ROS通讯之Topic通讯原理及c++和python示例代码

ROS启动后 多个Node节点都需要到ROS Master进行注册，每个node都有自己的逻辑功能，有时候需要数据传递，不直接通讯的原因是为了解耦，设计了TOPIC

原理图如下：

ROS将发布消息的定义为**Publisher(发布者)，将接收消息的一方定义为**Subscriber(订阅者)

多对多的关系，哪个node需要获取消息直接去取就可以，像一个容器，可以多个node同时取数据，发数据

注意：c++回调在主线程 python回调在子线程

c++.实现代码：

publisher

#include <iostream>
#include "ros/ros.h"
#include "std_msgs/String.h"

using namespace std;

int main(int argc, char *argv[]) {
    string nodeName = "cpp_publisher";
//    初始化节点
    ros::init(argc, argv, nodeName);
    //创建一个节点
    ros::NodeHandle nodeHandle;
    string publisherName = "cpp_publisher";
//    创建topic发送者
    const ros::Publisher &publisher = nodeHandle.advertise<std_msgs::String>(publisherName, 5);
    ros::Rate rate(1);
    int i = 0;
    while (ros::ok()) {
        std_msgs::String msg;
        msg.data = "发送的消息" + to_string(i);
        publisher.publish(msg);
        i += 1;
        rate.sleep();
    }
    return 0;
}

c++ subscriber

#include <iostream>
#include "ros/ros.h"
#include "std_msgs/String.h"

using namespace std;

void callBack(std_msgs::String::ConstPtr msg) {
    cout << msg->data << endl;
}

int main(int argc, char *argv[]) {
    string nodeName = "cpp_sbuscribe";
//    初始化节点
    ros::init(argc, argv, nodeName);
//    创建节点
    ros::NodeHandle nodeHandle;
    string topicName = "cpp_publisher";
//   创建接收者
/**  参数1：topic 名称  和publisher中的保持一致
  * 参数2：队列大小
  * 参数3：回调函数
  * 返回的类型用ctrl+alt+v 自动补全
 */
    const ros::Subscriber &subscriber = nodeHandle.subscribe<std_msgs::String>(topicName, 5, callBack);

    //阻塞线程
    ros::spin();
}

python: publisher

#!/usr/bin/env python
#coding:utf-8
import rospy
from std_msgs.msg import String
if __name__ == '__main__':
    nodeName = 'py_publisher'
    rospy.init_node(nodeName)
    topicName = 'py_topic'
    publisher = rospy.Publisher(topicName,String,queue_size=5)
    rate = rospy.Rate(1)
    i = 0
    while not rospy.is_shutdown():
        date = String()
        date.data = 'hello{}'.format(i)
        i+=1
        publisher.publish(date)
        rate.sleep();

python:subscriber

#!/usr/bin/env python
#coding:utf-8
import rospy
from std_msgs.msg import String

def callBack(data):
    print data

if __name__ == '__main__':
    nodeName = 'py_subscriper'
    rospy.init_node(nodeName)
    topicName = 'py_topic'
    subscriber = rospy.Subscriber(topicName,String,callBack)
    rospy.spin()

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