ROS学习笔记（三）：发布者Publisher的编程实现

最新推荐文章于 2023-06-02 17:04:21 发布

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最新推荐文章于 2023-06-02 17:04:21 发布

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分类专栏： ROS学习笔记文章标签： linux ubuntu

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一、创建功能包

$ cd ~/catkin_ws/src 要进入src文件夹才能创建功能包
$ catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim 创建learning_topic功能包

二、创建发布者代码

（一）、C++版

实现过程：

初始化ROS节点
向ROS Master注册节点信息，包括发布的话题名和话题中的消息类型
创建消息数据
按照一定频率循环发布消息

$ cd ~/catkin_ws/src/learning_topic/src 进入src目录
$ touch velocity_publisher.cpp 创建可执行C++文件
$ gedit velocity_publisher.cpp 在此文件里输入以下代码

/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/

/**
 * 该例程将发布turtle1/cmd_vel话题，消息类型geometry_msgs::Twist
 */
 
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char **argv)
{
	// ROS节点初始化
	ros::init(argc, argv, "velocity_publisher");

	// 创建节点句柄
	ros::NodeHandle n;

	// 创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度10
	ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);

	// 设置循环的频率
	ros::Rate loop_rate(10);

	int count = 0;
	while (ros::ok())
	{
	    // 初始化geometry_msgs::Twist类型的消息
		geometry_msgs::Twist vel_msg;
		vel_msg.linear.x = 0.5;
		vel_msg.angular.z = 0.2;

	    // 发布消息
		turtle_vel_pub.publish(vel_msg);
		ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]", 
				vel_msg.linear.x, vel_msg.angular.z);

	    // 按照循环频率延时
	    loop_rate.sleep();
	}

	return 0;
}

注：

上述操作也可以用鼠标实现

（二）、Python版

实现过程：

初始化ROS节点
向ROS Master注册节点信息，包括发布的话题名和话题中的消息类型
创建消息数据
按照一定频率循环发布消息

$ cd ~/catkin_ws/src/learning_topic
$ mkdir scripts 为了与C++版分开，在learning_topic目录下创建一个scripts文件夹，等价于此目录下C++版的src
$ cd scripts
$ touch velocity_publisher.py 创建可执行Python文件
$ gedit velocity_publisher.py 在此文件里输入以下代码

#!/usr/bin/env python
# -*- coding: utf-8 -*-

########################################################################
####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
########################################################################

# 该例程将发布turtle1/cmd_vel话题，消息类型geometry_msgs::Twist

import rospy
from geometry_msgs.msg import Twist

def velocity_publisher():
	# ROS节点初始化
	rospy.init_node('velocity_publisher', anonymous=True)

	# 创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度10
	turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)

	#设置循环的频率
	rate = rospy.Rate(10) 

	while not rospy.is_shutdown():# 初始化geometry_msgs::Twist类型的消息
	
		vel_msg = Twist()
		vel_msg.linear.x = 0.5
		vel_msg.angular.z = 0.2

		# 发布消息
		turtle_vel_pub.publish(vel_msg)
		rospy.loginfo("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",vel_msg.linear.x, vel_msg.angular.z)
		# 按照循环频率延时
		rate.sleep()

if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInterruptException:
        pass

修改velocity_publisher.py属性，在【权限】中“允许执行文件”前打上√

三、配置发布者代码编译规则（Python不用这一步）

实现过程

设置需要编译的代码和生成的可执行文件
设置链接库

打开src/learning_topic下的CMakeLists.txt文件，在

#############
## Install ##
#############

前面添加代码

add_executable(velocity_publisher src/velocity_publisher.cpp) ##将velocity_publisher.cpp编译成velocity_publisher可执行文件
target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) ##将可执行文件velocity_publisher通过catkin_LIBRARIES与ros的一些库做连接

则CMakeLists.txt文件内容为

cmake_minimum_required(VERSION 3.0.2)
project(learning_topic)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  turtlesim
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
#  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/learning_topic.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## 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/learning_topic_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

add_executable(velocity_publisher src/velocity_publisher.cpp) ##将velocity_publisher.cpp编译成velocity_publisher可执行文件
target_link_libraries(velocity_publisher ${catkin_LIBRARIES}) ##将可执行文件velocity_publisher通过catkin_LIBRARIES与ros的一些库做连接

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_learning_topic.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

四、编译并运行发布者

（一）C++版

$ cd ~/catkin_ws 进入工作空间根目录
$ catkin_make 编译
$ source devel/setup.bash 设置环境变量，自动配置环境变量设置在教学视频P10的15:30，设置完之后这句就不用写了，因为在catkin_make的同时就已经执行了，所以对于python仍然要加上这句
$ roscore 启动ROS Master
$ rosrun turtlesim turtlesim_node 启动小海龟仿真器
$ rosrun learning_topic velocity_publisher （输入完之后按tab）运行节点名为velocity_publisher的程序

（二）Python版

$ cd ~/catkin_ws 进入工作空间根目录
$ source devel/setup.bash 设置环境变量
$ roscore 启动ROS Master
$ rosrun turtlesim turtlesim_node 启动小海龟仿真器
$ rosrun learning_topic velocity_publisher.py （输入完rosrun learning_topic之后按两次tab可以显示能够运行哪些程序）运行节点名为velocity_publisher.py的程序

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ROS学习笔记（三）：发布者Publisher的编程实现

一、创建功能包$ cd ~/catkin_ws/src 要进入src文件夹才能创建功能包$ catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim 创建learning_topic功能包二、创建发布者代码（一）、C++版实现过程：初始化ROS节点向ROS Master注册节点信息，包括发布的话题名和话题中的消息类型创建消息数据按照一定频率循环发布消息$ cd
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