节点是一个可执行程序，它连接到了ROS的网络系统中。我们将会创建一个发布者，也就是说话者节点，它将会持续的广播一个信息。
改变目录到之前所建立的那个包下：
cd ~/catkin_ws/src/beginner_tutorials
在beginner_tutorials包下面建立一个src文件夹：
mkdir -p ~/catkin_ws/src/beginner_tutorials/src
创建文件src/talker.cpp：
gedit src/talker.cpp
将下面的内容复制进去：
#include "ros/ros.h" #include "std_msgs/String.h" #include <sstream> /** * This tutorial demonstrates simple sending of messages over the ROS system. */ int main(int argc, char **argv) { /** * The ros::init() function needs to see argc and argv so that it can perform * any ROS arguments and name remapping that were provided at the command line. For programmatic * remappings you can use a different version of init() which takes remappings * directly, but for most command-line programs, passing argc and argv is the easiest * way to do it. The third argument to init() is the name of the node. * * You must call one of the versions of ros::init() before using any other * part of the ROS system. */ ros::init(argc, argv, "talker"); /** * NodeHandle is the main access point to communications with the ROS system. * The first NodeHandle constructed will fully initialize this node, and the last * NodeHandle destructed will close down the node. */ ros::NodeHandle n; /** * The advertise() function is how you tell ROS that you want to * publish on a given topic name. This invokes a call to the ROS * master node, which keeps a registry of who is publishing and who * is subscribing. After this advertise() call is made, the master * node will notify anyone who is trying to subscribe to this topic name, * and they will in turn negotiate a peer-to-peer connection with this * node. advertise() returns a Publisher object which allows you to * publish messages on that topic through a call to publish(). Once * all copies of the returned Publisher object are destroyed, the topic * will be automatically unadvertised. * * The second parameter to advertise() is the size of the message queue * used for publishing messages. If messages are published more quickly * than we can send them, the number here specifies how many messages to * buffer up before throwing some away. */ ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); ros::Rate loop_rate(10); /** * A count of how many messages we have sent. This is used to create * a unique string for each message. */ int count = 0; while (ros::ok()) { /** * This is a message object. You stuff it with data, and then publish it. */ std_msgs::String msg; std::stringstream ss; ss << "hello world " << count; msg.data = ss.str(); ROS_INFO("%s", msg.data.c_str()); /** * The publish() function is how you send messages. The parameter * is the message object. The type of this object must agree with the type * given as a template parameter to the advertise<>() call, as was done * in the constructor above. */ chatter_pub.publish(msg); ros::spinOnce(); loop_rate.sleep(); ++count; } return 0; }
解释一下代码：
#include "ros/ros.h"
ros/ros.h包括了使用ROS系统最基本的头文件。
这条代码包括了std_msgs/String消息，它存在于std_msgs包中。这是有std_msgs中的String.msg文件自动产生的。
ros::init(argc, argv, "talker");
初始化ROS，它允许ROS通过命令行重新命名，现在还不太重要。这里也是我们确切说明节点名字的地方，在运行的系统中，节点的名字必须唯一
为处理的节点创建了一个句柄，第一个创建的节点句柄将会初始化这个节点，最后一个销毁的节点将会释放节点所使用的所有资源。
告诉主机，我们将会在一个名字为chatter的话题上发布一个std_msgs/String类型的消息，这就使得主机告诉了所有订阅了chatter话题的节点，我们将在这个话题上发布数据。第二个参数是发布队列的大小，它的作用是缓冲。当我们发布消息很快的时候，它将能缓冲1000条信息。如果慢了的话就会覆盖前面的信息。
NodeHandle::advertise()将会返回ros::Publisher对象，该对象有两个作用，首先是它包括一个publish()方法可以在制定的话题上发布消息，其次，当超出范围之外的时候就会自动的处理。
ros::Rate loop_rate(10);
一个ros::Rate对象允许你制定循环的频率。它将会记录从上次调用Rate::sleep()到现在为止的时间，并且休眠正确的时间。在这个例子中，设置的频率为10hz。
int count = 0; while (ros::ok()) {
默认情况下，roscpp将会安装一个SIGINT监听，它使当Ctrl-C按下时，ros::ok()将会返回false。
ros::ok()在以下几种情况下也会返回false：（1）按下Ctrl-C时（2）我们被一个同名同姓的节点从网络中踢出（3）ros::shutdown()被应用程序的另一部分调用（4）所有的ros::NodeHandles都被销毁了。一旦ros::ok()返回false，所有的ROS调用都会失败。
std_msgs::String msg; std::stringstream ss; ss << "hello world " << count; msg.data = ss.str();
我们使用message-adapted类在ROS中广播信息，这个类一般是从msg文件中产生的。我们现在使用的是标准的字符串消息，它只有一个data数据成员，当然更复杂的消息也是可以的。
-
chatter_pub.publish(msg);
现在我们向话题chatter发布消息。
ROS_INFO("%s", msg.data.c_str());
ROS_INFO是cout和printf的替代品。
ros::spinOnce();
在这个简单的程序中调用ros::spinOnce();是不必要的，因为我们没有收到任何的回调信息。然而如果你为这个应用程序添加一个订阅者，并且在这里没有调用ros::spinOnce()，你的回调函数将不会被调用。所以这是一个良好的风格。
loop_rate.sleep();
休眠一下，使程序满足前面所设置的10hz的要求。 下面总结一下创建一个发布者节点的步骤：（1）初始化ROS系统（2）告诉主机我们将要在chatter话题上发布std_msgs/String类型的消息（3）循环每秒发送10次消息。
打开一个终端，进入到beginner_tutorials包下面：
cd ~/catkin_ws/src/beginner_tutorials
编辑文件src/listener.cpp：
gedit src/listener.cpp
将下面的代码复制到文件中：
