ROS 编写消息发布器和订阅器 &测试(C++ catkin)

ROS入门教程-1.1.11 编写简单的消息发布器和订阅器 (C++ catkin)

一. 编写发布器节点talker

• "节点(Node)" 是ROS中指代连接到ROS网络的可执行文件的术语。

1.在beginner_tutorials package路径下创建src目录:

mkdir -p ~/catkin_ws/src/beginner_tutorials/src

• 这个目录将会存储beginner_tutorials package的所有源代码.

2.在beginner_tutorials package里创建src/talker.cpp文件，并粘贴如下代码：

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "talker");

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;

  /**
   * The advertise() function is how you tell ROS that you want to
   * publish on a given topic name. This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing. After this advertise() call is made, the master
   * node will notify anyone who is trying to subscribe to this topic name,
   * and they will in turn negotiate a peer-to-peer connection with this
   * node.  advertise() returns a Publisher object which allows you to
   * publish messages on that topic through a call to publish().  Once
   * all copies of the returned Publisher object are destroyed, the topic
   * will be automatically unadvertised.
   *
   * The second parameter to advertise() is the size of the message queue
   * used for publishing messages.  If messages are published more quickly
   * than we can send them, the number here specifies how many messages to
   * buffer up before throwing some away.
   */
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

  ros::Rate loop_rate(10);

  /**
   * A count of how many messages we have sent. This is used to create
   * a unique string for each message.
   */
  int count = 0;
  while (ros::ok())
  {
    /**
     * This is a message object. You stuff it with data, and then publish it.
     */
    std_msgs::String msg;

    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();

    ROS_INFO("%s", msg.data.c_str());

    /**
     * The publish() function is how you send messages. The parameter
     * is the message object. The type of this object must agree with the type
     * given as a template parameter to the advertise<>() call, as was done
     * in the constructor above.
     */
    chatter_pub.publish(msg);

    ros::spinOnce();

    loop_rate.sleep();
    ++count;
  }


  return 0;
}

3.代码解释

//引用了ROS系统中大部分常用的头文件，使用它会使得编程很简便
#include "ros/ros.h"
//引用std_msgs/String 消息, 它存放在std_msgs package里，是由String.msg文件自动生成的头文件。
#include "std_msgs/String.h"


#include <sstream>

int main(int argc, char **argv)
{
 
  //1.初始化ROS 
  ros::init(argc, argv, "talker");

  //为这个进程的节点创建一个句柄
  //第一个创建的NodeHandle会为节点进行初始化，最后一个销毁的会清理节点使用的所有资源
  ros::NodeHandle n;

 
/**

*  2.在ROS网络内广播我们将要在chatter topic上发布std_msgs/String消息

*告诉master我们将要在chatter topic上发布一个std_msgs/String的消息。
*这样master就会告诉所有订阅了chatter topic的节点，将要有数据发布。
*第二个参数是发布序列的大小。
*在这样的情况下，如果我们发布的消息太快，缓冲区中的消息在大于1000个的时候就会开始丢弃先前发布的消*息。
*NodeHandle::advertise() ，返回一个 ros::Publisher对象,它有两个作用:
*1.它有一个publish()成员函数可以让你在topic上发布消息；2.如果消息类型不对,它会拒绝发布
*/
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

//自循环的频率，我们让它以10hz的频率运行
  ros::Rate loop_rate(10);

  /**
  *roscpp会默认安装一个SIGINT句柄，它负责处理Ctrl-C键盘操作——使得ros::ok()返回FALSE。
  *ros::ok()返回false，如果下列条件之一发生：
  *                   SIGINT接收到(Ctrl-C)
  *                   被另一同名节点踢出ROS网络
  *                   ros::shutdown()被程序的另一部分调用
  *                   所有的ros::NodeHandles都已经被销毁


  */
  int count = 0;
  while (ros::ok())
  {
    //现在我们使用标准的String消息，它只有一个数据成员"data"
    std_msgs::String msg;

    std::stringstream ss;

    //把hello world 加上count的值一起给ss
    ss << "hello world " << count;
   
    //返回临时的string对象，而因为是临时的对象，所以它在整个表达式结束后将会被析构
    msg.data = ss.str();
   
    //用ROS_INFO输出
    ROS_INFO("%s", msg.data.c_str());

   //3.现在我们已经向所有连接到chatter topic的节点发送了消息
    chatter_pub.publish(msg);

   //在这个例子中并不是一定要调用ros::spinOnce()，因为我们不接受回调
    ros::spinOnce();

   //这条语句是调用ros::Rate对象来休眠一段时间以使得发布频率为10hz。
    loop_rate.sleep();
    ++count;
  }


  return 0;
}

 

二. 编写订阅器节点

• 在beginner_tutorials package目录下创建src/listener.cpp文件，并粘贴如下代码：

#include "ros/ros.h"
#include "std_msgs/String.h"

/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "listener");

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;

  /**
   * The subscribe() call is how you tell ROS that you want to receive messages
   * on a given topic.  This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing.  Messages are passed to a callback function, here
   * called chatterCallback.  subscribe() returns a Subscriber object that you
   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
   * object go out of scope, this callback will automatically be unsubscribed from
   * this topic.
   *
   * The second parameter to the subscribe() function is the size of the message
   * queue.  If messages are arriving faster than they are being processed, this
   * is the number of messages that will be buffered up before beginning to throw
   * away the oldest ones.
   */
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

