ROS发布&订阅字符串

最新推荐文章于 2024-05-31 19:13:49 发布

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最新推荐文章于 2024-05-31 19:13:49 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/CSS360/article/details/77371778

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Ros版本：Kinetic

Linux版本：Ubuntu16.04

Step1:创建工作分区

mkdir -p workSpace/src
cd ~/workSpace/src
catkin_init_workspace

Step2:创建工程包

(1)进入工作空间

cd ~/workSpace/src

(2)使用 catkin_create_pkg 命令创建,格式为：catkin_create_pkg+包名+std_msgs rospy roscpp（std_msgs rospy roscpp为包依赖）

catkin_create_pkg first std_msgs rospy roscpp

(3)编译工程包

cd ~/workSpace
catkin_make

Step3:书写发布节点

(1)切换到刚才创建的first工程包

cd ~/workSpace/src/first

(2)进入到src文件中

cd ./src

(3)创建publish.cpp文件

touch publish.cpp

(4)打开publish.cpp文件并书写下面代码

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main(int argc,char **argv)
{
	ros::init(argc,argv,"publish");
	ros::NodeHandle ch;
	ros::Publisher chatterPublish = ch.advertise<std_msgs::String>("chatter",1000);
	ros::Rate loop_rate(25);
	int count = 0;
	while(ros::ok())
	{
		std_msgs::String msg;
		std::stringstream stringStr;
		stringStr << count;
		msg.data = stringStr.str();
		ROS_INFO("%s",msg.data.c_str());
		chatterPublish.publish(msg);
		ros::spinOnce();
		loop_rate.sleep();
		++count;
	}
	return 0;
}

Step4:书写接收节点
(1)创建subscribe.cpp文件

touch subscribe.cpp

(2)打开subscribe.cpp文件并书写下面代码

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
	ROS_INFO("I heard : [%s]",msg->data.c_str());

}

int main(int argc,char **argv)
{
	ros::init(argc,argv,"subscribe");	

	ros::NodeHandle ch;
	ros::Subscriber chatterSubscribe = ch.subscribe("chatter",1000,chatterCallback);
	ros::spin();
	return 0;

}

Step5:编辑CMakeLists.txt文件

(1)切换到first工程包下

cd ..

(2)打开first工程包下CMakeLists.txt文件

gedit CMakeLists.txt

(3)在CMakeLists.txt文件后添加如下语句

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(publish src/publish.cpp)
target_link_libraries(publish ${catkin_LIBRARIES})


add_executable(subscribe src/subscribe.cpp)
target_link_libraries(subscribe ${catkin_LIBRARIES})

Step5:程序测试

(1)切换到workSpace 文件下

cd ~/workSpace

(2)编译工程包

catkin_make

(3)在运行ROS前,需要先打开核心程序

roscore

(4) 进行程序注册

cd ~/workSpace
source ./devel/setup.bash

(5)运行publish节点

source ./devel/setup.bash
rosrun first publish

(6)publish效果如下

[ INFO] [1503411559.389559783]: 728
[ INFO] [1503411559.429590639]: 729
[ INFO] [1503411559.469584022]: 730
[ INFO] [1503411559.509559116]: 731
[ INFO] [1503411559.549610605]: 732
[ INFO] [1503411559.589573180]: 733
[ INFO] [1503411559.629562030]: 734
[ INFO] [1503411559.669586479]: 735
[ INFO] [1503411559.709607218]: 736
[ INFO] [1503411559.749559386]: 737
[ INFO] [1503411559.789595977]: 738
[ INFO] [1503411559.829607695]: 739
[ INFO] [1503411559.869589854]: 740
[ INFO] [1503411559.909561388]: 741

(7)运行subscribe节点

source ./devel/setup.bash
rosrun first subscribe

(8)subscribe效果如下

[ INFO] [1503411559.389923540]: I heard : [728]
[ INFO] [1503411559.430051186]: I heard : [729]
[ INFO] [1503411559.470006422]: I heard : [730]
[ INFO] [1503411559.510059517]: I heard : [731]
[ INFO] [1503411559.550007881]: I heard : [732]
[ INFO] [1503411559.590005653]: I heard : [733]
[ INFO] [1503411559.630056561]: I heard : [734]
[ INFO] [1503411559.670017638]: I heard : [735]
[ INFO] [1503411559.710036361]: I heard : [736]
[ INFO] [1503411559.750000053]: I heard : [737]
[ INFO] [1503411559.789929008]: I heard : [738]
[ INFO] [1503411559.830030398]: I heard : [739]
[ INFO] [1503411559.869964462]: I heard : [740]
[ INFO] [1503411559.909935796]: I heard : [741]

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