c++下的ros通信（cmake的报错问题多）

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已于 2023-09-11 15:40:39 修改

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文章标签： c++ 机器人

于 2023-09-11 15:40:00 首次发布

本文链接：https://blog.csdn.net/hooksten/article/details/132126713

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1.自定义msg

这里的自定义msg和python的其实是一样的：
首先在src目录下

catkin_create_pkg car_interfaces rospy roscpp std_msgs message_runtime message_generation

然后新建一个msg文件夹，然后建立相应的msg文件，接着就可以修改编译所需的东西了
定义的msg就自己想怎么写就怎么写吧
首先是CMakeLists.txt：

cmake_minimum_required(VERSION 3.0.2)
project(car_interfaces)

## 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
  message_generation
  message_runtime
  roscpp
  rospy
  std_msgs
)


add_message_files(
  FILES
  GlobalPathPlanningInterface.msg
  GpsImuInterface.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES car_interfaces
 CATKIN_DEPENDS message_generation message_runtime roscpp rospy std_msgs
#  DEPENDS system_lib
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

然后是package.xml：

<?xml version="1.0"?>
<package format="2">
  <name>car_interfaces</name>
  <version>0.0.0</version>
  <description>The car_interfaces package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="cyun@todo.todo">cyun</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/car_interfaces</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>message_runtime</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</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>message_runtime</exec_depend>
  <exec_depend>message_generation</exec_depend>

  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

基本上就按照这个结构来写，然后正常编译就可以了

2.ros c++联合编程语言

#include<ros/ros.h>
#include<car_interfaces/GlobalPathPlanningInterface.h>
// #include<car_interfaces/GpsImuInterface.h>

int main(int argc, char *argv[])
{   ros::init(argc, argv, "plan_node") ;
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<car_interfaces::GlobalPathPlanningInterface>("global",10);
    // ros::Publisher pub2 = nh.advertise<car_interfaces::GpsImuInterface>("gps",10);
    ros::Rate loop_rate(10);
    while (ros::ok())
    { 
        ROS_INFO("SUCCESS");
        car_interfaces::GlobalPathPlanningInterface msg1;
        // car_interfaces::GpsImuInterface msg2;
        msg1.timestamp = 1000; 
        msg1.process_time = 230;
        // msg2.gps_time = 10000;
        pub.publish(msg1);
        // pub2.publish(msg2);
        ros::spinOnce(); 
        loop_rate.sleep();
    } 
    return 0;
  }

这个是发布的部分，注意思路，将接收的全部开成一个线程，将发布的话题每个都写成一个线程。
然后是发布的数据

#include <ros/ros.h>
#include <car_interfaces/GlobalPathPlanningInterface.h>
#include <car_interfaces/GpsImuInterface.h>

// 回调函数
void plan_message_callback(const car_interfaces::GlobalPathPlanningInterface::ConstPtr& msg)
{
    double timestamp = msg->timestamp;
    float process_time = msg->process_time;
    ROS_INFO("Received plan");
}

int main(int argc, char* argv[])
{
    ros::init(argc, argv, "plan_sub");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<car_interfaces::GpsImuInterface>("pub2", 10);
    ros::Subscriber sub = nh.subscribe("global", 10, plan_message_callback);
    ros::Rate loop_rate(10);

    while (ros::ok())
    {
        car_interfaces::GpsImuInterface msg;
        msg.gps_time = 10000;

        pub.publish(msg);

        ros::spinOnce();
        loop_rate.sleep();
    }

    return 0;
}

然后修改相应的CMameLists.txt：

cmake_minimum_required(VERSION 3.0.2)
project(planning)

## 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
  car_interfaces
  roscpp
  rospy
  std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES planning
#  CATKIN_DEPENDS car_interfaces roscpp rospy std_msgs
#  DEPENDS system_lib
)


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


add_executable(${PROJECT_NAME}_node src/plan.cpp)
add_executable(plan_sub_node src/plan_sub.cpp)

add_dependencies(${PROJECT_NAME}_node car_interfaces_generate_messages_cpp)

# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

target_link_libraries(plan_sub_node
  ${catkin_LIBRARIES}
)

package.xml：

<?xml version="1.0"?>
<package format="2">
  <name>planning</name>
  <version>0.0.0</version>
  <description>The planning package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="cyun@todo.todo">cyun</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/planning</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>car_interfaces</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>car_interfaces</build_export_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>car_interfaces</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>