added examples of creating custom messages

Author: shehzi001

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/CMakeLists.txt

@@ -0,0 +1,46 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(custom_msg_example1)
+
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  roscpp
+  rospy
+  std_msgs
+  geometry_msgs
+)
+
+
+add_message_files(
+  FILES
+    NodeInfo.msg
+    NodeData.msg
+    NodesInfo.msg
+ )
+
+
+generate_messages(
+  DEPENDENCIES
+    std_msgs
+    geometry_msgs
+)
+
+
+catkin_package(
+  CATKIN_DEPENDS 
+    message_runtime 
+    roscpp 
+    rospy 
+    std_msgs
+    geometry_msgs
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(custom_msg_cpp_simple_node 
+  ros/src/custom_msg_cpp_simple_node.cpp)
+
+target_link_libraries(custom_msg_cpp_simple_node
+  ${catkin_LIBRARIES}
+)

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/msg/NodeData.msg

@@ -0,0 +1,2 @@
+geometry_msgs/Vector3 vector_position
+geometry_msgs/Point point_position

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/msg/NodeInfo.msg

@@ -0,0 +1,3 @@
+std_msgs/String node_name
+std_msgs/Bool node_status
+std_msgs/Int32 node_id

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/msg/NodesInfo.msg

@@ -0,0 +1,3 @@
+std_msgs/String[] node_name
+std_msgs/Bool[] node_status
+std_msgs/Int32[] node_id

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/package.xml

@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<package>
+  <name>custom_msg_example1</name>
+  <version>0.1.0</version>
+  <description>The custom_msg_example1 package</description>
+
+  <maintainer email="[email protected]">Shehzad Ahmed</maintainer>
+
+  <license>GPLv3</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>message_runtime</run_depend>
+</package>

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/ros/scripts/custom_msg_python_simple_node

@@ -0,0 +1,30 @@
+#!/usr/bin/env python
+"""
+This script initilizes simple python node.
+"""
+#-*- encoding: utf-8 -*-
+__author__ = 'shehzad ahmed'
+import rospy
+from custom_msg_example1.msg import NodeData 
+
+def initlize_node():
+    '''
+    Initilize node and spin which simply keeps python 
+    from exiting until this node is stopped
+    '''
+    rospy.init_node('custom_msg_python_simple_node', anonymous=False)
+    rospy.loginfo("custom_msg_python_simple_node is now running")
+
+    node_data = NodeData()
+    node_data.vector_position.x = 0.01
+    node_data.vector_position.y = 0.01
+    node_data.vector_position.z = 0.01
+
+    node_data.point_position.x = 0.1
+    node_data.point_position.y = 0.2
+    node_data.point_position.z = 0.01
+
+    rospy.spin()
+
+if __name__ == '__main__':
+    initlize_node()

Diff for: fc_ros_tutorials/demo_ros_custom_messages/custom_msg_example1/ros/src/custom_msg_cpp_simple_node.cpp

@@ -0,0 +1,61 @@
+/**
+ * custom_msg_simple_node.cpp
+ *
+ * Created on: September 08, 2014
+ * Author: Shehzad Ahmed
+ **/
+
+#include <ros/ros.h>
+#include <custom_msg_example1/NodeInfo.h>
+ #include <custom_msg_example1/NodesInfo.h>
+
+
+
+int main(int argc, char *argv[])
+{
+    /**
+     * Initilization of ROS
+     **/
+    ros::init(argc, argv, "custom_msg_simple_node");
+
+    /**
+     * Initilization of node by using node handle
+     **/
+    ros::NodeHandle nh("~");
+    
+    /**
+     * Printing Information message on the console.
+     **/
+    ROS_INFO("custom_msg_cpp_simple_node is now running");
+
+    /*
+     * Filling a simple custom message
+     */
+    custom_msg_example1::NodeInfo node_info_msg;
+
+    node_info_msg.node_name.data = "custom_msg_cpp_simple_node";
+    node_info_msg.node_status.data = false;
+    node_info_msg.node_id.data = 1;
+
+    /*
+     * Filling a an array custom message
+     */
+    int number_of_nodes = 5;
+    custom_msg_example1::NodesInfo nodes_info_msg;
+    nodes_info_msg.node_name.resize(number_of_nodes);
+    nodes_info_msg.node_status.resize(number_of_nodes);
+    nodes_info_msg.node_id.resize(number_of_nodes);
+
+    for(int i=0;i < number_of_nodes; i++) {
+        nodes_info_msg.node_name.at(i).data = "custom_msg_cpp_simple_node ";
+        nodes_info_msg.node_status.at(i).data = false;
+        nodes_info_msg.node_id.at(i).data = i;
+    }
+
+    /**
+     * Running a thread to keep spinning untill the user kills the node.
+     **/
+    ros::spin();
+
+    return 0;
+}