ROS基础

常用命令

常用目录结构： ~/catkin_ws/src/pkg_x

1，catkin_create_pkg pkg_name rospy roscpp std_msgs

如果用户名里有@会报错，在上面命令后添加  -m ur_email(不带@) 即可

2，cd catkin_ws目录下进行编译

catkin_make -j8

3，运行节点 

roscore

rosrun pkg_name node_name

rqt_graph

4，话题相关

topic list

topic echo  /topic-name

topic hz /topic-name

5，发布-话题

#include <ros/ros.h>
#include <std_msgs/String.h>

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "chao_node");
    /* code */
    printf("我的枪去而复返，你的命有去无回!\n");

    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<std_msgs::String>("kuai_shang_che_kai_hei_qun", 10);

    ros::Rate loop_rate(10);

    while(ros::ok()){
        printf("我要刷屏了！\n");
        std_msgs::String msg;
        msg.data = "国服马超，带飞";
        pub.publish(msg);
        loop_rate.sleep();
    }
    return 0;
}

6，接收话题

#include <ros/ros.h>
#include <std_msgs/String.h>

void chao_callback(std_msgs::String msg)
{
    ROS_INFO(msg.data.c_str());
}

void yao_callback(std_msgs::String msg)
{
    ROS_WARN(msg.data.c_str());
}


int main(int argc, char *argv[])
{
    /* code */
    setlocale(LC_ALL, "");
    ros::init(argc, argv, "ma_node");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("kuai_shang_che_kai_hei_qun", 10, chao_callback);
    ros::Subscriber sub2 = nh.subscribe("ge_ge_dai_wo", 10, yao_callback);

    while(ros::ok()){
        ros::spinOnce(); //随时看有没有消息过来

    }

    return 0;
}