在ROS中，发布-订阅机制是通过主题（topics）进行通信的。具体工作原理如下：
节点（Node）：
ROS程序被组织成独立的进程，称为节点。每个节点可以是发布者（Publisher）、订阅者（Subscriber），或两者兼有。
主题（Topic）：
主题是节点之间进行数据交换的通道。一个节点可以发布数据到一个主题，其他节点可以订阅这个主题来接收数据。
消息（Message）：
ROS使用消息来表示在主题上传输的数据。消息是一种特定格式的数据结构，可以包含多种类型的字段，如整数、浮点数、字符串、数组等。
发布者（Publisher）：
发布者是创建并向一个或多个主题发布消息的节点。发布者通过调用ROS API来发布消息。
订阅者（Subscriber）：
订阅者是接收某个主题上的消息的节点。订阅者通过ROS API注册回调函数，当有新消息发布时，回调函数会被调用以处理消息。
ROS Master：
ROS Master是ROS网络的中心，它管理着节点和主题的注册。节点向ROS Master注册自己和它们发布或订阅的主题。ROS Master并不直接传输消息，而是提供了节点间通信的查找服务。
每个节点在启动时向ROS Master注册，包括它们的名称和发布/订阅的主题。当一个发布者和一个订阅者注册到相同的主题时，ROS Master会通知订阅者该主题的发布者信息，并通知发布者该主题的订阅者信息。发布者和订阅者直接建立点对点连接进行数据传输，不通过ROS Master。
编写一个简单的ROS节点
1.在工作空间的src目录下，创建一个新的功能包
cd ~/catkin_ws/src
catkin_create_pkg my_ros_package std_msgs rospy roscpp
这个命令会创建一个新的功能包，并指定它依赖于 std_msgs、rospy 和 roscpp。
2.编写发布者节点
在 my_ros_package 中创建一个名为 scripts 的目录，并在其中创建一个发布者脚本 publisher.py。
cd ~/catkin_ws/src/my_ros_package
mkdir scripts
cd scripts
nano publisher.py
使用vi 编辑器 编写一下代码
vi publisher.py
将代码复制粘贴
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher('chatter', String, queue_size=10)
rospy.init_node('talker', anonymous=True)
rate = rospy.Rate(1) # 1 Hz
while not rospy.is_shutdown():
hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInterruptException:
pass
3.编写订阅者节点
vi subscribe.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + " I heard %s", data.data)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)
rospy.spin()
if __name__ == '__main__':
listener()
4.确保你的package.xml 文件包含以下内容：可以直接复制粘贴
<?xml version="1.0"?>
<package format="2">
<name>my_ros_package</name>
<version>0.0.0</version>
<description>The my_ros_package package</description>
<maintainer email="you@example.com">Your Name</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
</package>
5.确保你的CMakeList.txt文件，包含下面的内容，可以直接复制粘贴替换
cmake_minimum_required(VERSION 3.0.2)
project(my_ros_package)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES my_ros_package
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/my_ros_package.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/my_ros_package_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
catkin_install_python(PROGRAMS
scripts/publisher.py
scripts/subscriber.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_my_ros_package.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
6.回到工作空间下，编译文件
cd ~/catkin_ws
catkin_make
7.重开一个终端，启动ros主节点
roscore
8. 在一个新终端中执行发布者节点
rosrun my_ros_package publisher.py
9.在另一个终端中，运行订阅者节点：
rosrun my_ros_package subscriber.py
你应该会在订阅者的终端看到类似以下的输出！！
扫一扫
1536
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