#include "ros/ros.h" #include "std_msgs/String.h" /** * This tutorial demonstrates simple receipt of messages over the ROS system. */ void chatterCallback(const std_msgs::String::ConstPtr& msg) { ROS_INFO("I heard: [%s]", msg->data.c_str()); } int main(int argc, char **argv) { /** * The ros::init() function needs to see argc and argv so that it can perform * any ROS arguments and name remapping that were provided at the command line. For programmatic * remappings you can use a different version of init() which takes remappings * directly, but for most command-line programs, passing argc and argv is the easiest * way to do it. The third argument to init() is the name of the node. * * You must call one of the versions of ros::init() before using any other * part of the ROS system. */ ros::init(argc, argv, "listener"); /** * NodeHandle is the main access point to communications with the ROS system. * The first NodeHandle constructed will fully initialize this node, and the last * NodeHandle destructed will close down the node. */ ros::NodeHandle n; /** * The subscribe() call is how you tell ROS that you want to receive messages * on a given topic. This invokes a call to the ROS * master node, which keeps a registry of who is publishing and who * is subscribing. Messages are passed to a callback function, here * called chatterCallback. subscribe() returns a Subscriber object that you * must hold on to until you want to unsubscribe. When all copies of the Subscriber * object go out of scope, this callback will automatically be unsubscribed from * this topic. * * The second parameter to the subscribe() function is the size of the message * queue. If messages are arriving faster than they are being processed, this * is the number of messages that will be buffered up before beginning to throw * away the oldest ones. */ ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); /** * ros::spin() will enter a loop, pumping callbacks. With this version, all * callbacks will be called from within this thread (the main one). ros::spin() * will exit when Ctrl-C is pressed, or the node is shutdown by the master. */ ros::spin(); return 0; }
void chatterCallback(const std_msgs::String::ConstPtr& msg) { ROS_INFO("I heard: [%s]", msg->data.c_str()); }
当一个消息到达chatter话题时，这个回调函数将会被调用。
订阅chatter话题，当一个新的消息到达时，ROS将会调用chatterCallback()函数。第二个参数是对列的长度，如果我们处理消息的速度不够快，会将收到的消息缓冲下来，一共可以缓冲1000条消息，满1000之后，后面的到达的消息将会覆盖前面的消息。
NodeHandle::subscribe()将会返回一个ros::Subscriber类型的对象，当订阅对象被销毁以后，它将会自动从chatter话题上撤销。
ros::spin()进入了一个循环，可以尽快的调用消息的回调函数。不要担心，如果它没有什么事情可做时，它也不会浪费太多的CPU。当ros::ok()返回false时，ros::spin()将会退出。这就意味着，当ros::shutdown()被调用，或按下CTRL+C等情况，都可以退出。下面总结一下写一个订阅者的步骤：（1）初始化ROS系统（2）订阅chatter话题（3）Spin，等待消息的到来（4）当一个消息到达时，chatterCallback()函数被调用。
下面看一下如何构建节点。这时候你的CMakeLists.txt看起来应该是下面这个样子，包括前面所做的修改，注释部分可以除去：
cmake_minimum_required(VERSION 2.8.3) project(beginner_tutorials) ## Find catkin and any catkin packages find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg) ## Declare ROS messages and services add_message_files(DIRECTORY msg FILES Num.msg) add_service_files(DIRECTORY srv FILES AddTwoInts.srv) ## Generate added messages and services generate_messages(DEPENDENCIES std_msgs) ## Declare a catkin package catkin_package()
将下面几行代码添加到CMakeLists.txt的最后。最终你的CMakeLists.txt文件看起来样该是下面这个样子：
- cmake_minimum_required(VERSION 2.8.3)
- project(beginner_tutorials)
- ## Find catkin and any catkin packages
- find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
- ## Declare ROS messages and services
- add_message_files(FILES Num.msg)
- add_service_files(FILES AddTwoInts.srv)
- ## Generate added messages and services
- generate_messages(DEPENDENCIES std_msgs)
- ## Declare a catkin package
- catkin_package()
- ## Build talker and listener
- include_directories(include ${catkin_INCLUDE_DIRS})
- add_executable(talker src/talker.cpp)
- target_link_libraries(talker ${catkin_LIBRARIES})
- add_dependencies(talker beginner_tutorials_generate_messages_cpp)
- add_executable(listener src/listener.cpp)
- target_link_libraries(listener ${catkin_LIBRARIES})
- add_dependencies(listener beginner_tutorials_generate_messages_cpp)
这将会创建两个可执行文件，talker和listener。它们将会产生在~/catkin_ws/devel/lib/share/<package name>目录下，下面开始构建，在你的工作空间根目录下输入：
- catkin_make
- catkin_make
在前面的两篇博客中我们用C++在ROS中创建了一个发布者和接收者，并使用catkin_make构建了新的节点，下面就需要验证一下，我们写的是否正确。
首先运行roscore
- roscore
打开一个新的终端在里面运行talker：
cd ~/catkin_ws/devel/lib/beginner_tutorials ./talker
打开一个新的终端在里面运行listener：
cd ~/catkin_ws/devel/lib/beginner_tutorials ./listener
说明了我们的程序是正确的。
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