ROS新手教程(talker/listener)

1.创建工作空间(和src)

mkdir -p  catkin_ws/src

2.初始化工作空间

# 初始化工作空间要在src文件夹下
cd  ~/catkin_ws/src
# 初始化工作空间，只在新建工作空间时运行一次即可
catkin_init_workspace 
# 执行后，src下会多出一个cmakelist.txt

3.编译工作空间

# 回到 工作空间catkin_ws目录下，编译必须在工作空间目录下
cd ..
catkin_make

4.将当前工作空间的路径加入环境变量

# 每次新开一个终端/改了代码等，都要source一下
source devel/setup.bash
# 查看当前环境变量
echo $ROS_PACKAGE_PATH

5.创建功能包ros_test

# 进入src
cd  src
# catkin_create_pkg+功能包名(ros_test)+依赖(std_msgs rospy roscpp)
catkin_create_pkg ros_test std_msgs rospy roscpp
# 进入功能包
cd ros_test
#  新建talker.cpp,listener.cpp
touch talker.cpp
touch listener.cpp

6.写talker.cpp,listener.cpp

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

int main(int argc, char **argv)
{

  ros::init(argc, argv, "talker");

  ros::NodeHandle n;   //定义节点句柄

  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); //定义发布者对象，<>里写该发布者消息类型，()里写话题名字，和缓存区大小；

  ros::Rate loop_rate(10);  //定义发布频率频率；

  int count = 0;
  
  while (ros::ok())
  {
    std_msgs::String msg;  //定义ros里的string类型的消息message对象；

    std::stringstream ss;
    ss << "hello world " << count;//将需要发布的消息存到ss里；
    msg.data = ss.str(); //将ss赋给msg.data;

    ROS_INFO("%s", msg.data.c_str()); //设置ROSINFO输出格式

    chatter_pub.publish(msg); //核心：发布

    ros::spinOnce();  //与回调相关；

    loop_rate.sleep();
    ++count;
  }
  return 0;
}

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

// 回调函数
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, "listener");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); //()里写订阅的话题名字，缓存区大小，收到消息后执行的回调函数

  ros::spin();

  return 0;
}

7.改写CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(ros_test)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

catkin_package(

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

add_executable(talker src/talker.cpp)  # 代表将src/talker.cpp编译成可执行文件talker
target_link_libraries(talker ${catkin_LIBRARIES})  # 将可执行文件talker与依赖库链接

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

# 写完重新编译并source一下
cd ~/catkin_ws
catkin_make
source devel/setup.sh

8.运行节点

8.1 运行roscore

roscore

8.2 运行talker

# 新打开一个终端
source devel/setup.bash
# 运行talker
# rosrun 包名 文件名
 rosrun ros_test talker  

8.3 运行listener

# 新打开一个终端
source devel/setup.bash
# 运行talker
# rosrun 包名 文件名
 rosrun ros_test listener

8.4 运行结果显示