节点(Node) 是指 ROS 网络中可执行文件。接下来,我们将会创建一个发布器节点,它将不断的在 ROS 网络中广播消息。
1. 创建软件包
新建包:
catkin_create_pkg turtle_move roscpp rospy
新建msg文件:
cd src/turtle_move/
mkdir msg
新建foo.msg
int16 foo
更改package.xml文件,添加编译和运行依赖:
<build_depend>message_generation</build_depend>
<run_depend>message_runtime</run_depend>
<run_depend>message_generation</run_depend>
修改CmakeLists.txt文件:
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
message_generation ##添加
)
## Generate messages in the 'msg' folder
add_message_files( ##取消注释; 生成消息;
FILES
# Message1.msg
# Message2.msg
foo.msg ##添加
)
## Generate added messages and services with any dependencies listed here
generate_messages( #取消注释;
DEPENDENCIES
std_msgs # Or other packages containing msgs
)
编译:
catkin_make
编译结果:生成C++代码, 如图:
2.编写消息发布程序
move_publisher.cpp
/* 该程序主要功能:
* 1. 初始化ROS系统,
* 2.在turtle1/cmd_vel 话题上发布消息;
* 3.以每秒10次的频率发布消息; */
*
#include<ros/ros.h>
#include<geometry_msgs/Twist.h>
int main(int argc,char **argv)
//int main(int argc, char **argv) // argc表示参数个数,**argv表示参数;
{
ros::init(argc,argv,"move_publisher"); //参数初始化,节点名称命名为move_publisher,运行过程节点的名称必须唯一;
ros::NodeHandle n; //为该进程节点创建一个句柄. 第一个创建的NodeHandle会为节点进行初始化,最后一个销毁的NodeHandle则会释放该节点所用的所有资源;
//type,topic;缓冲区大小,即消息池容量为1000,如缓冲区消息大于该容量的时候就会丢弃之前发布的消息;
ros::Publisher pub=n.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",1000);
geometry_msgs::Twist tw; //实例化该消息;
tw.angular.z=2; //赋值,设置线速度/角速度;
tw.angular.x=0;
tw.angular.y=0;
tw.linear.x=2;
tw.linear.y=0;
tw.linear.z=0;
//发布频率,默认构造函数,在此设为10Hz; 会追踪自上一次调用rate.sleep()后时间的流逝,并休眠直到一个频率周期的时间;
ros::Rate rate(10);
// 发布该消息
while(ros::ok())
//roscpp会默认生成一个SIGINT句柄,负责处理ctrl+C操作,按下时,该句柄会返回False;
{
pub.publish(tw); // 制定需要发布的消息;
ros::spin(); // 在此处固定等待消息进入循环,而ros::spinonce()循环一次后,执行回调函数;如果程序中包含其他的回调函数,则用ros::spinonce();
}
rate.sleep(); // 到达指定时间后休眠,使得发布频率为10;
}
修改:CmakeLists.txt ,
将相关行取消注释,
###########
## Build ##
###########
## 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(${PROJECT_NAME}_node src/turtle_move_node.cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
改为:
###########
## Build ##
###########
## 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(move_publisher src/move_publisher.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(move_publisher
${catkin_LIBRARIES}
)
catkin_make 进行编译:
使用指令,只编译该包:
catkin_make -DCATKIN_WHITELIST_PACKAGES="turtle_move"
消息发布编写完成。。。