_example.h
+ *
+ * Created on: September 08, 2014
+ * Author: Shehzad Ahmed
+ **/
+#ifndef DEMO_CLASS_EXAMPLE_H_
+#define DEMO_CLASS_EXAMPLE_H_
+#include <ros/ros.h>
+
+#include <geometry_msgs/Point.h>
+#include <geometry_msgs/PointStamped.h>
+#include <geometry_msgs/Pose2D.h>
+#include <geometry_msgs/PoseWithCovariance.h>
+#include <geometry_msgs/TwistWithCovariance.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <geometry_msgs/Twist.h>
+#include <geometry_msgs/Transform.h>
+#include <actionlib_msgs/GoalID.h>
+#include <nav_msgs/Odometry.h>
+#include <sensor_msgs/LaserScan.h>
+#include <sensor_msgs/Range.h>
+#include <trajectory_msgs/JointTrajectoryPoint.h>
+
+class DemoClass
+{
+    public:
+        /**
+         * Ctor.
+         */
+        DemoClass(const ros::NodeHandle &nh);
+
+        /**
+         * Ctor.
+         */
+        virtual ~DemoClass();
+
+        /**
+         * prepare example ros messages.
+         */
+        void prepareAndPublishMsgs();
+        void prepareAndPublishGeometryMsg();
+        void prepareAndPublishActionlibMsg();
+        void prepareAndPublishOdometryMsg();
+        void prepareAndPublishLaserScanMsg();
+        void prepareAndPublishRangeMsg();
+        void prepareAndPublishJointTrajectoyPointMsg();
+
+    private:
+        /*
+         * Instantiation of ROS node handle
+         */
+        ros::NodeHandle nh_;
+
+        /*
+         * Instantiation of common messages
+         */
+        geometry_msgs::Point point_message_;
+        geometry_msgs::PointStamped pointstamped_message_;
+        geometry_msgs::Pose2D pose2d_message_;
+        geometry_msgs::PoseStamped posestamped_message_;
+        geometry_msgs::Twist twist_message_;
+        geometry_msgs::Transform transform_message_;
+
+        actionlib_msgs::GoalID goal_id_message_;
+        nav_msgs::Odometry odomety_message_;
+        sensor_msgs::LaserScan laser_scan_message_;
+        sensor_msgs::Range range_message_;
+        trajectory_msgs::JointTrajectoryPoint joint_trajectory_point_message_;
+
+        /*
+         * Instantiation of common_msg publishers
+         */
+        ros::Publisher point_msg_pub_;
+        ros::Publisher pointstamped_msg_pub_;
+        ros::Publisher pose2d_msg_pub_;
+        ros::Publisher posestamped_msg_pub_;
+        ros::Publisher twist_msg_pub_;
+        ros::Publisher transform_msg_pub_;
+
+        ros::Publisher actionlib_msg_pub_;
+        ros::Publisher odometry_msg_pub_;
+        ros::Publisher laserScan_msg_pub_;
+        ros::Publisher joint_traj_point_msg_pub_;
+};
+#endif /** DEMO_CLASS_EXAMPLE_H_ **/

fc_ros_tutorials/demo_ros_publishers_subscribers/ros_publisher_common_msgs_cpp_examples/ros/src/demo_class_example.cpp

