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、创建订阅者代码
（一）、C++版
实现过程：
- 初始化ROS节点
- 订阅需要的话题
- 循环等待消息，接收到消息后进入回调函数
- 在回调函数中完成消息处理
-
$ cd ~/catkin_ws/src/learning_topic/src进入src目录 -
$ touch pose_subscriber.cpp创建可执行C++文件 -
$ gedit pose_subscriber.cpp在此文件里输入以下代码
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
*/
#include <ros/ros.h>
#include "turtlesim/Pose.h"
// 接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "pose_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);
// 循环等待回调函数
ros::spin();
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
- 订阅需要的话题
- 循环等待消息，接收到消息后进入回调函数
- 在回调函数中完成消息处理
-
$ 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 pose_subscriber.py创建可执行Python文件 -
$ gedit pose_subscriber.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). ###
########################################################################
# 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
import rospy
from turtlesim.msg import Pose
def poseCallback(msg):
rospy.loginfo("Turtle pose: x:%0.6f, y:%0.6f", msg.x, msg.y)
def pose_subscriber():
# ROS节点初始化
rospy.init_node('pose_subscriber', anonymous=True)
# 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
rospy.Subscriber("/turtle1/pose", Pose, poseCallback)
# 循环等待回调函数
rospy.spin()
if __name__ == '__main__':
pose_subscriber()
-
修改pose_subscriber.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(pose_subscriber src/pose_subscriber.cpp) ##pose_subscriber.cpp编译成pose_subscriber可执行文件
target_link_libraries(pose_subscriber ${catkin_LIBRARIES}) ##将可执行文件pose_subscriber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(pose_subscriber src/pose_subscriber.cpp) ##pose_subscriber.cpp编译成pose_subscriber可执行文件
target_link_libraries(pose_subscriber ${catkin_LIBRARIES}) ##将可执行文件pose_subscriber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 -
$ roscore启动ROS Master -
$ rosrun turtlesim turtlesim_node启动小海龟仿真器 -
$ rosrun learning_topic pose_subscriber（输入完之后按tab）运行节点名为velocity_publisher的程序，可以看到终端实时更新海龟的位姿信息 -
为了看到位姿信息发生变化，我们让海龟动起来，有以下两种方法：
$ rosrun turtlesim turtle_teleop_key启动键盘控制节点，控制海龟运动$ rosrun learning_topic velocity_publisher运行上一节C++方法生成的velocity_publisher程序$ rosrun learning_topic velocity_publisher.py运行上一节Python方法的velocity_publisher.py文件
（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 pose_subscriber.py（输入完之后按tab，一定要修改文件属性为可执行文件）运行节点名为velocity_publisher的程序，可以看到终端实时更新海龟的位姿信息 -
为了看到位姿信息发生变化，我们让海龟动起来，有以下两种方法：
$ rosrun turtlesim turtle_teleop_key启动键盘控制节点，控制海龟运动$ rosrun learning_topic velocity_publisher运行上一节C++方法生成的velocity_publisher程序$ rosrun learning_topic velocity_publisher.py运行上一节Python方法的velocity_publisher.py文件
8786
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