  /**
   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
   * callbacks will be called from within this thread (the main one).  ros::spin()
   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
   */
  ros::spin();

  return 0;
}

代码解释

#include "ros/ros.h"
#include "std_msgs/String.h"

//回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
  // 1.初始化Ros
  ros::init(argc, argv, "listener");

  
  ros::NodeHandle n;

  /**

  *2.订阅chatter topic


  *告诉master我们要订阅chatter topic上的消息。
  *当有消息到达topic时，ROS就会调用chatterCallback()函数。
  *第二个参数是队列大小，以防我们处理消息的速度不够快，在缓存了1000个消息后，再有新的消息到来就将开 
  *始丢弃先前接收的消息
  *NodeHandle::subscribe()返回ros::Subscriber对象,你必须让它处于活动状态直到你不再想订阅该消息。
  *当这个对象销毁时，它将自动退订上的消息。
  */
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

  //进入自循环，等待消息的到达，抽取回调
  //按下Ctrl-C时将退出，或者主节点关闭节点。
  ros::spin();

  return 0;
}

三.编译节点

• 之前教程中使用catkin_create_pkg创建了package.xml 和 CMakeLists.txt 文件。
• 生成的CMakeLists.txt看起来应该是这样(在Creating Msgs and Srvs教程中的修改和未被使用的注释和例子都被移除了):

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)

## Declare ROS messages and services
add_message_files(DIRECTORY msg FILES Num.msg)
add_service_files(DIRECTORY srv FILES AddTwoInts.srv)

## Generate added messages and services
generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

• 在CMakeLists.txt文件末尾加入8条语句，结果，CMakeLists.txt文件看起来像这样:

cmake_minimum_required(VERSION 2.8.3)
project(beginner_tutorials)

## Find catkin and any catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)

## Declare ROS messages and services
add_message_files(FILES Num.msg)
add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services
generate_messages(DEPENDENCIES std_msgs)

## Declare a catkin package
catkin_package()

## Build talker and listener
include_directories(include ${catkin_INCLUDE_DIRS})

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

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

• 这会生成两个可执行文件, talker 和 listener, 默认存储到devel space目录

• 具体是在~/catkin_ws/devel/lib/中.

解释代码：

为可执行文件添加对生成的消息文件的依赖：

add_dependencies(talker beginner_tutorials_generate_messages_cpp)

这样就可以确保自定义消息的头文件在被使用之前已经被生成。因为catkin把所有的package并行的编译，所以如果你要使用其他catkin工作空间中其他package的消息，你同样也需要添加对他们各自生成的消息文件的依赖。

• 现在运行 catkin_make:

# In your catkin workspace
$ catkin_make

出现Built target........才算编译成功，以下只是一个样例 

四.测试

启动发布器

• 确保roscore可用，并运行：

$ roscore

• catkin specific 如果使用catkin，确保你在调用catkin_make后，在运行你自己的程序前，已经source了catkin工作空间下的setup.sh文件：

# In your catkin workspace
$ cd ~/catkin_ws
$ source ./devel/setup.bash

• 上个教程开发了发布节点"talker". 现在运行它:

$ rosrun beginner_tutorials talker      (C++)

• 你将看到如下的输出信息:

[INFO] [WallTime: 1314931831.774057] hello world 1314931831.77
[INFO] [WallTime: 1314931832.775497] hello world 1314931832.77
[INFO] [WallTime: 1314931833.778937] hello world 1314931833.78
[INFO] [WallTime: 1314931834.782059] hello world 1314931834.78
[INFO] [WallTime: 1314931835.784853] hello world 1314931835.78
[INFO] [WallTime: 1314931836.788106] hello world 1314931836.79

• 发布器节点已经启动运行。现在需要一个订阅器节点来接受发布的消息。

启动订阅器

• 上一教程，我们编写了一个名为"listener"的订阅器节点。现在运行它：

$ rosrun beginner_tutorials listener     (C++)

你将会看到如下的输出信息:

[INFO] [WallTime: 1314931969.258941] /listener_17657_1314931968795I heard hello world 1314931969.26
[INFO] [WallTime: 1314931970.262246] /listener_17657_1314931968795I heard hello world 1314931970.26
[INFO] [WallTime: 1314931971.266348] /listener_17657_1314931968795I heard hello world 1314931971.26
[INFO] [WallTime: 1314931972.270429] /listener_17657_1314931968795I heard hello world 1314931972.27
[INFO] [WallTime: 1314931973.274382] /listener_17657_1314931968795I heard hello world 1314931973.27
[INFO] [WallTime: 1314931974.277694] /listener_17657_1314931968795I heard hello world 1314931974.28
[INFO] [WallTime: 1314931975.283708] /listener_17657_1314931968795I heard hello world 1314931975.28

 

五.编译没有生成可执行文件

catkin_ws/src/beginner_tutorials 文件夹下的package.xml文件没有写好，解决样例：

<package>
  <name>beginner_tutorials</name>
  <version>2.2.4</version>
  <description>beginner_tutorials</description>
  <maintainer email="111@qq.com">cc</maintainer>
  <license>BSD</license>
  <url>http://ros.org/wiki/beginner_tutorials</url>
  <buildtool_depend>catkin</buildtool_depend>

 <build_depend>std_msgs</build_depend>
 <build_depend>rospy</build_depend>
 <build_depend>roscpp</build_depend>
  <build_depend>message_generation</build_depend>
  <run_depend>message_runtime</run_depend>
</package>

自己生产的包里面没有package.xml文件，而是mainfest.xml文件，要把这个文件删了，改为package.xml文件