ROS学习笔记（四）：订阅者Subscriber的编程实现

于 2021-05-14 18:46:08 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

  1. $ cd ~/catkin_ws/src 要进入src文件夹才能创建功能包

  2. $ 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

  1. $ cd ~/catkin_ws/src/learning_topic/src 进入src目录

  2. $ touch pose_subscriber.cpp 创建可执行C++文件

  3. $ 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

  1. $ cd ~/catkin_ws/src/learning_topic

  2. $ 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

  3. $ cd scripts

  4. $ touch pose_subscriber.py 创建可执行Python文件

  5. $ 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()

  1. 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

  1. $ cd ~/catkin_ws 进入工作空间根目录

  2. $ catkin_make 编译

  3. $ 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

  4. $ roscore 启动ROS Master

  5. $ rosrun turtlesim turtlesim_node 启动小海龟仿真器

  6. $ 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

  7. 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：

    1. $ rosrun turtlesim turtle_teleop_key 启动键盘控制节点，控制海龟运动
    2. $ rosrun learning_topic velocity_publisher 运行上一节C++方法生成的velocity_publisher程序
    3. $ rosrun learning_topic velocity_publisher.py 运行上一节Python方法的velocity_publisher.py文件

（二）、Python版

  1. $ cd ~/catkin_ws 进入工作空间根目录

  2. $ source devel/setup.bash 设置环境变量

  3. $ roscore 启动ROS Master

  4. $ rosrun turtlesim turtlesim_node 启动小海龟仿真器

  5. $ 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

  6. 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：

    1. $ rosrun turtlesim turtle_teleop_key 启动键盘控制节点，控制海龟运动
    2. $ rosrun learning_topic velocity_publisher 运行上一节C++方法生成的velocity_publisher程序
    3. $ rosrun learning_topic velocity_publisher.py 运行上一节Python方法的velocity_publisher.py文件
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