ROS学习笔记（五）：话题消息的定义和使用

最新推荐文章于 2023-08-29 19:39:02 发布

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最新推荐文章于 2023-08-29 19:39:02 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、自定义话题消息

（一）、定义msg文件

$ cd ~/catkin_ws/src/learning_topic
$ mkdir msg 文件夹名称必须是msg
$ cd msg
$ touch Person.msg 创建msg文件
$ gedit Person.msg

在其中输入

string name
uint8  age
uint8  sex

uint8 unknown = 0
uint8 male    = 1
uint8 female  = 2

保存

注：

这里非常容易出错，上述msg文件中的代码不能用tab来分隔，只能用空格

（二）、在package.xml中添加功能包依赖

$ cd ~/catkin_ws/src/learning_topic
$ gedit package.xml

在倒数第7行之后插入代码

<build_depend>message_generation</build_depend> 
<!-- build_depend为编译依赖，依赖于message_generation的功能包 -->
<exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖，依赖于message_runtime功能包 -->

则package.xml文件内容为

<?xml version="1.0"?>
<package format="2">
  <name>learning_topic</name>
  <version>0.0.0</version>
  <description>The learning_topic package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="lacyexsale@todo.todo">lacyexsale</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/learning_topic</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>turtlesim</build_depend>
  <build_export_depend>geometry_msgs</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>turtlesim</build_export_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>turtlesim</exec_depend>

	<build_depend>message_generation</build_depend> 
    <!-- build_depend为编译依赖，依赖于message_generation的功能包 -->
    <exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖，依赖于message_runtime功能包 -->

  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

（三）、在CMakeLists.txt添加编译选项

$ gedit CMakeLists.txt

在开头的find_package中插入 message_generation
在

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

之前插入

add_message_files(FILES Person.msg)
#把之前创建的Person.msg文件作为数据接口
generate_messages(DEPENDENCIES std_msgs)
#说明在对Person.msg文件进行编译时依赖哪些已有的功能包

在大概第110行的catkin_package的CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim这一行添加
message_runtime（如果这一行被注释就取消这一行的注释）

（四）、编译生成语言相关文件

$ catkin_make

二、创建发布者代码

（一）、C++版

在~/catkin_ws/src/learning_topic/src目录下创建两个文件：person_publisher.cpp和person_subscriber.cpp

在person_publisher.cpp文件中输入

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

/**
 * 该例程将发布/person_info话题，自定义消息类型learning_topic::Person
 */
 
#include <ros/ros.h>
#include "learning_topic/Person.h"

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

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
    ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);

    // 设置循环的频率
    ros::Rate loop_rate(1);

    int count = 0;
    while (ros::ok())
    {
        // 初始化learning_topic::Person类型的消息
    	learning_topic::Person person_msg;
		person_msg.name = "Tom";
		person_msg.age  = 18;
		person_msg.sex  = learning_topic::Person::male;

        // 发布消息
		person_info_pub.publish(person_msg);

       	ROS_INFO("Publish Person Info: name:%s  age:%d  sex:%d", 
				  person_msg.name.c_str(), person_msg.age, person_msg.sex);

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

    return 0;
}

在person_subscriber.cpp文件中输入

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

/**
 * 该例程将订阅/person_info话题，自定义消息类型learning_topic::Person
 */
 
#include <ros/ros.h>
#include "learning_topic/Person.h"

// 接收到订阅的消息后，会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg->name.c_str(), msg->age, msg->sex);
}

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

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}

（二）、Python版

在~/catkin_ws/src/learning_topic/scripts目录下创建两个文件：person_publisher.py和person_subscriber.py

在person_publisher.py文件中输入

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

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

# 该例程将发布/person_info话题，自定义消息类型learning_topic::Person

import rospy
from learning_topic.msg import Person

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

	# 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
    person_info_pub = rospy.Publisher('/person_info', Person, queue_size=10)

	#设置循环的频率
    rate = rospy.Rate(10) 

    while not rospy.is_shutdown():
		# 初始化learning_topic::Person类型的消息
    	person_msg = Person()
    	person_msg.name = "Tom";
    	person_msg.age  = 18;
    	person_msg.sex  = Person.male;

		# 发布消息
    	person_info_pub.publish(person_msg)
    	rospy.loginfo("Publsh person message[%s, %d, %d]", 
				person_msg.name, person_msg.age, person_msg.sex)

		# 按照循环频率延时
    	rate.sleep()

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

在person_subscriber.py文件中输入

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

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

# 该例程将订阅/person_info话题，自定义消息类型learning_topic::Person

import rospy
from learning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subcribe Person Info: name:%s  age:%d  sex:%d", 
			 msg.name, msg.age, msg.sex)

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

	# 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    rospy.Subscriber("/person_info", Person, personInfoCallback)

	# 循环等待回调函数
    rospy.spin()

if __name__ == '__main__':
    person_subscriber()

三、在CMakeLists.txt中配置代码编译规则（Python版跳过此步）

在

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

之前添加下列编译选项（把之前的注释掉）

add_executable(person_publisher src/person_publisher.cpp) ##person_publisher.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_publisher ${catkin_LIBRARIES}) ##将可执行文件person_publisher通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp) ##因为有些代码是动态生成的，故跟Person.msg进行连接，产生依赖关系

add_executable(person_subscriber src/person_subscriber.cpp) ##person_subscriber.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_subscriber ${catkin_LIBRARIES}) ##将可执行文件person_subscriber通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) ##因为有些代码是动态生成的，故跟Person.msg进行连接，产生依赖关系

四、运行发布者和订阅者

（一）、C++版

$ cd ~/catkin_ws
$ catkin_make 编译
$ roscore 运行roscore
$ rosrun learning_topic person_subscriber 先运行subscriber，等待来自publisher的消息
$ rosrun learning_topic person_publisher 运行publisher，产生消息

可以看到终端上publisher在不断发布消息，而subscriber不断接收到消息并在终端上实时显示

注：

若关闭roscore，二者之间仍然可以进行数据收发的连接，这是因为ROS Master只是为publisher和subscriber建立连接，连接建立好之后，不需要ROS Master也可以继续通信

（二）、Python版

$ cd ~/catkin_ws
$ roscore 运行roscore
$ source devel/setup.bash 设置环境变量
$ rosrun learning_topic person_subscriber.py （一定要修改文件属性为可执行文件，下同）先运行subscriber，等待来自publisher的消息
$ rosrun learning_topic person_publisher.py 运行publisher，产生消息

可以看到终端上publisher在不断发布消息，而subscriber不断接收到消息并在终端上实时显示

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ROS学习笔记（五）：话题消息的定义和使用

一、自定义话题消息（一）、定义msg文件$ cd ~/catkin_ws/src/learning_topic$ mkdir msg 文件夹名称必须是msg$ cd msg$ touch Person.msg 创建msg文件$ gedit Person.msg在其中输入string nameuint8 ageuint8 sexuint8 unknown = 0uint8 male = 1uint8 female = 2保
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