ROS基础学习（用自定义的消息类型写一个订阅节点和发布节点）（六）

使用新定义的消息类型

创建功能包

cd catkin_ws/src
catkin_create_pkg client_pkg king_msgs roscpp rospy std_msgs
catkin_create_pkg room_money_pkg king_msgs roscpp rospy std_msgs

创建消息文件

~/catkin_ws/src/room_money_pkg/src
room_money_node.cpp

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <king_msgs/King.h>

int main(int argc,char **argv)
{
    setlocale(LC_ALL,"zh_CN.UTF-8");
	ros::init(argc,argv,"room_money_node");
	ros::NodeHandle n;
	ros::Publisher pub = n.advertise<king_msgs::King>("make_money",10);
	ros::Rate loop_rate(10);
	while(ros::ok())
	{
		ROS_INFO("欢迎光临！\n");
		king_msgs::King msg;
		msg.room = "我是革神，请入座！";
		msg.money = 100;
		msg.data = "这是给你的100万拿去花";
		pub.publish(msg);
		loop_rate.sleep();
	
	}
	return 0;
}

~/catkin_ws/src/client_pkg/src
client_node.cpp

#include <ros/ros.h>
#include <std_msgs/String.h>
#include <king_msgs/King.h>

void clientCallback(king_msgs::King msg)
{
    ROS_WARN(msg.room.c_str());
    ROS_WARN("%d RMB",msg.money);
    ROS_INFO(msg.data.c_str());

}
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"zh_CN.UTF-8");
    ros::init(argc,argv,"client_node");
    ros::NodeHandle n;
    ros::Subscriber sub =  n.subscribe("make_money",10,clientCallback);
    while(ros::ok())
    {
        ros::spinOnce();
    }
    //ros::spin();
    return 0;
}

创建编译规则

~/catkin_ws/src/room_money_pkg
CMakeLists.txt
文件中加入

add_executable(room_money_node src/room_money_node.cpp)
add_dependencies(room_money_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
#add_dependencies(room_money_node king_msgs_generate_messages_cpp)

target_link_libraries(room_money_node
  ${catkin_LIBRARIES}
)

~/catkin_ws/src/client_pkg
CMakeLists.txt
文件中加入

add_executable(client_node src/client_node.cpp)
#add_dependencies(client_node king_msgs_generate_messages_cpp)
add_dependencies(client_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

target_link_libraries(client_node
  ${catkin_LIBRARIES}
)

展示效果

roscore
rosrun room_money_pkg room_money_node
rosrun client_pkg client_node