【嵌入式应用4】ROS话题编程

1.进入工作区间

cd catkin_ws/src/

8.新建一个工程包

catkin_create_pkg lesson4 std_msgs rospy roscpp

9.新建msg文件夹

cd lesson4
mkdir msg
cd msg
touch Person.msg
gedit Person.msg

粘贴以下代码：

string name
uint8 sex
uint8 age

uint8 woman =0
uint8 man =1
uint8 manplus =2

10.修package.xml

cd ~/catkin_ws/src/lesson4
gedit package.xml

粘贴以下代码：

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

11.修改CMakeLists.txt

cd ~/catkin_ws/src/lesson4
gedit CMakeLists.txt

找到下面对应三个位置，改成如下图：

12.创建python文件夹，并在文件夹内创建两个py文件

person_subscriber.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程将订阅/person_info话题，自定义消息类型lesson4::Person
import rospy
from lesson4.msg import Person
def personInfoCallback(msg):
    rospy.loginfo("Subcribe Person Info: name:%s age:%d sex:%d",msg.name,msg.age,msg.sex)
def person_subscriber():
    #ROS节点初始化
    rospy.init_node('person_subscriber',anonymous=True)

    #创建一个Subscriber,订阅名为/person_info的topic，注册回调函数personInfoCallback
    rospy.Subscriber("/person_info",Person,personInfoCallback)

    #循环等待回调函数
    rospy.spin()
if __name__ == '__main__':
person_subscriber()

person_publisher.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程发布/person_info话题，自定义消息类型lesson4::Person
import rospy
from lesson4.msg import Person
def velocity_publisher():
    #ROS节点初始化
    rospy.init_node('person_publisher',anonymous=True)
    #创建一个publisher,发布名为/person_info的topic，消息类型为learning_tpic::Person,队列长度10
    person_info_pub = rospy.Publisher('/person_info',Person,queue_size=10)

    #设置循环的频率
    rate = rospy.Rate(10)

    while not rospy.is_shutdown():
        #初始化learning_topic::Persion类型的消息
        person_msg = Person()
        person_msg.name = "Tom";
        person_msg.age = 18;
        person_msg.sex = Person.male;

        #发布消息
        person_info_pub.publish(person_msg)
        rospy.loginfo("Publish person message[%s,%d,%d]",person_msg.name,person_msg.age,person_msg.sex)

        #按照循环频率延时
        rate.sleep()

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

13.回到工作区间，编译

cd ~/catkin_ws
catkin_make

运行三个终端

roscore

cd catkin_ws/
source ./devel/setup.bash
rosrun lesson4 person_subscriber.py 

cd catkin_ws/
source ./devel/setup.bash
rosrun lesson4 person_publisher.py 

参考链接:https://blog.csdn.net/qq_42451251/article/details/105029825