ROS 节点开发

初始化ros工作空间，1个工作空间可以有多个ros工程

#!/bin/bash

#创建
rwp=$(pwd)/../ad706
mkdir -p ${rwp}/src
cd ${rwp}/src
catkin_init_workspace

#编译
cd ${rwp}
catkin_make
source devel/setup.bash
source /opt/ros/kinetic/setup.bash

创建ros工程

#!/bin/bash

source /opt/ros/kinetic/setup.bash

node_name=grabber_lidar
catkin_create_pkg ${node_name} roscpp std_msgs geometry_msgs sensor_msgs pcl_conversions pcl_ros pcl_msgs

vscode配置：

{
  "configurations": [
    {
      "browse": {
        "databaseFilename": "",
        "limitSymbolsToIncludedHeaders": true
      },
      "includePath": [
        "/opt/ros/kinetic/include/**",
        "/home/wx/Workspace_ros/ad706/src/grabber_lidar/include/**",
        "/home/wx/Workspace_ros/ad706/src/grabber_lidar/thirdparty/**",
        "/usr/include/**"
      ],
      "name": "ROS",
      "cppStandard": "c++11"
    }
  ],
  "version": 4
}

ros自定义点云发布：

自定义点云 转pcl点云 toROSMsg转ros点云发布

void demo_pcl(){
    ros::init(argc,argv, "grabber_lidar");
    ros::NodeHandle _nh;
    ros::Publisher _pub = _nh.advertise<sensor_msgs::PointCloud2>("grabber_lidar_pub", 10);


    pcl::PointCloud<pcl::PointXYZI>::Ptr cloud(new pcl::PointCloud<pcl::PointXYZI>);
    cloud->width = 2000;
    cloud->height = 1;
    cloud->points.resize(cloud->width * cloud->height);

    
    ros::Rate loop_rate(10);
	//按下Crtl+C组合或ROS停止所有节点，ros::ok()停止
	while(ros::ok())
	{	

        for (int i = 0; i < cloud->points.size(); ++ i){
            //
            pcl::PointXYZI* p = &(cloud->points.at(i));
            p->x = 1024 * rand () / (RAND_MAX + 1.0f);
            p->y = 1024 * rand () / (RAND_MAX + 1.0f);
            p->z = 1024 * rand () / (RAND_MAX + 1.0f);
            p->intensity = i % 255;
        }
        int fid = 0;
        cloud->header.frame_id = fid++;

        sensor_msgs::PointCloud2 rosCloud;
        pcl::toROSMsg(*cloud, rosCloud);
        rosCloud.header.frame_id = "odom";
        
        _pub.publish(rosCloud);
		//spinOnce()函数负责处理所有ROS内部时间和操作，例如读取订阅的消息。
		ros::spinOnce();
		//按照10HZ频率将程序挂起
		loop_rate.sleep();
	}
}