（七）ROS创建库模块

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最新推荐文章于 2024-05-13 11:45:33 发布

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（七）ROS创建库模块

创建库模块
使用库模块

创建库模块

放在creating_a_ros_library/src下面

#include <creating_a_ros_library/example_ros_class.h>
ExampleRosClass::ExampleRosClass(ros::NodeHandle* nodehandle):n(*nodehandle)
{
	ROS_INFO("in class constructor of ExampleRosClass");
	initializePublishers();
	initializeSubscribers();
	initializeServices();
	val_to_remember=0.0;
}
void ExampleRosClass::initializePublishers()
{
	ROS_INFO("Initializing Publishers");
	minimal_publisher=n.advertise<std_msgs::Float32>("example_class_output_topic",1,true);
}
void ExampleRosClass::initializeSubscribers()
{
	ROS_INFO("Initializing Subscribers");
	minimal_subscriber=n.subscribe("example_class_input_topic",1,&ExampleRosClass::subscriberCallback,this);
}
void ExampleRosClass::initializeServices()
{
	ROS_INFO("Initializing Services");
	minimal_service=n.advertiseService("example_minimal_service",&ExampleRosClass::serviceCallback,this);
}
void ExampleRosClass::subscriberCallback(const std_msgs::Float32& message_holder)
{
	val_from_subscriber=message_holder.data;
	ROS_INFO("myCallback activated: received value %f",val_from_subscriber);
	std_msgs::Float32 output_msg;
	val_to_remember += val_from_subscriber;
	output_msg.data=val_to_remember;
	minimal_publisher.publish(output_msg);
}
bool ExampleRosClass::serviceCallback(std_srvs::TriggerRequest& request,std_srvs::TriggerResponse& response)
{
	ROS_INFO("service callback activated");
	response.success = true;
	response.message = "here is a response string";
	return true;
}

放在creating_a_ros_library/include/creating_a_ros_library下面（名字叫做example_ros_class.h）

#ifndef EXAMPLE_ROS_CLASS_H_
#define EXAMPLE_ROS_CLASS_H_

#include <math.h>
#include <stdlib.h>
#include <string>
#include <vector>
#include <ros/ros.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Float32.h>
#include <std_srvs/Trigger.h>

class ExampleRosClass
{
public:
ExampleRosClass(ros::NodeHandle* nodehandle);
private:
ros::NodeHandle n;
ros::Publisher minimal_publisher;
ros::Subscriber minimal_subscriber;
ros::ServiceServer minimal_service;
double val_from_subscriber;
double val_to_remember;
void initializePublishers();
void initializeSubscribers();
void initializeServices();
void subscriberCallback(const std_msgs::Float32& message_holder);
bool serviceCallback(std_srvs::TriggerRequest& request,std_srvs::TriggerResponse& response);
};
#endif

编辑CMakeLists.txt文件
在这里插入图片描述
然后直接编译，编译通过后就可以在ros_ws/devel/lib目录下看到libhello0.so文件了。

使用库模块

这是在creating_a_ros_library/src下面新建的一个文件，叫做example_ros_class_test_main.cpp。

#include <creating_a_ros_library/example_ros_class.h>
int main(int argc,char **argv)
{
	ros::init(argc,argv,"example_lib_test_main");
	ros::NodeHandle nh;
	ROS_INFO("main:instantiating an objecy of type ExampleRosClass");
	ExampleRosClass exampleRosClass(&nh);
	ROS_INFO("main: going into spin");
	ros::spin();
	return 0;
}