一、创建工作空间
1.创建工作空间;
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
2.编译工作空间:
$ cd ~/catkin_ws/
$ catkin_make
3.设置环境变量:
$ source devel/setup.bash
4.检测环境变量:
$ echo $ROS_PACKAGE_PATH
二、创建功能包
1.创建功能包:
格式:$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
$ cd ~/catkin_ws/src
$ catkin_create_pkg homework roscpp rospy std_msgs geometry_msgs turtlesim
2.编译功能包:
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash
三、话题编程
流程:
- 创建发布者
- 创建订阅者
- 添加编译选项
- 运行可执行程序
1.创建发布者(/homework/src/talker.cpp)
/**
* 该例程将发布chatter话题,消息类型String
*/
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "talker");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为chatter的topic,消息类型为std_msgs::String
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化std_msgs::String类型的消息
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
// 发布消息
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
// 循环等待回调函数
ros::spinOnce();
// 按照循环频率延时
loop_rate.sleep();
++count;
}
return 0;
}
2.创建订阅者(/homework/src/listener.cpp)
/**
* 该例程将订阅chatter话题,消息类型String
*/
#include "ros/ros.h"
#include "std_msgs/String.h"
// 接收到订阅的消息后,会进入消息回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "listener");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为chatter的topic,注册回调函数chatterCallback
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
三、添加编译选项(CMakeLists.txt)
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
// add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
// add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)```
4.编译及运行
$ cd ~/catkin_ws/
$ catkin_make
roscore
rosrun homework talker
rosrun homework listener