ROS2学习之路之话题订阅(Subscription)

.小墨迹

已于 2023-08-31 17:30:00 修改

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分类专栏： ROS2学习文章标签： c++ 学习算法

于 2023-08-31 17:28:38 首次发布

本文链接：https://blog.csdn.net/qq1240268067/article/details/132605326

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主要代码

//声明
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
//创建
subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this,std::placeholders::_1));
//回调函数
void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
{
  RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
}

eg.1


#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/int8.hpp>

#include <chrono>
#include <functional>
#include <memory>
#include <string>

#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;
using std::placeholders::_1;
class MinimalSubscriber
{
  private:
    rclcpp::Node::SharedPtr nodePtr_;
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;

  public:
    MinimalSubscriber(rclcpp::Node::SharedPtr& nodePtr):nodePtr_(nodePtr)
    {
      subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
    }
    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }

};

int main(int argc, char** argv) {
  rclcpp::init(argc, argv);

  auto nodePtr = rclcpp::Node::make_shared("mpac_points_filter");

  auto heartBeatPubPtr = nodePtr->create_publisher<std_msgs::msg::Int8>("heartBeat", 10);

  std_msgs::msg::Int8 heartBeatData;
  heartBeatData.data = 6;  //6-filter node
  auto heartBeatTimer = nodePtr->create_wall_timer(std::chrono::seconds(1), [heartBeatPubPtr, heartBeatData]() { heartBeatPubPtr->publish(heartBeatData); });

  MinimalSubscriber vc(nodePtr);

  rclcpp::spin(nodePtr);
  rclcpp::shutdown();

  return 0;
}

注意：存在多话题订阅回调，以及服务时，使用回调分组
主要代码：
1、不创建节点

rclcpp::callback_group::CallbackGroup::SharedPtr   grp1,grp2;

grp1 = nodePtr_->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
grp2 = nodePtr_->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
rclcpp::SubscriptionOptions options1;
rclcpp::SubscriptionOptions options2;
options1.callback_group     = grp1;
options2.callback_group     = grp2;
subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
"topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1),options1);
subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
"topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1),options2);

class MinimalSubscriber
{
  private:
    rclcpp::Node::SharedPtr nodePtr_;
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_,subscription1_;
    rclcpp::callback_group::CallbackGroup::SharedPtr   grp1,grp2;
  public:
    MinimalSubscriber(rclcpp::Node::SharedPtr& nodePtr):nodePtr_(nodePtr)
    {

      grp1 = nodePtr_->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
      rclcpp::SubscriptionOptions options;
      options.callback_group     = grp1;
      grp2 = nodePtr_->create_callback_group(rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
      rclcpp::SubscriptionOptions options1;
      options1.callback_group     = grp2;
      subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1),options);
      subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic1", 10, std::bind(&MinimalSubscriber::topic_callback1, this, _1),options1);
    }
    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
    void topic_callback1(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
};

2、写法

class MinimalSubscriberNode
{
  private:
    rclcpp::Node::SharedPtr nodePtr_;
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_,subscription1_,subscription2_;

  public:
    MinimalSubscriberNode(rclcpp::Node::SharedPtr& nodePtr):nodePtr_(nodePtr)
    {
      rclcpp::CallbackGroup::SharedPtr group_   = nodePtr_->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
      rclcpp::SubscriptionOptions options;
      options.callback_group     = group_;

      subscription_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriberNode::topic_callback, this, _1),options);
      subscription1_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic1", 10, std::bind(&MinimalSubscriberNode::topic_callback1, this, _1),options);
      subscription2_ = nodePtr_->create_subscription<std_msgs::msg::String>(
      "topic2", 10, std::bind(&MinimalSubscriberNode::topic_callback2, this, _1),options);
    }
    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
    void topic_callback1(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
    void topic_callback2(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(nodePtr_->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
};