古月居 ROS入门21讲 第十二讲 话题消息的定义与使用

古月居 ROS入门21讲 第十二讲 话题消息的定义与使用

• Person.msg

string name
uint8 sex
uint8 age

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

• c++
  person_publisher.cpp

#include <ros/ros.h>
#include "learning_topic/Person.h"

int main(int argc,char**argv)
{
    ros::init(argc,argv,"person_publisher");
    ros::NodeHandle n;
    ros::Publisher person_info_pub=n.advertise<learning_topic::Person>("/person_info",10);
    ros::Rate looprate(1);
    while(ros::ok())
    {
        learning_topic::Person person_msg;
	person_msg.name="Tom";
	person_msg.age=10;
	person_msg.sex=learning_topic::Person::male;

	person_info_pub.publish(person_msg);
	ROS_INFO("Publish person info: name: %s age: %d sex: %d",person_msg.name.c_str(),person_msg.age,person_msg.sex);
	looprate.sleep();
    }
    return 0;
}

person_subscriber

#include <ros/ros.h>
#include "learning_topic/Person.h"

void personInfoCallback(const learning_topic::Person::ConstPtr&msg)
{
    ROS_INFO("Subscriber Person Info: name: %s age: %d sex: %d",msg->name.c_str(),msg->age,msg->sex);
}
int main(int argc,char**argv)
{
    ros::init(argc,argv,"person_subscriber");
    ros::NodeHandle n;
    ros::Subscriber person_info_sub = n.subscribe("/person_info",10,personInfoCallback);
    ros::spin();
    return 0;
}

vim src/learning_topic/package.xml

在package.xml中添加

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

vim src/learning_topic/CMakeLists.txt

在CMakeLists.txt中找到相应位置添加

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  turtlesim
  message_generation
)

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


catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
# 这里直接把注释去掉并添加message_runtime
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)

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)

编译

cd ~/catkin_ws
catkin_make
source devel/setup.bash

运行

roscore
rosrun learning_topic person_publisher
rosrun learning_topic person_subscriber

• Python
  person_publisher.py

#!/usr/bin/python

import rospy
from learning_topic.msg import Person

def person_publisher():
    rospy.init_node("person_publisher",anonymous=True)
    person_info_pub=rospy.Publisher('/person_info',Person,queue_size=10)
    rate=rospy.Rate(1)

    person_msg=Person()
    person_msg.name="Tom"
    person_msg.age=10
    person_msg.sex=Person.male;
    while not rospy.is_shutdown():

        person_info_pub.publish(person_msg)
        rospy.loginfo("Publish person info[%s, %d, %d]",person_msg.name,person_msg.age,person_msg.sex)
        rate.sleep()

if __name__=='__main__':
    try:
        person_publisher()
    except rospy.ROSInterruptException():
        pass

person_subscriber.py

#!/usr/bin/python
import rospy
from learning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subscribe person info[%s, %d, %d]",msg.name,msg.age,msg.sex)

def person_subscriber():
    rospy.init_node("person_subscriber",anonymous=True)

    rospy.Subscriber("/person_info",Person,personInfoCallback)
    rospy.spin()

if __name__=='__main__':
    person_subscriber()

运行（注意需要增加执行权限）

roscore
rosrun learning_topic person_publisher.py
rosrun learning_topic person_subscriber.py