编写Publisher代码
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
步骤:
初始化ROS节点
向ROS Master注册节点信息,包括发布的话题名和话题中的消息类型
创建消息数据
按照一定的频率循环发布消息
C++,我们需要在src里创建C++的代码文件以输入代码,文件名称为:velocity_publisher.cpp
/**
* 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
编译代码
首先需要配置CMakeLists.txt中的编译规则:
设置需要编译的代码和生成的可执行文件
设置链接库
将下列代码拷贝至CMakeLists.txt中: 第155行
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
回到工作空间目录,执行编译.
cd ~/catkin_ws
catkin_make
每次运行这个程序需要执行以下命令:
source devel/setup.bash
运行
启动大管家
roscore
运行小乌龟仿真器节点
rosrun turtlesim turtlesim_node
运行发布者节点
rosrun learning_topic velocity_publisher
python
创建scripts文件夹,并在其中创建.py文件
touch velocity_publisher.py
输入以下代码:
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
import rospy
from geometry_msgs.msg import Twist
def velocity_publisher():
# ROS节点初始化
rospy.init_node('velocity_publisher', anonymous=True)
# 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
#设置循环的频率
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# 初始化geometry_msgs::Twist类型的消息
vel_msg = Twist()
vel_msg.linear.x = 0.5
vel_msg.angular.z = 0.2
# 发布消息
turtle_vel_pub.publish(vel_msg)
rospy.loginfo("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z)
# 按照循环频率延时
rate.sleep()
if __name__ == '__main__':
try:
velocity_publisher()
except rospy.ROSInterruptException:
pass
给文件授权:通过命令行修改
chmod +x velocity_publisher.py
程序运行:
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher.py