ROS1.4 话题消息的定义和使用 五步走

第一步定义msg文件

在src下面的功能包里新建msg文件夹
然后新建如下代码并保存为 Person.msg

string name
uint8 sex
uint8 age

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

上面这端段代码写在Person.msg里面

第二步 在package.xml里面添加功能包依赖

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

第三步 修改CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
	geometry_msgs
	roscpp
	rospy
	std_msgs
	message_generation
)

add_message_files(
	FILES
	Person.msg
)
generate_messages(
	DEPENDENCIES
	std_msgs
)

catkin_package(
	......
	CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
	......
)

第四步 在src文件夹中的CMakeLists.txt中添加几行代码如下：

add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)

add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)

第五步 编译

catkin_make

roscore

rosrun learning_topic person_publisher

rosrun learning_topic person_subscriber

完成