ros创建话题和服务

1 创建包

catkin_creat_pkg beginner_tutorials std_msgs rospy roscpp

2 创建话题和服务

# 消息
roscd beginner_tutorials
mkdir msg
echo "int64 num" > msg/Num.msg
cat Num.msg 
int64 num

# 服务
roscd beginner_tutorials
mkdir srv
roscp rospy_tutorials AddTwoInts.srv srv/AddTwoInts.srv
cat srv/AddTwoInts.srv 
int64 a
int64 b
---
int64 sum

在package.xml文件添加

# 构建时需要"message_generation"
<build_depend>message_generation</build_depend>

# 运行时需要"message_runtime"
<exec_depend>message_runtime</exec_depend>

在CMakeLists.txt文件：
将message_generation依赖项添加到CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

另外添加运行时的依赖

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES beginner_tutorials
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

添加刚刚创建的消息与服务

## Generate messages in the 'msg' folder
add_message_files(
  FILES
#   Message1.msg
#   Message2.msg
  Num.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
#   Service1.srv
#   Service2.srv
  AddTwoInts.srv
)

最后需要用到generate_messages()

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

可以查看

rosmsg show beginner_tutorials/Num 
int64 num

rossrv show beginner_tutorials/AddTwoInts 
int64 a
int64 b
---
int64 sum

3 写一个发布者和接收者
talker.cpp

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

int main(int argc, char **argv)
{
  ros::init(argc, argv, "talker");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
  ros::Rate loop_rate(10);
  int count = 0;
  while (ros::ok())
  {
    std_msgs::String msg;
    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
    ROS_INFO("%s", msg.data.c_str());
    chatter_pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
    ++count;
  }
  return 0;
}

listener.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "listener");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
  ros::spin();
  return 0;
}

主要看CMakeLists.txt文件：

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)


# add_executable(${PROJECT_NAME}_node src/beginner_tutorials_node.cpp)
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

4 写一个客户端和服务器
add_two_ints_server.cpp

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"

bool add(beginner_tutorials::AddTwoInts::Request  &req,
         beginner_tutorials::AddTwoInts::Response &res)
{
  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::init(argc, argv, "add_two_ints_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("add_two_ints", add);
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

add_two_ints_client.cpp

#include "ros/ros.h"
#include "beginner_tutorials/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }
  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<beginner_tutorials::AddTwoInts>("add_two_ints");
  beginner_tutorials::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  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;
}

CMakeLists.txt

add_executable(add_two_ints_server src/add_two_ints_server.cpp)
target_link_libraries(add_two_ints_server ${catkin_LIBRARIES})
add_dependencies(add_two_ints_server beginner_tutorials_gencpp)

add_executable(add_two_ints_client src/add_two_ints_client.cpp)
target_link_libraries(add_two_ints_client ${catkin_LIBRARIES})
add_dependencies(add_two_ints_client beginner_tutorials_gencpp)

5 补充：

ubuntu@ubuntu-pc:~/my_workSpace/wiki_ros_tutorials/catkin_ws/src$ ll
总用量 16
drwxr-xr-x 4 ubuntu ubuntu 4096 8月  15 23:40 ./
drwxr-xr-x 5 ubuntu ubuntu 4096 8月  16 15:29 ../
drwxr-xr-x 6 ubuntu ubuntu 4096 8月  16 15:32 beginner_tutorials/
lrwxrwxrwx 1 ubuntu ubuntu   50 8月  15 23:40 CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake
drwxr-xr-x 4 ubuntu ubuntu 4096 8月  15 22:03 learning_tf/

处理CMakeLists.txt -> /opt/ros/melodic/share/catkin/cmake/toplevel.cmake

最后补充一点知识：
http://wiki.ros.org/catkin/CMakeLists.txt