ROS-自定义消息类型 c++

最新推荐文章于 2024-04-23 21:29:18 发布

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最新推荐文章于 2024-04-23 21:29:18 发布

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分类专栏： Ros

本文链接：https://blog.csdn.net/lvmengzou/article/details/111318793

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一、msg

　　用于发布－订阅的通信方式中。

　　１、在包的src同级目录下创建msg文件夹。

　　２、在ｍsg文件夹中，创建.msg文件（例：my_msg.msg）

　　３、编辑my_msg.msg文件

int32 data1
string data2

　　４、编辑package.xml , 添加依赖

 <build_depend>message_generation</build_depend>
 <build_export_depend>message_generation</build_export_depend>
 <exec_depend>message_runtime</exec_depend>

５、编辑CMakeLists.txt

find_package()中添加message_generation

find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  rospy
  std_msgs
)

add_message_files()中添加my_msg.msg

add_message_files(FILES
  my_msg.msg
)

generate_messages()添加std_msgs

generate_messages(DEPENDENCIES
  std_msgs
)

catkin_package()添加message_runtime

catkin_package(CATKIN_DEPENDS
  message_runtime)

最后在add_executable(xxx src/xxx.cpp)后面添加一行

add_dependencies(xxx ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #该项让编译器知道要注意编译顺序

target_link_libraries(xxx
${catkin_LIBRARIES}
)

具体例子如下：

add_executable(talker src/talker.cpp) #可执行文件
target_link_libraries(talker ${catkin_LIBRARIES})#链接库

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})#链接库

add_dependencies(listener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #该项让编译器知道要注意编译顺序

add_dependencies(talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) #该项让编译器知道要注意编译顺序

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

6、编译，catkin_make,在devel/include 中可以看到头文件

listener.cpp

#include <iostream>
#include "ros/ros.h"
#include "std_msgs/String.h"

#include<ros_test/my_msg.h>

void chatterCallBack(const ros_test::my_msg::ConstPtr &msg)
{
ROS_INFO("I get: [%d:][%s]}",msg->data1,msg->data2.c_str());
}
int main(int argc, char **argv)
{
//ros节点初始化 "listener"节点名称，在ROS里同一时间不允许出现两个
ros::init(argc,argv,"listener");
//创建节点句柄
ros::NodeHandle h;

//创建一个subscriber, topic:chatter,消息类型std_msgs::String, 接收到消息，响应chatterCallBack
ros::Subscriber listener_sub = h.subscribe("chatter",1000,chatterCallBack);

//循环等待回调函数
ros::spin();
return 0;
}

talker.cpp

#include <iostream>
#include "ros/ros.h"
#include "std_msgs/String.h"

#include<ros_test/my_msg.h>

int main(int argc, char **argv)
{
//ros节点初始化 "talker"节点名称，在ROS里同一时间不允许出现两个
ros::init(argc,argv,"talker");
//创建节点句柄
ros::NodeHandle h;

ros_test::my_msg msg;

//创建一个publisher, topic:chatter,消息类型std_msgs::String
ros::Publisher chatter_pub = h.advertise<ros_test::my_msg>("chatter",1000); // "chatter"话题名称,消息缓存
//设置单循环的频率
ros::Rate looprate(10);

while (ros::ok())
{

std::stringstream ss;
ss<<"hello world12121";
msg.data1 = 1000;
msg.data2 = ss.str();
//发布消息
ROS_INFO("%s",msg.data2.c_str());
chatter_pub.publish(msg);
//等待回调函数
ros::spinOnce();
//按照之前设定的进行循环
looprate.sleep();
}

}