一、自定义话题消息
(一)、定义msg文件
-
$ cd ~/catkin_ws/src/learning_topic
-
$ mkdir msg
文件夹名称必须是msg -
$ cd msg
-
$ touch Person.msg
创建msg文件 -
$ gedit Person.msg
在其中输入
string name
uint8 age
uint8 sex
uint8 unknown = 0
uint8 male = 1
uint8 female = 2
保存
注:
- 这里非常容易出错,上述msg文件中的代码不能用tab来分隔,只能用空格
(二)、在package.xml中添加功能包依赖
-
$ cd ~/catkin_ws/src/learning_topic
-
$ gedit package.xml
在倒数第7行之后插入代码
<build_depend>message_generation</build_depend>
<!-- build_depend为编译依赖,依赖于message_generation的功能包 -->
<exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖,依赖于message_runtime功能包 -->
则package.xml文件内容为
<?xml version="1.0"?>
<package format="2">
<name>learning_topic</name>
<version>0.0.0</version>
<description>The learning_topic package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="lacyexsale@todo.todo">lacyexsale</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/learning_topic</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>geometry_msgs</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>turtlesim</build_depend>
<build_export_depend>geometry_msgs</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>
<build_export_depend>turtlesim</build_export_depend>
<exec_depend>geometry_msgs</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>turtlesim</exec_depend>
<build_depend>message_generation</build_depend>
<!-- build_depend为编译依赖,依赖于message_generation的功能包 -->
<exec_depend>message_runtime</exec_depend> <!-- exec_depend为执行依赖,依赖于message_runtime功能包 -->
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
(三)、在CMakeLists.txt添加编译选项
-
$ gedit CMakeLists.txt
- 在开头的find_package中插入
message_generation
- 在
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
之前插入
add_message_files(FILES Person.msg)
#把之前创建的Person.msg文件作为数据接口
generate_messages(DEPENDENCIES std_msgs)
#说明在对Person.msg文件进行编译时依赖哪些已有的功能包
- 在大概第110行的catkin_package的
CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim
这一行添加
message_runtime
(如果这一行被注释就取消这一行的注释)
(四)、编译生成语言相关文件
-
$ catkin_make
二、创建发布者代码
(一)、C++版
-
在
~/catkin_ws/src/learning_topic/src
目录下创建两个文件:person_publisher.cpp和person_subscriber.cpp
在person_publisher.cpp文件中输入
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/person_info的topic,消息类型为learning_topic::Person,队列长度10
ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);
// 设置循环的频率
ros::Rate loop_rate(1);
int count = 0;
while (ros::ok())
{
// 初始化learning_topic::Person类型的消息
learning_topic::Person person_msg;
person_msg.name = "Tom";
person_msg.age = 18;
person_msg.sex = learning_topic::Person::male;
// 发布消息
person_info_pub.publish(person_msg);
ROS_INFO("Publish Person Info: name:%s age:%d sex:%d",
person_msg.name.c_str(), person_msg.age, person_msg.sex);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
在person_subscriber.cpp文件中输入
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将订阅/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
// 接收到订阅的消息后,会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Subcribe Person Info: name:%s age:%d sex:%d",
msg->name.c_str(), msg->age, msg->sex);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为/person_info的topic,注册回调函数personInfoCallback
ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
(二)、Python版
-
在
~/catkin_ws/src/learning_topic/scripts
目录下创建两个文件:person_publisher.py和person_subscriber.py
在person_publisher.py文件中输入
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将发布/person_info话题,自定义消息类型learning_topic::Person
import rospy
from learning_topic.msg import Person
def velocity_publisher():
# ROS节点初始化
rospy.init_node('person_publisher', anonymous=True)
# 创建一个Publisher,发布名为/person_info的topic,消息类型为learning_topic::Person,队列长度10
person_info_pub = rospy.Publisher('/person_info', Person, queue_size=10)
#设置循环的频率
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# 初始化learning_topic::Person类型的消息
person_msg = Person()
person_msg.name = "Tom";
person_msg.age = 18;
person_msg.sex = Person.male;
# 发布消息
person_info_pub.publish(person_msg)
rospy.loginfo("Publsh person message[%s, %d, %d]",
person_msg.name, person_msg.age, person_msg.sex)
# 按照循环频率延时
rate.sleep()
if __name__ == '__main__':
try:
velocity_publisher()
except rospy.ROSInterruptException:
pass
在person_subscriber.py文件中输入
#!/usr/bin/env python
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将订阅/person_info话题,自定义消息类型learning_topic::Person
import rospy
from learning_topic.msg import Person
def personInfoCallback(msg):
rospy.loginfo("Subcribe Person Info: name:%s age:%d sex:%d",
msg.name, msg.age, msg.sex)
def person_subscriber():
# ROS节点初始化
rospy.init_node('person_subscriber', anonymous=True)
# 创建一个Subscriber,订阅名为/person_info的topic,注册回调函数personInfoCallback
rospy.Subscriber("/person_info", Person, personInfoCallback)
# 循环等待回调函数
rospy.spin()
if __name__ == '__main__':
person_subscriber()
三、在CMakeLists.txt中配置代码编译规则(Python版跳过此步)
在
#############
## Install ##
#############
之前添加下列编译选项(把之前的注释掉)
add_executable(person_publisher src/person_publisher.cpp) ##person_publisher.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_publisher ${catkin_LIBRARIES}) ##将可执行文件person_publisher通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp) ##因为有些代码是动态生成的,故跟Person.msg进行连接,产生依赖关系
add_executable(person_subscriber src/person_subscriber.cpp) ##person_subscriber.cpp编译成pose_subscriber可执行文件
target_link_libraries(person_subscriber ${catkin_LIBRARIES}) ##将可执行文件person_subscriber通过catkin_LIBRARIES与ros的一些库做连接
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp) ##因为有些代码是动态生成的,故跟Person.msg进行连接,产生依赖关系
四、运行发布者和订阅者
(一)、C++版
-
$ cd ~/catkin_ws
-
$ catkin_make
编译 -
$ roscore
运行roscore -
$ rosrun learning_topic person_subscriber
先运行subscriber,等待来自publisher的消息 -
$ rosrun learning_topic person_publisher
运行publisher,产生消息
可以看到终端上publisher在不断发布消息,而subscriber不断接收到消息并在终端上实时显示
注:
- 若关闭roscore,二者之间仍然可以进行数据收发的连接,这是因为ROS Master只是为publisher和subscriber建立连接,连接建立好之后,不需要ROS Master也可以继续通信
(二)、Python版
-
$ cd ~/catkin_ws
-
$ roscore
运行roscore -
$ source devel/setup.bash
设置环境变量 -
$ rosrun learning_topic person_subscriber.py
(一定要修改文件属性为可执行文件,下同)先运行subscriber,等待来自publisher的消息 -
$ rosrun learning_topic person_publisher.py
运行publisher,产生消息
可以看到终端上publisher在不断发布消息,而subscriber不断接收到消息并在终端上实时显示