Sample code and configuration to get started with creating ROS pubsub nodes

2016-04-19: Fixed CMakeLists.txt dependency issue & updated this README
2016-04-18: Original version

Make sure ROS is properly installed on your machine by follow these instructions:

http://gcc-robotics.github.io/robot-motion-planning-labs/lab0-setting-up/

A. Create Catkin workspace in your home directory:

mkdir -p ~/catkin_ws/src  

B. Initialize the workspace:

cd ~/catkin_ws/src  
catkin_init_workspace  
cd ~/catkin_ws  
catkin_make  

C. Load the proper environment:

source devel/setup.bash  

D. Verify that your workspace is in ROS's path:

echo $ROS_PACKAGE_PATH  

YOU SHOULD SEE: /home/YOUR_USER_NAME/catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks

E. Clone the sample code from GitHub:

cd ~/catkin_ws/src  
git clone https://github.com/khanoyan/sample_pubsub.git  

F. Build the code:

cd ~/catkin_ws  
catkin_make  

There are three examples included:

A. Open 3 shell windows

B. In all 3 shells, load the environment

source ~/catkin_ws/devel/setup.bash

C. In the first window, run the master node

roscore

D. In the second and third windows, run either of these pair of nodes

For simple pubsub with two std_msg types

rosrun sample_pubsub mytalker
rosrun sample_pubsub mylistener

For simple pubsub with custom messsage types

rosrun sample_pubsub mytalker2
rosrun sample_pubsub mylistener2

For bi-directional pub-sub node example

rosrun sample_pubsub fizz
rosrun sample_pubsub buzz