added examples of class based ros node exampels in python

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_python_class_based_nodes)
+
+find_package(catkin REQUIRED COMPONENTS
+  rospy
+)
+
+catkin_python_setup()
+
+catkin_package(
+  CATKIN_DEPENDS
+    rospy
+)
+
+install(PROGRAMS
+  ros/scripts/class_based_example1_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(PROGRAMS
+  ros/scripts/class_based_example2_node
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>ros_python_class_based_nodes</name>
+  <version>0.1.0</version>
+  <description>The ros_python_class_based_nodes package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <run_depend>rospy</run_depend>
+</package>

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/ros/scripts/class_based_example1_node

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+#!/usr/bin/env python
+"""
+This script initilizes simple class based python node.
+"""
+#-*- encoding: utf-8 -*-
+__author__ = 'shehzad ahmed'
+import rospy
+
+class DemoClass():
+    def __init__(self):
+        self.initilize_parameters(0, 0.0)
+
+    def initilize_parameters(self, number_count, total_sum):
+        rospy.loginfo("Initlizing class variables.")
+        self.number_count = number_count;
+        self.total_sum = total_sum;
+
+def initlize_node():
+    '''
+    Initilize node and spin which simply keeps python 
+    from exiting until this node is stopped
+    '''
+    rospy.init_node('class_based_example1_node', anonymous=False)
+    rospy.loginfo("class_based_example1_node is now running")
+    demo_class = DemoClass()
+    demo_class.initilize_parameters(10, 10.0)
+    rospy.spin()
+
+if __name__ == '__main__':
+    initlize_node()

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/ros/scripts/class_based_example2_node

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+#!/usr/bin/env python
+"""
+This script is a simple python node which imports
+source code of ros_python_example1.
+"""
+#-*- encoding: utf-8 -*-
+__author__ = 'shehzad ahmed'
+
+import ros_python_class_based_nodes_ros.class_based_python_example2
+
+if __name__ == '__main__':
+    ros_python_class_based_nodes_ros.class_based_python_example2.main()

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/ros/src/ros_python_class_based_nodes_ros/class_based_python_example2.py

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+#!/usr/bin/env python
+"""
+This script initilizes simple class based python node.
+"""
+#-*- encoding: utf-8 -*-
+__author__ = 'shehzad ahmed'
+import rospy
+from demo_class import *
+
+def initlize_node():
+    '''
+    Initilize node and spin which simply keeps python 
+    from exiting until this node is stopped
+    '''
+    rospy.init_node('class_based_example2_node', anonymous=False)
+    rospy.loginfo("class_based_example2_node is now running")
+    demo_class1 = DemoClass()
+    demo_class1.initilize_parameters(10, 10.0)
+    rospy.spin()
+
+def  main():
+    initlize_node()

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/ros/src/ros_python_class_based_nodes_ros/demo_class.py

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+#!/usr/bin/env python
+import rospy
+
+class DemoClass():
+    def __init__(self):
+        self.initilize_parameters(0, 0.0)
+
+    def initilize_parameters(self, number_count, total_sum):
+        rospy.loginfo("Initlizing class variables.")
+        self.number_count = number_count;
+        self.total_sum = total_sum;

fc_ros_tutorials/demo_ros_nodes/ros_python_class_based_nodes/setup.py

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+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['ros_python_class_based_nodes_ros'],
+    package_dir={'ros_python_class_based_nodes_ros': 'ros/src'}
+)
+
+setup(**d)