ros2 学习笔记

最新推荐文章于 2024-05-10 10:13:23 发布

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最新推荐文章于 2024-05-10 10:13:23 发布

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文章标签：学习 git

本文链接：https://blog.csdn.net/ZP470534738/article/details/128922149

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编译：

colcon build --packages-select tesk_package_zp

运行：

ros2 run tesk_package_zp communication_test

ros2 interface package sensor_msgs

如果需要使用ros2 run 来跑代码，则需要加入如下所示的install命令

install(TARGETS
  communication_test
  DESTINATION lib/${PROJECT_NAME})

cmake_minimum_required(VERSION 3.8)
project(tesk_package_zp)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
#add_executable(communication_test src/main.cpp)
#add_executable(communication_test src/pub_test.cpp)
add_executable(communication_test src/ads_communication_test.cpp)
ament_target_dependencies(communication_test rclcpp std_msgs sensor_msgs)

install(TARGETS
  communication_test
  DESTINATION lib/${PROJECT_NAME})
ament_package()

publisher 调试代码

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
//#include "std_msgs/Float64MultiArray.h" 
//#include "sensor_msgs/msg/JointState.hpp"
#include "std_msgs/msg/UInt32.hpp"
using namespace std::chrono_literals;


int main(int argc, char * argv[])
{
          rclcpp::init(argc, argv);
          auto node = rclcpp::Node::make_shared("communication_test_node");
          auto pub = node->create_publisher<std_msgs::msg::String>("/pub_sub", 10);

          std_msgs::msg::String myMessage;
          size_t counter{0};
          rclcpp::WallRate loop_rate(500ms);

          while (rclcpp::ok())
          {
                    myMessage.data = "zp Hello, ros2 world! " + std::to_string(counter++);
                    RCLCPP_INFO(node->get_logger(), "Publishing: '%s'", myMessage.data.c_str());
                    try
                    {
                              pub->publish(myMessage);
                              rclcpp::spin_some(node);
                    } catch (const rclcpp::exceptions::RCLError & e)
                    {
                        RCLCPP_ERROR(node->get_logger(), "Errore type : %s", e.what());
                    }
                    loop_rate.sleep();
          }
          rclcpp::shutdown();
          return 0;
}