diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e1f710d026afc4c1b4b72e4b9c122cb0c644e9db
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,13 @@
+# Ignore the "build" and "devel" folder of the catkin_ws
+catkin_ws/build/
+catkin_ws/devel/
+
+# Ignore the ".catkin_workspace" file of the catkin_ws
+catkin_ws/.catkin_workspace
+
+# Ignore the auto-generated "CMakeLists.txt" of the catkin_ws
+catkin_ws/src/CMakeLists.txt
+
+# Ignore swp files and other typically unwanted files
+*.swp
+.DS_Store
diff --git a/catkin_ws/.vscode/c_cpp_properties.json b/catkin_ws/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000000000000000000000000000000000000..d535515eab12dd1eb386768ddb625a29acf282d7
--- /dev/null
+++ b/catkin_ws/.vscode/c_cpp_properties.json
@@ -0,0 +1,22 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/noetic/include/**",
+        "/home/chenjiel/my-messages/catkin_ws/src/my_messages_pkg/include/**",
+        "/usr/include/**",
+        "/home/chenjiel/my-messages/catkin_ws/devel/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/catkin_ws/.vscode/settings.json b/catkin_ws/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b3320327321b65b70b1f33cda044341e3a3942
--- /dev/null
+++ b/catkin_ws/.vscode/settings.json
@@ -0,0 +1,13 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages",
+        "/home/chenjiel/my-messages/catkin_ws/devel/lib/python3"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/noetic/lib/python3/dist-packages"
+    ],
+    "files.associations": {
+        "typeindex": "cpp",
+        "typeinfo": "cpp"
+    }
+}
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/CMakeLists.txt b/catkin_ws/src/my_messages_pkg/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..159df870e24674baa2091bbf111725d161dfa69d
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/CMakeLists.txt
@@ -0,0 +1,226 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(my_messages_pkg)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  person.msg
+)
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES my_messages_pkg
+ CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/my_messages_pkg.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/my_messages_pkg_node.cpp)
+add_executable(c_publisher src/c_publisher.cpp)
+add_executable(c_subscriber src/c_subscriber.cpp)
+add_executable(demon_msg_pub src/demon_msg_pub.cpp)
+add_executable(demon_msg_sub src/demon_msg_sub.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(demon_msg_pub ${PROJECT_NAME}_generate_messages_cpp)
+add_dependencies(demon_msg_sub ${PROJECT_NAME}_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(c_publisher
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(c_subscriber
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(demon_msg_pub
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(demon_msg_sub
+  ${catkin_LIBRARIES}
+)
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  scripts/demo_pub_p.py
+  scripts/demo_sub_p.py
+  scripts/demo_pub_def.py
+  scripts/demo_sub_def.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_messages_pkg.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/catkin_ws/src/my_messages_pkg/launch/pub_sub.launch b/catkin_ws/src/my_messages_pkg/launch/pub_sub.launch
new file mode 100644
index 0000000000000000000000000000000000000000..29b4fac4749b6d56073b035ffed0f39f36d305f4
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/launch/pub_sub.launch
@@ -0,0 +1,7 @@
+<launch>
+
+    <node pkg = "my_messages_pkg" type = "c_publisher" name = "Pub_launch"  />
+    <node pkg = "my_messages_pkg" type = "c_subscriber" name = "Sub_launch"  />
+
+
+</launch>
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/msg/person.msg b/catkin_ws/src/my_messages_pkg/msg/person.msg
new file mode 100644
index 0000000000000000000000000000000000000000..eb170f6eb9844c21ca9ebee348cf0d742c013f88
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/msg/person.msg
@@ -0,0 +1,3 @@
+string name
+int32 age
+float32 height
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/package.xml b/catkin_ws/src/my_messages_pkg/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..e1e21723665feebdd10ff595b8a854edeb44d88e
