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ros_node_tutorial

ROS_Foundation_Programming

Topic1. Publisher-Subscriber

$ roscore

$ rosrun ros_node_tutorial topic_publisher

$ rosrun ros_node_tutorial topic_subscriber

Topic2. Service server-Service client

$ roscore

$ rosrun ros_node_tutorial service_server

$ rosrun ros_node_tutorial service_client number1(type:int64) number2(type:int64) 

(example : $ rosrun ros_node_tutorial action_client 3 2)

Topic3. Action server-Action client

$ roscore

$ rosrun ros_node_tutorial action_server

$ rosrun ros_node_tutorial action_client

Topic4. Parameter(example:Service node)

$ roscore

$ rosrun ros_node_tutorial action_param_server

<parameter setting & service execution>

	1) parameter setting 
		
		$ rosparam set /calculation_method number
		* number range(1(+),2(-),3(*),4(/))
		
	2) service execution
		
		$ rosparam call /ros_tutorial_srv number1(type:int64) number2(type:int64)
		
		(example : $ rosparam call /ros_tutorial_srv 10 5)

Topic5. roslaunch

case 1:
	
	$ roscore

	$ roslaunch ros_tutorial_topic union.launch --screen
	
	$ rqt_graph
	
case 2:

	$ roscore
	
	$ roslaunch ros_tutorial_topic union_2.launch --screen
	
	$ rqt_graph

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