ROS学习（一）

mkdir -p ~/catkin_data/src # 创建工作站
cd catkin_data/src/ # 进入src文件夹
catkin_init_workspace # 初始化文件夹
cd ..
catkin_make # 编译工作空间
cd src
catkin_create_pkg data std_msgs roscpp rospy # 创建功能包
cd data # 进入data功能包
mkdir launch scripts # 创建launch文件夹和srcipts文件夹
cd launch
touch data_test.launch # 在launch 文件夹中创建data_test.launch 内容如下
gedit data_test.launch
"
<launch>
                <param name="date" value="2024-06-24" />
                <param name="v" value="1" />
                <node pkg="data" name="data1" type="data_test.py" output="screen">
                </node>
</launch>
注:pkg=功能包名 type=可执行文件名
"
cd ../scripts
touch data_test.py # 在scripts中创建data.py 内容如下
gedit data_test.launch
"
#!/usr/bin/env python3  
import rospy
from data.msg import GpsPosition
def gsp():
    print("!!!")
if __name__ == '__main__':
    rospy.init_node('week', anonymous=True)        
    print(rospy.has_param('/date'))
    date=rospy.get_param('date')
    record=rospy.get_param('v')
    print(record)
    print(date)
    rospy.Subscriber('/minibus/gpsposition', GpsPosition, gsp)
    rospy.spin()
"
chmod +x data_test.py
cd ..
mkdir msg && cd msg
touch GpsPosition.msg
gedit GpsPosition.msg
"
float64 latitude  # 纬度  
float64 longitude # 经度  
float64 altitude  # 海拔
"
# 在package.xml中添加依赖
gedit package.xml
"
<build_depend>message_generation</build_depend>  
<exec_depend>message_runtime</exec_depend>  
"
gedit CMakeLists.txt
# 在CMakeLists.txt中添加消息生成
"
find_package(catkin REQUIRED COMPONENTS  
  roscpp  
  rospy  
  std_msgs
  message_generation  
)  
  
add_message_files(  
  FILES  
  GpsPosition.msg  
)  
  
generate_messages(  
  DEPENDENCIES  
  std_msgs
)  
  
catkin_package(  
  CATKIN_DEPENDS message_runtime
)
"
cd ../..
catkin_make
source devel/setup.bash
roslaunch data data_test.launch