ROS自定义消息的发布与订阅

ros话题通信中的自定义消息

ros通信中，数据载体是一个重要部分，在std_msgs中封装了原声数据类型。如String、Int32、Int64、Char、Bool、Empty等，但是它们只包含一个字段，结构单一，不适合实际应用中的多数据传输，比如激光雷达信息等。
msgs只是简单的文本文件，每行具有字段类型和字段名称，有以下可以使用的自定义类型：

• int8,int16,int32,int6(or uint)
• float32,float64
• string
• time,dutation
• other msg files
• variable-length array[] and fixed-length array[c]
  ROS中还有一种特殊类型：Header,标头包含时间戳和ROS中常用的坐标帧信息

按照一定格式自定义msg文件

在功能包下新建msg目录，并添加消息格式文件people.msg

string name  //string：类型，name：变量名
uint16 age
float height
folat weiht

编辑配置文件

在package.xml中添加编译依赖和执行依赖

  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  
  <build_depend>message_generation</build_depend>  

  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  
  <exec_depend>message_runtime</exec_depend> 

CMakeLists.txt文件配置msg
添加内容见#++++

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation              #++++
)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  Person.msg         #+++++
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs               
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES plumbing_pub_sub
 CATKIN_DEPENDS roscpp rospy std_msgs message_runtime   #++++
#  DEPENDS system_lib
)

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

编译

在编译后就能在devel下找到c++自定义消息文件，在lib文件夹下找到python自定义消息文件

发布自定义消息

与发布标准消息std_msgs流程一致：

1. 包含相关头文件；
2. 初始化ros节点并命名
3. 创建ros节点句柄；
4. 创建发布（publisher）对象；
5. 初始化消息并编辑消息；
6. 发布消息。

#include "ros/ros.h"
#include "plumbing_pub_sub/Person.h"

/*
            publish:person
*/
int main(int argc, char  *argv[])
{
    ros::init(argc,argv,"node1");

    ros::NodeHandle nh;

    ros::Publisher pub=nh.advertise<plumbing_pub_sub::Person>("wechat",10);

    plumbing_pub_sub::Person person;
    person.name = "Jhon\0";
    person.age = 2;
    person.height=30.0;
    person.weight = 25.0;

    ros::Rate rate(1);
    while (ros::ok())
    {
        person.age += 1;

        pub.publish(person);

        rate.sleep();

        ros::spinOnce();
    }
    
    return 0;
}

订阅自定义消息

#include "ros/ros.h"
#include "plumbing_pub_sub/Person.h"
void doMsg(const plumbing_pub_sub::Person::ConstPtr &person)
{
    ROS_INFO("sub data of peroson is :%s,%d,%.2f,%.2f",person->name.c_str(),person->age,person->height,person->weight);
}
int main(int argc, char  *argv[])
{
    ros::init(argc,argv,"node2");

    ros::NodeHandle nh;

    ros::Subscriber sub=nh.subscribe("wechat",10,doMsg);

    ros::spin();

    return 0;
}

CmakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(plumbing_pub_sub)

## 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
  Person.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.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(
#  INCLUDE_DIRS include
#  LIBRARIES plumbing_pub_sub
 CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  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}/plumbing_pub_sub.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/plumbing_pub_sub_node.cpp)
 add_executable(demo01_pub src/demo01_pub.cpp)
 add_executable(demo02_sub src/demo02_sub.cpp)
 add_executable(demo03_pub_person src/demo03_pub_person.cpp)
 add_executable(demo04_sub_person src/demo04_sub_person.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(demo03_pub_person ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(demo04_sub_person ${PROJECT_NAME}_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(demo01_pub
  ${catkin_LIBRARIES}
)
target_link_libraries(demo02_sub
  ${catkin_LIBRARIES}
)
target_link_libraries(demo03_pub_person
  ${catkin_LIBRARIES}
)
target_link_libraries(demo04_sub_person
  ${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/demo01_pub_p.py
  #scripts/demo02_sub_p.py
  #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_plumbing_pub_sub.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)

工程文件总揽：
std_msgs::String发布与订阅请参阅：
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