ros学习自用

接收者

/**
 * 该例程将订阅chatter话题，消息类型String
 */
 
#include "ros/ros.h"
#include "std_msgs/String.h"

// 接收到订阅的消息后，会进入消息回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  // 将接收到的消息打印出来
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  // 初始化ROS节点
  ros::init(argc, argv, "listener");

  // 创建节点句柄
  ros::NodeHandle n;

  // 创建一个Subscriber，订阅名为chatter的topic，注册回调函数chatterCallback
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

  // 循环等待回调函数
  ros::spin();

  return 0;
}

发布者

/**
 * 该例程将发布chatter话题，消息类型String
 */
 
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"

int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "talker");
  
  // 创建节点句柄
  ros::NodeHandle n;
  
  // 创建一个Publisher，发布名为chatter的topic，消息类型为std_msgs::String
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

  // 设置循环的频率
  ros::Rate loop_rate(10);

  int count = 0;
  while (ros::ok())
  {
	// 初始化std_msgs::String类型的消息
    std_msgs::String msg;
    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();

	// 发布消息
    ROS_INFO("%s", msg.data.c_str());
    chatter_pub.publish(msg);

	// 循环等待回调函数
    ros::spinOnce();
	
	// 按照循环频率延时
    loop_rate.sleep();
    ++count;
  }

  return 0;
}
## srv

```cpp
int64 a
int64 b
---
int64 sum

服务

/**
 * AddTwoInts Server
 */
 
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"

// service回调函数，输入参数req，输出参数res
bool add(learning_communication::AddTwoInts::Request  &req,
         learning_communication::AddTwoInts::Response &res)
{
  // 将输入参数中的请求数据相加，结果放到应答变量中
  res.sum = req.a + req.b;
  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  
  return true;
}

int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "add_two_ints_server");
  
  // 创建节点句柄
  ros::NodeHandle n;

  // 创建一个名为add_two_ints的server，注册回调函数add()
  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  
  // 循环等待回调函数
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

## 客户

```cpp
/**
 * AddTwoInts Client
 */
 
#include <cstdlib>
#include "ros/ros.h"
#include "learning_communication/AddTwoInts.h"

int main(int argc, char **argv)
{
  // ROS节点初始化
  ros::init(argc, argv, "add_two_ints_client");
  
  // 从终端命令行获取两个加数
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  // 创建节点句柄
  ros::NodeHandle n;
  
  // 创建一个client，请求add_two_int service，service消息类型是learning_communication::AddTwoInts
  ros::ServiceClient client = n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
  
  // 创建learning_communication::AddTwoInts类型的service消息
  learning_communication::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  
  // 发布service请求，等待加法运算的应答结果
  if (client.call(srv))
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

动作

# Define the goal
uint32 dishwasher_id  # Specify which dishwasher we want to use
---
# Define the result
uint32 total_dishes_cleaned
---
# Define a feedback message
float32 percent_complete

画矩形

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#define PI 3.14159265358979323846
 
int main(int argc, char **argv){
  ros::init(argc, argv, "draw_rectangle");   //"draw_rectangle"必须是nodename
  std::string topic = "/turtle1/cmd_vel"; //topic name
  ros::NodeHandle n;
  ros::Publisher cmdVelPub = n.advertise<geometry_msgs::Twist>(topic, 1);
  //第一个参数也可以写成"/turtle1/cmd_vel"这样的topic name
  //第二个参数是发布的缓冲区大小,<geometry_msgs::Twist>是消息类型
  ros::Rate loopRate(2);
  //与Rate::sleep();配合指定自循环频率
  ROS_INFO("draw_retangle start...");//输出显示信息
  geometry_msgs::Twist speed; // 控制信号载体 Twist message
//声明一个geometry_msgs::Twist 类型的对象speed，并将速度的值赋值到这个对象里面
  int count = 0;
  while (ros::ok()){
    speed.linear.x = 1; // 设置线速度为1m/s，正为前进，负为后退
    speed.linear.y = 0;
    speed.linear.z = 0;
    speed.angular.x = 0;
    speed.angular.y = 0;
    speed.angular.z = 0; 
    count++;
    while(count == 5)
    {
        count=0;
        speed.angular.z = PI; //转90°
    }
    cmdVelPub.publish(speed); // 将刚才设置的指令发送给机器人
    ros::spinOnce();//调用此函数给其他回调函数得以执行
    loopRate.sleep();//按loopRate(2)设置的2HZ将程序挂起
  }
 
  return 0;
}


include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(draw_circle src/draw_circle.cpp)
target_link_libraries(draw_circle ${catkin_LIBRARIES})