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+/**
+ * demo_class_example.cpp
+ *
+ * Created on: September 08, 2014
+ * Author: Shehzad Ahmed
+ **/
+
+#include <ros_publisher_common_msgs_cpp_examples/demo_class_example.h>
+
+DemoClass::DemoClass(const ros::NodeHandle &nh):
+        nh_(nh)
+{
+
+    point_msg_pub_ = nh_.advertise<geometry_msgs::Point>("point", 100);
+    pointstamped_msg_pub_ = nh_.advertise<geometry_msgs::PointStamped>("stamped_point", 100);
+    twist_msg_pub_ = nh_.advertise<geometry_msgs::Twist>("twist", 100);
+
+    /*
+     * Please, prepare the topics for the following messages:
+     * PoseStamped, Pose2D, Transform, GoalID, Odometry 
+     * LaserScan, Range, JointTrajectoryPoint
+     * 
+     * Topic names are:
+     *  posestamped_msg_pub_
+     *  pose2d_msg_pub_
+     *  transform_msg_pub_
+     *  actionlib_msg_pub_
+     *  odometry_msg_pub_
+     *  laserScan_msg_pub_
+     *  joint_traj_point_msg_pub_
+     */
+}
+
+
+DemoClass::~DemoClass()
+{
+}
+
+void DemoClass::prepareAndPublishMsgs()
+{
+    prepareAndPublishGeometryMsg();
+    prepareAndPublishActionlibMsg();
+    prepareAndPublishOdometryMsg();
+    prepareAndPublishLaserScanMsg();
+    prepareAndPublishRangeMsg();
+    prepareAndPublishJointTrajectoyPointMsg();
+}
+
+void DemoClass::prepareAndPublishGeometryMsg()
+{
+    /*
+     * Filling point message
+     */
+    point_message_.x = 1.0;
+    point_message_.y = 1.0;
+    point_message_.z = 1.0;
+
+    point_msg_pub_.publish(point_message_);
+
+    /*
+     * Filling twist message.
+     * Specify Robot velocity in the x-direction 
+     * with 1.0 rad/sec.
+     */
+    twist_message_.linear.x = 1.0;
+    twist_message_.linear.y = 0.0;
+    twist_message_.linear.z = 0.0;
+
+    twist_message_.angular.x = 0.0;
+    twist_message_.angular.y = 0.0;
+    twist_message_.angular.z = 0.0;
+
+    twist_msg_pub_.publish(twist_message_);
+
+    /*
+     * Filling point stamped
+     */
+    pointstamped_message_.header.stamp = ros::Time::now();
+    pointstamped_message_.header.frame_id = "frame_dummy";
+
+    pointstamped_message_.point.x = 1.0;
+    pointstamped_message_.point.y = 1.0;
+    pointstamped_message_.point.z = 1.0;
+
+    pointstamped_msg_pub_.publish(pointstamped_message_);
+
+    /*
+     * Filling Transform message
+     * Do it your self for practice
+     */
+
+    /*
+     * Filling pose2d message
+     * Do it your self for practice
+     */
+
+    /*
+     * Filling posestamped message
+     * Do it your self for practice
+     */
+}
+
+
+void DemoClass::prepareAndPublishActionlibMsg()
+{
+    /*
+     * Filling goal_id message
+     */
+    goal_id_message_.stamp = ros::Time::now();
+    goal_id_message_.id = "ACTIVE";
+}
+
+
+void DemoClass::prepareAndPublishOdometryMsg()
+{
+    /*
+     * nav_msgs example.
+     * Filling odom message.
+     * Step 1: Prepare pose and twist messages separatly.
+     * Step 2: Fill the data in actual message odomety_message_.
+     */
+    geometry_msgs::PoseWithCovariance pose;
+    geometry_msgs::TwistWithCovariance twist;
+
+    /*
+    odomety_message_.header.stamp = ros::Time::now();;
+    odomety_message_.header.frame_id = "odom_frame";
+    odomety_message_.child_frame_id = "base_frame";
+    odomety_message_.pose = pose;
+    odomety_message_.twist = twist;
+    odomety_message_.covariance = 0.5;
+    */
+}
+
+
+void DemoClass::prepareAndPublishLaserScanMsg()
+{
+     /*
+     * sensor_msgs example
+     * Filling laser scan message
+     * Step 1: Prepare data to be filled
+     * Step 2: Fill actual message with the prepared data.
+     */
+
+    //Step 1: 
+        unsigned int num_readings = 15;
+        double laser_frequency = 40;
+        double ranges[num_readings];
+        double intensities[num_readings];
+        int count = 0;
+
+        //generate some fake data for laser scan
+        for (unsigned int i = 0; i < num_readings; ++i) {
+            ranges[i] = count;
+            intensities[i] = 4 + count;
+        }
+
+    //Step 2
+        laser_scan_message_.header.stamp = ros::Time::now();
+        laser_scan_message_.header.frame_id = "laser_frame";
+        laser_scan_message_.angle_min = -1.57;
+        laser_scan_message_.angle_max = 1.57;
+        laser_scan_message_.angle_increment = 3.14 / num_readings;
+        laser_scan_message_.time_increment = (1 / laser_frequency) / (num_readings);
+        laser_scan_message_.range_min = 0.0;
+        laser_scan_message_.range_max = 4.0;
+
+        laser_scan_message_.ranges.resize(num_readings);
+        laser_scan_message_.intensities.resize(num_readings);
+        for (unsigned int i = 0; i < num_readings; ++i) {
+          laser_scan_message_.ranges[i] = ranges[i];
+          laser_scan_message_.intensities[i] = intensities[i];
+        }
+}
+
+
+void DemoClass::prepareAndPublishRangeMsg()
+{
+    /*
+     * sensor_msgs example
+     * Filling range messages
+     * Do it your self for practice
+     * Message to be filled is range_message_
+     */
+}
+
+void DemoClass::prepareAndPublishJointTrajectoyPointMsg()
+{
+    /*
+     * trajectory_msgs example
+     * Filling JointTrajectoyPoint message
+     * Do it your self for practice
+     * Step 1: Prepare data to be filled
+     * Step 2: Fill actual message with the prepared data.
+     * Message to be filled is joint_trajectory_point_message_.
+     */
+}

fc_ros_tutorials/demo_ros_publishers_subscribers/ros_publisher_common_msgs_cpp_examples/ros/src/publisher_common_messages_example_node.cpp

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+/**
+ * common_messages_example_node.cpp
+ *
+ * Created on: September 08, 2014
+ * Author: Shehzad Ahmed
+ **/
+
+#include <ros/ros.h>
+#include "ros_publisher_common_msgs_cpp_examples/demo_class_example.h"
+
+
+int main(int argc, char *argv[])
+{
+    /**
+     * Initilization of node
+     **/
+    ros::init(argc, argv, "publiher_common_messages_example_node");
+
+    /**
+     * Initilization of private node handle
+     **/
+    ros::NodeHandle nh("~");
+
+    /**
+     * Printing Information message on the console.
+     **/
+    ROS_INFO("publiher_common_messages_example_node is now running");
+
+    ros::Rate loop_rate(10);
+
+    DemoClass demo_class(nh);
+
+    /**
+     * Keep loop untill the user node is killed.
+     **/
+     ROS_INFO("Press Cntrl+c to kill the node.");
+    while(ros::ok()) {
+        demo_class.prepareAndPublishMsgs();
+        ros::spinOnce();
+        loop_rate.sleep();
+    }
+
+
+    return 0;
+}