1) Write two ROS programs to implement two nodes. The first node should incorporate a subscriber and publisher to the same topic called "transfer". The node receives a string of characters from the topic and sends back an integer value containing the number of characters in the string. The second node also incorporates a subscriber and publisher to the "transfer" topic. The node sends a random length (from 1 to 10 character) string of characters to the topic and receives an integer from the topic containing the number of characters in the string. The string sent should include random ASCII alphabetical characters. The second node sending the string should send a new string at a rate of 50HZ. Use ROS_INFO() in each node to print the resulting data received to the screen.

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