发布者publisher和订阅者subscriber

最新推荐文章于 2024-09-19 14:33:53 发布

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最新推荐文章于 2024-09-19 14:33:53 发布

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分类专栏： ros 机器人文章标签：机器人

本文链接：https://blog.csdn.net/Pretender_1205/article/details/132047678

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文章介绍了如何使用ROS（RobotOperatingSystem）在C++中实现一个简单的聊天者（Talker）和监听者（Listener）通信示例，以及如何使用Catkin包管理器进行项目构建和依赖管理。

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talker

#include "ros/ros.h"/* ros头文件 */
#include "std_msgs/String.h"/*std_msgs包里的 String.h文件 */
#include <sstream>

int main (int argc,char **argv)
{
	ros::init(argc,argv,"talker");/* 初始化ros */
	ros::NodeHandle n;/* 为这个节点创建句柄 */
	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000);
	/* 告诉主节点要在chatter话题上发布一个类型为std_msgs::String的消息
	1000为发布队列的大小最多缓存 1000条消息 */
	ros::Rate loop_rate(10);
	/* 制定循环频率为10hz */
	int count = 0;
	while(ros::ok())
	/*  1、在收到SIGINT信号（ctrl+c）后
		2、被一个同名的节点提出网络
		3、ros：：shutdown（）被调用
		4、所有的ros：：NodeHandles都被销毁	
		以上情况ros：：ok（）返回false
	 */
	{
		std_msgs::String msg;
		std::stringstream ss;
		ss << "hello world"<< count;
		msg.data=ss.str();
	/* 标准类声明一个变量msg此类中只有一个data成员 */
		ROS_INFO("%s",msg.data.c_str());
		/* 相当于printf */
		chatter_pub.publish(msg);/* 将消息广播给已经链接的节点 */
		ros::spinOnce();
		loop_rate.sleep();
		/* 10HZ循环*/
		++count;
	}
	return 0;
}

listener

#include "ros/ros.h"
#include "std_msgs/String.h"
/* 回调函数当消息到达chatter话题时被调用 */
void chatterCallback(const std_msgs::String::ConstPtr &msg)
{
    ROS_INFO("I heard: [%s]",msg->data.c_str());
}
int main (int argc,char **argv)
{
    ros::init(argc,argv,"listener");
    ros::NodeHandle n;
    ros::Subscriber sub = n.subscribe("chatter",1000,chatterCallback);
   /* 订阅chatter话题，调用回调函数消息队列为1000 */
    ros::spin();
    /* 启动自循环，尽可能的调用回调函数ros：：ok（）返回false时退出*/
    return 0;

}

cmake_minimum_required(VERSION 3.0.2)
project(template_pkg)

## 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
  roscpp
  rospy
  std_msgs
  message_generation
)

## 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
   Num.msg
#   Message2.msg
 )

## Generate services in the 'srv' folder
 add_service_files(
   FILES
   AddTwoInts.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
   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(
CATKIN_DEPENDS message_runtime
#  INCLUDE_DIRS include
#  LIBRARIES template_pkg
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  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}/template_pkg.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(${PROJECT_NAME}_node src/template_pkg_node.cpp)
add_executable(talker src/talker.cpp)
add_executable(listener src/listener.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${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} ${catkin_EXPORTED_TARGETS})
add_dependencies(talker template_pkg_generate_messages_cpp)
add_dependencies(listener template_pkg_generate_messages_cpp)
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )
 target_link_libraries(talker ${catkin_LIBRARIES})
 target_link_libraries(listener ${catkin_LIBRARIES})
#############
## 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_template_pkg.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)