ROS beginner tutorials for ENPM808X A basic demonstration of communication between ROS nodes publishing and recieving "Hello World" messages.

The code can be built by cloning the repository:

<home>$ cd <workspace>/src
<workspace>/src$ git clone https://github.com/mjerrar/beginner_tutorials
<workspace>/src$ cd ..
<workspace>$ catkin_make 

Execute following command start ROS core service:

$ roscore

Open new terminal and enter following command to run the publisher node 'talker'.

cd <path to catkin_ws>
source devel/setup.bash
$ rosrun beginner_tutorials talker

Open another terminal and enter following command to run the subscriber node 'listener'.

$ rosrun beginner_tutorials listener

To launch with a launch file, run the following command in a new terminal

cd <path to catkin_ws>
source devel/setup.bash
roslaunch beginner_tutorials begin.launch

A ROS service in this package can be utilised to change the message being published. To do this, launch both the talker and listener nodes either by rosrun or using roslaunch. In a new terminal, run the following commands:

cd <path to catkin_ws>
source devel/setup.bash
rosservice call /ChangeStr <desired message>

An example rosservice call:

rosservice call /ChangeStr "Annoyed"

* ROS Kinetic

to install follow instructions at http://wiki.ros.org/kinetic/Installation