【校赛】ros做题

 创建接口工作空间

必须-p递归创建

mkdir -p ws01_plumbing/src
cd ws01_plumbing/
colcon build

 创建接口功能包

cd src/
ros2 pkg create --build-type ament_cmake base_interfaces_demo

warning就对了

topic题1

ws01_plumbing/src下

创建依赖于pkg_interfaces的包

ros2 pkg create cpp01_topic --build-type ament_cmake --dependencies rclcpp std_msgs base_interfaces_demo

 这里视频和文档里面不一样，视频先发布了一个demo01_talker_str节点(与cpp文件同名）

ws01_plumbing/src/cpp01_topic/src/demo01_talker.cpp

头文件红线includepath加上

/opt/ros/humble/include/**

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
 using namespace std::chrono_literals;
 // 3.定义节点类；class MinimalPublisher : public rclcpp::Node
 {
 public:
 MinimalPublisher()
 : Node("minimal_publisher"), count_(0)
 {
 // 3-1.创建发布方；
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
 // 3-2.创建定时器；
timer_=this->create_wall_timer(500ms,std::bind(&MinimalPublisher::timer_callback,
 this));
 }
 private:
 void timer_callback()
 {
 // 3-3.组织消息并发布。
 private:
 void timer_callback(){
 auto message = std_msgs::msg::String();
 message.data = "Hello, world! " + std::to_string(count_++);
 RCLCPP_INFO(this->get_logger(), "发布的消息：'%s'", message.data.c_str());
 publisher_->publish(message);
 }
 rclcpp::TimerBase::SharedPtr timer_;
 rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
 size_t count_;
 };
 int main(int argc, char * argv[]){
 // 2.初始化ROS2客户端；
rclcpp::init(argc, argv);
 // 4.调用spin函数，并传入节点对象指针。
rclcpp::spin(std::make_shared<MinimalPublisher>());
 // 5.释放资源；
rclcpp::shutdown();
 return 0;
 }

这里可以build一下

ws01_plumbing下

colcon build

 

 ws01_plumbing/src/cpp01_topic/src/demo02_listener.cpp

// 1.包含头文件；

#include "rclcpp/rclcpp.hpp"

#include "std_msgs/msg/string.hpp"

using std::placeholders::_1;

// 3.定义节点类；

class MinimalSubscriber : public rclcpp::Node 

{

  public:  

    MinimalSubscriber()   

    : Node("minimal_subscriber")    

    {      

      // 3-1.创建订阅方；   

     subscription_ = this->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));    

      }  

 private:    

    // 3-2.处理订阅到的消息；    

    void topic_callback(const std_msgs::msg::String & msg) const    

    {      

      RCLCPP_INFO(this->get_logger(), "订阅的消息： '%s'", msg.data.c_str());       }    

      rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_; 

};

int main(int argc, char * argv[])

{  

  // 2.初始化 ROS2 客户端；  

  rclcpp::init(argc, argv);  

  // 4.调用spin函数，并传入节点对象指针。  rclcpp::spin(std::make_shared<MinimalSubscriber>());  

  // 5.释放资源；  

  rclcpp::shutdown();  

  return 0; 

} 

ws01_plumbing/src/cpp01_topic/src/package.xml无需编辑

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>cpp01_topic</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="shuling@todo.todo">shuling</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <depend>base_interfaces_demo</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

ws01_plumbing/src/cpp01_topic/src/CMakelists.txt

add_executable

依赖std_msgs

cmake_minimum_required(VERSION 3.8)
project(cpp01_topic)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(base_interfaces_demo REQUIRED) 



add_executable(demo01_talker src/demo01_talker.cpp) ament_target_dependencies(  

  demo01_talker  

  "rclcpp"  

  "std_msgs" 

) 



add_executable(demo02_listener src/demo02_listener.cpp) ament_target_dependencies(  

 demo02_listener  

 "rclcpp"  

 "std_msgs" 

) 



install(TARGETS  

 demo01_talker  

 demo02_listener  

 DESTINATION lib/${PROJECT_NAME}) 
 
 
 
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

ws01_plumbing下

colcon build --packages-select base_interfaces_demo

colcon build --packages-select cpp01_topic