added cpp and python nodes in ros section

Author: Adam Ligocki

ros/.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

ros/.gitignore

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+**/build/
+**/devel/
+**/.idea/
+**/cmake*/
+**/__pycache__/
+**/.catkin_workspace

ros/src/CMakeLists.txt

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+/opt/ros/noetic/share/catkin/cmake/toplevel.cmake

ros/src/cpp_node/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(cpp_node)
+
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES cpp_node
+#  CATKIN_DEPENDS roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+include_directories( ${catkin_INCLUDE_DIRS} )
+
+add_executable(${PROJECT_NAME} src/main.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} )

ros/src/cpp_node/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>cpp_node</name>
+  <version>1.0.0</version>
+  <description>The cpp_node package</description>
+
+  <maintainer email="[email protected]">Adam Ligocki</maintainer>
+
+  <license>MIT</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+</package>

ros/src/cpp_node/src/main.cpp

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+#include <ros/ros.h>
+#include <std_msgs/Header.h>
+
+#include <sstream>
+
+class Controller {
+
+public:
+
+    Controller(ros::NodeHandle& node)
+    : node_{node} {
+        publisher_ = node_.advertise<std_msgs::Header>("cpp_to_python", 0);
+        subscriber_ = node_.subscribe("rust_to_cpp", 1 , &Controller::subscriber_callback, this);
+        timer_ = node_.createTimer(ros::Duration(0.1), &Controller::timer_callback, this);
+    }
+
+private:
+
+    void subscriber_callback (const std_msgs::Header& msg) const {
+        std::cout << "Received msg with seq: " << msg.seq << std::endl;
+    }
+
+    void timer_callback (const ros::TimerEvent& event) const {
+
+        std_msgs::Header msg;
+        msg.frame_id = "map";
+        msg.stamp = ros::Time::now();
+        publisher_.publish(msg);
+    }
+
+    ros::NodeHandle& node_;
+
+    ros::Publisher publisher_;
+    ros::Subscriber subscriber_;
+    ros::Timer timer_;
+};
+
+int main(int argc, char **argv) {
+
+    ros::init(argc, argv, "cpp_node");
+    ros::NodeHandle n;
+
+    auto controller = Controller(n);
+
+    ros::spin();
+    return 0;
+}

ros/src/python_node/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.0.2)
+project(python_node)
+
+find_package(
+  catkin REQUIRED COMPONENTS rospy
+)
+catkin_python_setup()
+catkin_package()
+
+catkin_install_python(PROGRAMS bin/main DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

ros/src/python_node/bin/main

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+#! /usr/bin/env python3
+
+import python_node.Controller as cnt
+import rospy
+from std_msgs.msg import Header
+
+if __name__ == '__main__':
+
+    a = Header
+    rospy.init_node('python_node', anonymous=True)
+
+    controller = cnt.Controller()
+
+    rospy.spin()
+
+

ros/src/python_node/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>python_node</name>
+  <version>1.0.0</version>
+  <description>The example python_node package</description>
+
+  <maintainer email="[email protected]">Adam Ligocki</maintainer>
+  <license>MIT</license>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>rospy</build_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <exec_depend>rospy</exec_depend>
+
+</package>

ros/src/python_node/setup.py

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+## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    packages=['python_node'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)