吴俊昱的作业1-5

homework/1.话题通信/code/hw1.WJY/CMakeLists.txt.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(string_converter)
+
+## Find catkin and any catkin packages
+find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
+
+## Declare a catkin package
+catkin_package()
+
+## Build the subscriber node
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(string_converter_subscriber src/subscriber_node.cpp)
+target_link_libraries(string_converter_subscriber ${catkin_LIBRARIES})
+
+## Build the publisher node
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_executable(string_converter_publisher src/publisher_node.cpp)
+target_link_libraries(string_converter_publisher ${catkin_LIBRARIES})

homework/1.话题通信/code/hw1.WJY/publisher_node.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <string>
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "string_converter_publisher");
+
+    ros::NodeHandle nh;
+    ros::Publisher pub = nh.advertise<std_msgs::String>("input_topic", 1000);
+
+    ros::Rate loop_rate(1);
+
+    while (ros::ok())
+    {
+        // ��ȡ�����ַ���
+        std::string input_str;
+        std::cout << "Please enter a string: ";
+        std::getline(std::cin, input_str);
+
+        // ���������ַ���
+        std_msgs::String msg;
+        msg.data = input_str;
+        pub.publish(msg);
+
+        ros::spinOnce();
+        loop_rate.sleep();
+    }
+
+    return 0;
+}

homework/1.话题通信/code/hw1.WJY/subscriber_node.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <string>
+
+void stringCallback(const std_msgs::String::ConstPtr& msg)
+{
+	// ����Ϣת��Ϊ��д
+	std::string upper_str = msg->data;
+	std::transform(upper_str.begin(), upper_str.end(), upper_str.begin(), ::toupper);
+
+	// ����ת�������Ϣ
+	ros::NodeHandle nh;
+	ros::Publisher pub = nh.advertise<std_msgs::String>("output_topic", 1000);
+	std_msgs::String output_msg;
+	output_msg.data = upper_str;
+	pub.publish(output_msg);
+}
+
+int main(int argc, char** argv)
+{
+	ros::init(argc, argv, "string_converter_subscriber");
+
+	ros::NodeHandle nh;
+	ros::Subscriber sub = nh.subscribe("input_topic", 1000, stringCallback);
+
+	ros::spin();
+
+	return 0;
+}

homework/2.服务通信/hw2.WJY/add_two_ints_client.cpp

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+#include "ros/ros.h"
+#include "ros_tutorials_service/AddTwoInts.h"
+#include <cstdlib>
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "add_two_ints_client");
+    if (argc != 3)
+    {
+        ROS_INFO("usage: add_two_ints_client X Y");
+        return 1;
+    }
+
+    ros::NodeHandle nh;
+    ros::ServiceClient client = nh.serviceClient<ros_tutorials_service::AddTwoInts>("add_two_ints");
+    ros_tutorials_service::AddTwoInts srv;
+    srv.request.a = atoll(argv[1]);
+    srv.request.b = atoll(argv[2]);
+    if (client.call(srv))
+    {
+        ROS_INFO("Sum: %ld", (long int)srv.response.sum);
+    }
+    else
+    {
+        ROS_ERROR("Failed to call service add_two_ints");
+        return 1;
+    }
+
+    return 0;
+}

homework/2.服务通信/hw2.WJY/add_two_ints_server.cpp

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+#include "ros/ros.h"
+#include "ros_tutorials_service/AddTwoInts.h"
+
+bool add(ros_tutorials_service::AddTwoInts::Request& req,
+    ros_tutorials_service::AddTwoInts::Response& res)
+{
+    res.sum = req.a + req.b;
+    ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
+    ROS_INFO("sending back response: [%ld]", (long int)res.sum);
+    return true;
+}
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "add_two_ints_server");
+    ros::NodeHandle nh;
+
+    ros::ServiceServer service = nh.advertiseService("add_two_ints", add);
+    ROS_INFO("Ready to add two ints.");
+    ros::spin();
+
+    return 0;
+}

homework/2.服务通信/hw2.WJY/cmakelist.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(ros_tutorials_service)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+add_service_files(
+  FILES
+  AddTwoInts.srv
+)
+
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+catkin_package(
+  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+)
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(add_two_ints_server src/add_two_ints_server.cpp)
+target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
+add_dependencies(add_two_ints_server ros_tutorials_service_gencpp)
+

homework/2.服务通信/hw2.WJY/ddd

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+cxcxc

homework/3.参数服务器/hw3.WJY/CMakeLists.txt.txt

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+add_executable(yaml_publisher src/yaml_publisher.cpp)
+target_link_libraries(yaml_publisher ${catkin_LIBRARIES} yaml-cpp)
+
+add_executable(yaml_subscriber src/yaml_subscriber.cpp)
+target_link_libraries(yaml_subscriber ${catkin_LIBRARIES})

homework/3.参数服务器/hw3.WJY/yaml_publisher.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+#include <yaml-cpp/yaml.h>
+
+int main(int argc, char** argv) {
+    // ��ʼ��ROS�ڵ�
+    ros::init(argc, argv, "yaml_publisher");
+    ros::NodeHandle nh;
+
+    // ��yaml�ļ��ж�ȡ����
+    YAML::Node params = YAML::LoadFile("/path/to/my_yaml.yaml");
+    std::string my_param = params["my_param"].as<std::string>();
+
+    // �������ⷢ����
+    ros::Publisher pub = nh.advertise<std_msgs::String>("yaml_param", 10);
+
+    // ��������ֵ
+    ros::Rate rate(10); // 10 Hz
+    while (ros::ok()) {
+        std_msgs::String msg;
+        msg.data = my_param;
+        pub.publish(msg);
+        rate.sleep();
+    }
+
+    return 0;
+}

homework/3.参数服务器/hw3.WJY/yaml_subscriber.cpp

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+#include <ros/ros.h>
+#include <std_msgs/String.h>
+
+void callback(const std_msgs::String::ConstPtr& msg) {
+    ROS_INFO("Received: %s", msg->data.c_str());
+}
+
+int main(int argc, char** argv) {
+    // ��ʼ��ROS�ڵ�
+    ros::init(argc, argv, "yaml_subscriber");
+    ros::NodeHandle nh;
+
+    // �������ⶩ����
+    ros::Subscriber sub = nh.subscribe("yaml_param", 10, callback);
+
+    // �����¼�ѭ��
+    ros::spin();
+
+    return 0;
+}

homework/4.使用launch文件/hw4.WJY/yaml.launch.txt

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+<launch>
+  <param name="my_param" type="string" value="$(find my_package)/config/my_yaml.yaml" />
+  <!-- 从参数服务器中读取my_param参数，该参数的值为my_package包中config文件夹下的my_yaml.yaml文件的路径 -->
+
+  <node name="yaml_publisher" type="yaml_publisher" output="screen" />
+  <!-- 启动yaml_publisher节点 -->
+
+  <node name="yaml_subscriber" type="yaml_subscriber" output="screen" />
+  <!-- 启动yaml_subscriber节点 -->
+</launch>