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/package.xml
@@ -0,0 +1,72 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>my_messages_pkg</name>
+  <version>0.0.0</version>
+  <description>The my_messages_pkg package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="chenjiel@todo.todo">chenjiel</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/my_messages_pkg</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>message_generation</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>rospy</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>
diff --git a/catkin_ws/src/my_messages_pkg/scripts/demo_pub_def.py b/catkin_ws/src/my_messages_pkg/scripts/demo_pub_def.py
new file mode 100755
index 0000000000000000000000000000000000000000..be1ce2dcbc227f2a82145d7ab474dfba73170e8d
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/scripts/demo_pub_def.py
@@ -0,0 +1,20 @@
+import rospy
+from my_messages_pkg.msg import person
+
+if __name__ == "__main__":
+
+    rospy.init_node("Define_msg")
+
+    pub = rospy.Publisher("zidingyi",person,queue_size=10)
+
+    p = person()
+    p.name = "chenjie"
+    p.age = 25
+    p.height = 1.75
+    rate = rospy.Rate(1)
+
+    while not rospy.is_shutdown():
+        pub.publish(p)
+        rate.sleep()
+    
+    pass
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/scripts/demo_pub_p.py b/catkin_ws/src/my_messages_pkg/scripts/demo_pub_p.py
new file mode 100755
index 0000000000000000000000000000000000000000..daea500a38a1ee3ee6f0de20993bfaa6779489e5
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/scripts/demo_pub_p.py
@@ -0,0 +1,24 @@
+import rospy
+from std_msgs.msg import String
+
+if __name__ == "__main__":
+
+    rospy.init_node("Chenjie_Python")
+
+    pub = rospy.Publisher("che",String,queue_size=10)
+
+    msg = String()
+
+    rate = rospy.Rate(1)
+
+    count = 0
+
+    while not rospy.is_shutdown():
+        count += 1
+        msg.data = "hello" + str(count)
+        pub.publish(msg)
+        rate.sleep()
+    
+    pass
+
+
diff --git a/catkin_ws/src/my_messages_pkg/scripts/demo_sub_def.py b/catkin_ws/src/my_messages_pkg/scripts/demo_sub_def.py
new file mode 100755
index 0000000000000000000000000000000000000000..700d8ba28190d85ac81c4787cff818d444e7f542
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/scripts/demo_sub_def.py
@@ -0,0 +1,16 @@
+import rospy
+from my_messages_pkg.msg import person
+
+def doMsg(p):
+    rospy.loginfo("subscription:%s,%d,%.2f",p.name,p.age,p.height)
+
+
+if __name__ == "__main__":
+
+    rospy.init_node("Define_msg_2")
+
+    sub = rospy.Subscriber("zidingyi",person,doMsg,queue_size=10)
+
+    rospy.spin()
+    
+    pass
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/scripts/demo_sub_p.py b/catkin_ws/src/my_messages_pkg/scripts/demo_sub_p.py
new file mode 100755
index 0000000000000000000000000000000000000000..02c3fa12dd2f8148e9b5e2ccc58cc93e9a2692bd
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/scripts/demo_sub_p.py
@@ -0,0 +1,16 @@
+import rospy
+from std_msgs.msg import String
+
+def doMsg(msg):
+    rospy.loginfo("subscription:%s",msg.data)
+
+
+if __name__ == "__main__":
+
+    rospy.init_node("Chenjie_Python2")
+
+    sub = rospy.Subscriber("che",String,doMsg,queue_size=10)
+
+    rospy.spin()
+    
+    pass
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/src/c_publisher.cpp b/catkin_ws/src/my_messages_pkg/src/c_publisher.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..6c3f91839b9be6dccaef59d1d3c77d9e6af2d446
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/src/c_publisher.cpp
@@ -0,0 +1,19 @@
+#include "ros/ros.h"
+#include <ros/package.h>
+#include "std_msgs/String.h"
+
+int main(int argc, char* argv[])
+{
+    // Initialise the node
+    ros::init(argc, argv, "chenjiel_node");
+    ros::NodeHandle nh;
+    ros::Publisher pub = nh.advertise<std_msgs::String>("fang",10);
+    std_msgs::String msg;
+    while (ros::ok())
+    {
+        msg.data = "hello";
+        pub.publish(msg);
+    }
+    // Main has ended, return 0
+    return 0;
+}
