ROS 话题 服务 动作编程

 ros文件结构

src	代码空间（Source Space ）
build	编译空间（Build Space）
devel	开发空间（Development Space）
install	安装空间（Install Space

退出虚拟环境

conda deactivate

 创建工作空间

	mkdir -p ~/catkin_ws/src#创建文件夹
	cd ~/catkin_ws/src#进入目录
	catkin_init_workspace#初始化，使其成为ROS的工作空间 属性配置为ros的工作空间

 编译工作空间

cd ..   #回到工作空间的根目录
catkin_make  #在工作空间中执行编译

 CMake Error at /opt/ros/noetic/share/catkin/cmake/empy.cmake:30 (message):
  Unable to find either executable 'empy' or Python module 'em'...  try
  installing the package 'python3-empy'

首次在工作空间的根目录下进行编译时，执行指定python

catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

 

设置环境变量

source /home/chuanmei/catkin_ws/devel/setup.bash#该环境变量设置只对当前终端有效，chuanmei是用户名
#将上面命令放置到~/.bashrc文件中，让其对所有终端都有效
sudo nano ~/.bashrc

Nano是一个简单易用的文本编辑器，如果没有就按装一个

sudo apt install nano
sudo apt-get install nano

检查环境变量

echo $ROS_PACKAGE_PATH

创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
#catkin_create_pkg 功能包名字 依赖
#std_msgs：定义的标准的数据结构
#rospy：提供python编程接口 
#roscpp：提供c++编程接口

 

编译功能包

cd ~/catkin_ws
catkin_make

 The specified base path "/home/chuanmei/catkin_ws" contains a CMakeLists.txt but "catkin_make" must be invoked in the root of workspace

解决办法

unlink /home/chuanmei/catkin_ws/CMakeLists.txt

发布者

1.初始化节点

2.注册节点信息

3.循环发布

订阅者

1.初始化节点

2.订阅话题

3.循环等待消息

4.完成消息处理

发布者  talker.cpp

#include<sstream>
#include"ros/ros.h"
#include"std_msgs/String.h"
int main(int argc,char **argv){
	//ROS节点初始化 定义节点名称为talker
	ros::init(argc,argv,"talker");
	//创建talker节点句柄
	ros::NodeHandle n;
	//创建一个Publisher，发布名为chatter的topic，消息类型为std_msgs::String
	ros::Publisher chatter_pub=n.advertise<std_msgs::String>("chatter",1000);
	//设置循环的频率
	ros::Rate loop_rate(10);//休眼时间0.1s工作下一轮
	int count=0;
	while(ros::ok()){
		//初始化std_msgs::String类型的消息
		std_msgs::String msg;
		std::stringstream ss;
		ss<<"hello world"<<count;
		msg.data=ss.str();
		//发布消息
		ROS_INFO("%s",msg.data.c_str());
		chatter_pub.publish(msg);
		//循环等待回调函数
		ros::spinOnce();
		//接受循环频率延时
		loop_rate.sleep();
		++count;
	}
	return 0;
}

订阅者 listener.cpp

#include"ros/ros.h"
#include"std_msgs/String.h"
//接收到订阅的消息，会进入消息的回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg){
	//将接收到的消息打印处理
	ROS_INFO("I heard:{%s}",msg->data.c_str());
}
int main(int argc,char **argv){
	//初始化ROS节点，节点名称为listener
	ros::init(argc,argv,"listener");
	//创建listener节点句柄
	ros::NodeHandle n;
	//创建一个订阅者Subscriber，订阅名为chatter的topic，注册回调函数chatterCallback
	ros::Subscriber sub=n.subscribe("chatter",1000,chatterCallback);
	//循环等待回调函数
	ros::spin();
	return 0;
}

设置   CMakeLists.txt 

add_executable(talker src/talker.cpp)
add_dependencies(talker ${PROJECT_NAME}_gencpp)
target_link_libraries(talker ${catkin_LIBRARIES})
#add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)

add_executable(listener src/listener.cpp)
add_dependencies(listener ${PROJECT_NAME}_gencpp)
target_link_libraries(listener ${catkin_LIBRARIES})
#add_dependencies(listener ${PROJECT_NAME}_generate_messages_cpp)

编译

cd ~/catkin_ws
catkin_make

 运行

roscore
rosrun learning_communication talker
rosrun learning_communication listener

成功执行 

自定义消息

生成文件夹 创建会话功能包

mkdir ~/catkin_ws/src/learning_communication/msg

创建文件

sudo nano Person.msg

编辑内容

string name
uint8 sex
uint8 age
float64 height

uint8 unknown=0
uint8 male=1
uint8 female=2

 package.xml添加依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
#部分ROS版本中exec_depend要run_depend

 

CMakeLists.txt添加编译选项

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation   #加入msg 必须加入的
)
配置msg源文件

 

Nano是文本编辑器 

The dependency target “ros_communication_gencpp” of target “talker” does not exist

 指定Cmake的最小版本要求

cmake_minimum_required(VERSION 2.8.3)

The dependency target “learning_communication_genergate_messages_cpp” of target “listener” does not exist
问题描述：在学习ROS话题通信时，使用catkin_make命令编译时出现上述错误
解决方案：
将

add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)

改为

add_dependencies(talker ${PROJECT_NAME}_gencpp)

代码如下

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

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