目录
1.创建工作空间
mkdir -p ~/test_ws/src
cd ~/test_ws/src
catkin_init_workspace
cd ~/test_ws
catkin_make
2.创建功能包
cd ~/tets_ws/src
catkin_create_pkg test_msg roscpp std_msgs
在test_msg里创建msg文件夹,在里面创建t_msg.msg文件
Header header
int32 demo_int
float64 demo_double
3.创建test_msg.cpp文件
#include <ros/ros.h>
#include <test_msg/t_msg.h>
#include <math.h>
int main(int argc,char **argv){
ros::init(argc,argv,"example_ros_message_publisher");
ros::NodeHandle n;
ros::Publisher my_publisher_object=n.advertise<test_msg::t_msg>("example_topic",1);
test_msg::t_msg my_new_message;
ros::Rate naptime(1.0);
my_new_message.header.stamp=ros::Time::now();
my_new_message.header.seq=0;
my_new_message.header.frame_id="base_frame";
my_new_message.demo_int=1;
my_new_message.demo_double=100.0;
double sqrt_arg;
while(ros::ok())
{
my_new_message.header.seq++;
my_new_message.header.stamp=ros::Time::now();
my_new_message.demo_int*=2.0;
sqrt_arg=my_new_message.demo_double;
my_new_message.demo_double=sqrt(sqrt_arg);
my_publisher_object.publish(my_new_message);
naptime.sleep();
}
}
4.修改cmake文件
cmake_minimum_required(VERSION 3.0.2)
project(test_msg)
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
std_msgs
)
add_message_files(FILES t_msg.msg)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(CATKIN_DEPENDS message_runtime)
include_directories(${catkin_INCLUDE_DIRS})
add_executable(test_msg src/test_msg.cpp)
add_dependencies(test_msg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(test_msg ${catkin_LIBRARIES})
5.修改package.xml文件,添加
<build_depend>message_generation</build_depend>
<build_export_depend>message_generation</build_export_depend>
<exec_depend>message_runtime</exec_depend>
6.编译
cd ~/test_ws
source devel/setup.bash
rosrun test_msg test_msg
查看消息,一定要source 不然会报错
cd ~/test_ws
source devel/setup.bash
rostopic echo /example_topic