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/src/c_subscriber.cpp b/catkin_ws/src/my_messages_pkg/src/c_subscriber.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fd57a450a8d76b90a55a47ce30a475f6fba81f3a
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/src/c_subscriber.cpp
@@ -0,0 +1,19 @@
+#include "ros/ros.h"
+#include <ros/package.h>
+#include "std_msgs/String.h"
+
+void doMsg(const std_msgs::String::ConstPtr &msg){
+    ROS_INFO("CHENJIEL:%s",msg->data.c_str());
+}
+
+int main(int argc, char* argv[])
+{
+    // Initialise the node
+    ros::init(argc, argv, "chenjiel_node2");
+    ros::NodeHandle nh;
+    ros::Subscriber sub = nh.subscribe("fang",10,doMsg);
+    
+    ros::spin();
+    // Main has ended, return 0
+    return 0;
+}
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/src/demon_msg_pub.cpp b/catkin_ws/src/my_messages_pkg/src/demon_msg_pub.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..4b71bd386b891c28ab75aed7ec4aed0e9c04de88
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/src/demon_msg_pub.cpp
@@ -0,0 +1,29 @@
+#include "ros/ros.h"
+#include "my_messages_pkg/person.h"
+
+int main(int argc, char* argv[])
+{
+    // Initialise the node
+    setlocale(LC_ALL,"");
+    ros::init(argc, argv, "banzhuren");
+    ros::NodeHandle nh;
+    ros::Publisher pub = nh.advertise<my_messages_pkg::person>("Chat",10);
+    
+    my_messages_pkg::person person_list;
+    person_list.name = "张三";
+    person_list.age = 1;
+    person_list.height = 1.73;
+
+    ros::Rate rate(1);
+
+    while (ros::ok())
+    {
+        person_list.age += 1;
+        pub.publish(person_list);
+        rate.sleep();
+
+        ros::spinOnce();
+    }
+    // Main has ended, return 0
+    return 0;
+}
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/src/demon_msg_sub.cpp b/catkin_ws/src/my_messages_pkg/src/demon_msg_sub.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..aa8284face53de224b7d26e5445c53ef22a98ebe
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/src/demon_msg_sub.cpp
@@ -0,0 +1,19 @@
+#include "ros/ros.h"
+#include "my_messages_pkg/person.h"
+
+void doPerson(const my_messages_pkg::person::ConstPtr& person_list){
+    ROS_INFO("订阅人的信息：%s,%d,%.2f",person_list->name.c_str(),person_list->age,person_list->height);
+
+}
+
+int main(int argc, char* argv[])
+{
+    // Initialise the node
+    setlocale(LC_ALL,"");
+    ros::init(argc, argv, "jiazhang");
+    ros::NodeHandle nh;
+    ros::Subscriber sub = nh.subscribe("Chat", 10, doPerson);
+
+    ros::spin();
+    return 0;
+}
\ No newline at end of file
diff --git a/catkin_ws/src/my_messages_pkg/src/encoder_save.cpp b/catkin_ws/src/my_messages_pkg/src/encoder_save.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..75bd8117d78ba86b90fdc76ab49e25d39f6f94a4
--- /dev/null
+++ b/catkin_ws/src/my_messages_pkg/src/encoder_save.cpp
@@ -0,0 +1,44 @@
+#include "ros/ros.h"
+#include <ros/package.h>
+#include "asclinic_pkg/LeftRightInt32.h"
+#include <fstream>
+
+ros::Subscriber m_subscriber;
+std::ofstream data_save_file
+
+void Callback(const asclinic_pkg::LeftRightInt32& msg){
+    ROS_INFO_STREAM("Received message - Left: " << msg.left << ", Right: " << msg.right << ", Seq_num: " << msg.seq_num);
+
+    // Append received data to the CSV file
+    if (data_save_file.is_open()) {
+        data_save_file << msg.left << ", " << msg.right << ", " << msg.seq_num << std::endl;
+    } else {
+        ROS_ERROR_STREAM("File encoder_data.csv is not open for writing.");
+    }
+}
+
+int main(int argc, char* argv[]){
+    ros::init(argc, argv, "receive_encoder");
+    ros::NodeHandle nh;
+
+    // Subscribe to the "asc/encoder_counts" topic
+    m_subscriber = nh.subscribe("asc/encoder_counts", 1, Callback);
+
+    // Open or clear the CSV file
+    outputFile.open("/home/asc/encoder_data.csv", std::ios::out | std::ios::trunc);
+    if (!data_save_file.is_open()) {
+        ROS_ERROR_STREAM("Unable to create/clear file encoder_data.csv");
+        return 1; // Exit with error
+    }
+
+    // Write header to the file
+    data_save_file << "Left, Right, Seq_num" << std::endl;
+
+    ROS_INFO_STREAM("Node started");
+    ros::spin();
+
+    // Close the file before exiting
+    data_save_file.close();
+    return 0;
+}
+