11订阅者Subscriber的编程实现

11订阅者Subscriber的编程实现

1、创建订阅者代码 C++

 *//**
 * 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
 */
 
#include <ros/ros.h>
#include "turtlesim/Pose.h" //消息类型定义

// 接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}

int main(int argc, char **argv)
{
    // 初始化ROS节点
    ros::init(argc, argv, "pose_subscriber");

    // 创建节点句柄  ，管理节点资源
    ros::NodeHandle n;

    // 创建一个类Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
    ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);//创建缓冲区，保持队列里面为最新的10个消息
//当订阅者发现有话题数据进来，就会调用回调函数进行处理，类似于嵌入式里面的中断
    // 循环等待回调函数
    ros::spin();

    return 0;
}

2、配置订阅者代码编译规则
2.1在CMakeLists.txt中配置

add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

2.2、在catkin_ws中编译

chen@ubuntu:~/catkin_ws$ catkin_make

编译成功

Scanning dependencies of target pose_subscriber
[ 25%] Building CXX object learning_topic/CMakeFiles/pose_subscriber.dir/src/pose_subscriber.cpp.o
[ 50%] Linking CXX executable /home/chen/catkin_ws/devel/lib/learning_topic/pose_subscriber
[ 50%] Built target pose_subscriber
[100%] Built target velocity_publisher

3、运行订阅者
3.1、运行roscore

chen@ubuntu:~$ roscore

3.2、运行海龟仿真器节点
这个节点只是图像显示海龟位置

chen@ubuntu:~$ rosrun turtlesim 
draw_square        mimic              turtlesim_node     turtle_teleop_key
chen@ubuntu:~$ rosrun turtlesim turtlesim_node 
[ INFO] [1582703889.430243796]: Starting turtlesim with node name /turtlesim
[ INFO] [1582703889.434564963]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000]

3.3、运行订阅者节点，显示海龟位置信息

chen@ubuntu:~$ rosrun learning_topic pose_subscriber
[ INFO] [1582703996.848780197]: Turtle pose: x:5.544445, y:5.544445
[ INFO] [1582703996.869298729]: Turtle pose: x:5.544445, y:5.544445
[ INFO] [1582703996.879220218]: Turtle pose: x:5.544445, y:5.544445

3.4、启动键盘控制节点

chen@ubuntu:~$ rosrun turtlesim turtle_teleop_key 
Reading from keyboard
---------------------------
Use arrow keys to move the turtle.

3.5、运行发布者节点

chen@ubuntu:~$ rosrun learning_topic 
pose_subscriber         velocity_publisher      
pose_subscriber.cpp     velocity_publisher.cpp  
chen@ubuntu:~$ rosrun learning_topic velocity_publisher
[ INFO] [1582704308.398499897]: Publsh turtle velocity command[0.50 m/s, 0.20 rad/s]