Team Mission - ROS Topic

Project Name: ROS Topic

- This mission is an team project

- Message transmission using ROS publisher and subscriber.

- Send and receive messages you want to send to team members.

Let’s take integer data and find the sum.

1. Let’s apply ROS Publisher and Subscriber.

2. Publisher takes integer input from the user and publishes it as a message.

3. Subscriber outputs the sum of the received integers.

4. Hint!

user_input = int(input("Enter an integer: "))
rospy.loginfo("Published: %d", user_input)
pub.publish(user_input)

Let’s chat by sending a string.

1. Let’s apply ROS Publisher and Subscriber.

2. Publisher receives the user’s string and publishes it as a message.

3. Subscriber outputs the received string.

4. Hint!

user_input = input("Enter a string: ")
rospy.loginfo("Published: %s", user_input)
pub.publish(user_input)

received_char = data.data
rospy.loginfo("Received: %s", received_char)

Let’s separate the string and send it.

1. Let’s apply ROS Publisher and Subscriber.

2. Publisher receives the user’s string, divides it into characters and publishes it.

3. Subscriber outputs the received text.

4. Hint!

user_input = input("Enter a string: ")
for char in user_input:
        rospy.loginfo("Published: %s", char)
    pub.publish(char)

received_string = data.data
rospy.loginfo("Received: %s", received_string)

Let’s re-deliver the received message.

1. Let’s apply ROS Publisher and Subscriber.

2. Publisher1 sends the user’s string to Subscriber2, and Subscriber2 prints the received message and transmits it to Publisher2.

3. Publisher2 transmits the received string to Subscriber1.

4. Hint!

def callback1(data):
        rospy.loginfo("Received from Publisher2: %s", data.data)
        pub1.publish(data.data)

def callback2(data):
rospy.loginfo("Received from Publisher1: %s", data.data)
pub2.publish(data.data)

Let’s reverse the received message and re-send it (ex. Hello -> olleH)

1. Let’s apply ROS Publisher and Subscriber.

2. Publisher1 transmits the user’s string to Subscriber2, and Subscriber2 reverses the received message, prints it, and transmits it to Publisher2.

3. Publisher2 transmits the received string to Subscriber1.

4. Hint!

def callback1(data):
        rospy.loginfo("Received from        Publisher2: %s", data.data)
        pub1.publish(data)

def callback2(data):
    received_message = data.data
    reversed_message = received_message[::-1]
    rospy.loginfo("Received from Publisher1: %s", reversed_message)
    pub2.publish(reversed_message)