ROS创建话题

创建工作空间

mkdir -p work/src
catkin_make
source devel/setup.bash
echo "export ROS_PACKAGE_PATH=~/username/work:${ROS_PACKAGE_PATH}" >> ~/.bashrc"  

//添加工作空间到ROS环境变量中，否则命令不知道去哪儿找包 ，不知道去哪儿找结点。

echo $ROS_PACKAGE_PATH      //rospack find 会从中搜索

cd ~/work

catkin_make

• 创建一个话题发布者和一个订阅者

cd ~/work/src

catkin_create_pkg myros std_msgs roscpp

• 创建发布者

#include "ros/ros.h"         // /opt/ros/hydo/include/ros/ros.h
#include "std_msgs/String.h" // /opt/ros/hydro/include/std_msgs/String.h

#include <sstream>          // /usr/include/c++/4.6/sstream 

int main(int argc, char** argv)
{
ros::init(argc,argv,"example1_a"); // nnode name
ros::NodeHandle n;
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("message",1000);
ros::Rate rate(1);
int count = 0;
while(ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << "I am CAFFEE_LEEMAN"<< count ;
msg.data = ss.str();
ROS_INFO("%s",msg.data.c_str());
chatter_pub.publish(msg);
count++;
ros::spinOnce(); //NO call back , but ok. spinonce  can execute following code after it ,
rate.sleep();
}
return 0;
}

• 订阅者

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


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

//String (string data)
//ConstPtr& 声明形参为引用传递时用法 包名：：类名：：ConstPtr&
int main(int argc, char** argv)
{
ros::init(argc, argv,"example1_b");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("message",1000,chatterCallback);
ros::spin();//到此处才会回掉！！
return 0;
	
}

编写package.xml (1)

cmake_minimum_required(VERSION 2.8.3)
project(ch2)


find_package(catkin REQUIRED COMPONENTS roscpp std_msgs)

catkin_package(
 # INCLUDE_DIRS include
 # LIBRARIES ch2
 # CATKIN_DEPENDS roscpp std_msgs
 # DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
include_directories(include ${catkin_INCLUDE_DIRS})

## Declare a C++ executable
add_executable(ex1a src/ex1_a.cpp)
add_executable(ex1b src/ex1_b.cpp)

add_dependencies(ex1a ch2_generate_messages_cpp)
add_dependencies(ex1b ch2_generate_messages_cpp)

#此处的模板写法是add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${CATKIN_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(ex1a  ${catkin_LIBRARIES} )
target_link_libraries(ex1b  ${catkin_LIBRARIES} )

package.xml(2)

cmake_minimum_required(VERSION 2.8.3)
project(ch2)


find_package(catkin REQUIRED COMPONENTS  roscpp  std_msgs)

#均位于share目录中的包


catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ch2
  CATKIN_DEPENDS roscpp std_msgs
 DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
##include_directories(include ${catkin_INCLUDE_DIRS})
##注解该句，是因为catkin_package(..)已经包含了include 

##使用catkin_cmake，默认路径是${CATKIN_PREFIX_PATH=/OPT/ROS/HYDOR/} 

## ls /opt/ros/hydro

## bin  etc lib include share setup.bahs ...

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(ex1a src/ex1_a.cpp)
add_executable(ex1b src/ex1_b.cpp)

#add_dependencies(ex1a ch2_generate_messages_cpp)
#add_dependencies(ex1b ch2_generate_messages_cpp)

##这两句可以注解是因为cakin_package(...)的原因

## Specify libraries to link a library or executable target against
target_link_libraries(ex1a  ${catkin_LIBRARIES} )
target_link_libraries(ex1b  ${catkin_LIBRARIES} )

##以上两个链接库，必须，否则链接时会报错。

话题列表

robot@ubuntu:~/dev/catkin_ws$ rosnode list
/example1_a   //节点名由ros::init决定，与程序名无关
/example1_b
/rosout
/rostopic_50864_1503976194535
/teleop_turtle
robot@ubuntu:~/dev/catkin_ws$ rostopic list
/message    //话题名，此处为绝对作用域，带/
/rosout
/rosout_agg
/turtle1/cmd_vel

• 使用自建数据消息类型msg

在src/ch2/下mkdir msg

vim add.msg

int32 A

int32 B

int32 C

修改package.xml

<build_depend>message_generation</build_depend>
  <run_depend>message_runtime</run_depend>

修改cmakelist.txt，如下：

cmake_minimum_required(VERSION 2.8.3)
project(ch2)


find_package(catkin REQUIRED COMPONENTS roscpp  std_msgs message_generation)

add_message_files(FILES add.msg)
generate_messages(DEPENDENCIES std_msgs)
#generate_messages() must be called before catkin_package()顺序有要求！！！
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ch2
  CATKIN_DEPENDS roscpp std_msgs
  DEPENDS system_lib
)


###########
## Build ##
###########

## Specify additional locations of header files
#include_directories(include ${catkin_INCLUDE_DIRS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(ex1a src/ex1_a.cpp)
add_executable(ex1b src/ex1_b.cpp)

#add_dependencies(ex1a ch2_generate_messages_cpp)
#add_dependencies(ex1b ch2_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(ex1a  ${catkin_LIBRARIES} )
target_link_libraries(ex1b  ${catkin_LIBRARIES} )

编译

catkin_make

显示消息类型--检查

rosmsg show ch2/add

int32 A
int32 B
int32 C

• 创建srv文件

新建srv文件目录 catkin_ws/src/ch2/

mkdir srv

cd srv && vim addTwoInts.srv

输入如下:

int32 A
int32 B
int32 C
---
int32 SUM

• 为srv更改packge.xml(其实和修改msg时一样，现在不用改了)

 <build_depend>message_generation</build_depend>
  <run_depend>message_runtime</run_depend>

• 为srv更改cmakelist.txt,如下：

cmake_minimum_required(VERSION 2.8.3)
project(ch2)


find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation       #msg,srv必须
)

add_message_files(FILES add.msg)
add_service_files(FILES addsrv.srv)     #srv 新加
generate_messages(DEPENDENCIES std_msgs) #srv msg 必须，相同
#generate_messages() must be called before catkin_package()
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ch2
  CATKIN_DEPENDS roscpp std_msgs
  DEPENDS system_lib
)


###########
## Build ##
###########

## Specify additional locations of header files
#include_directories(include ${catkin_INCLUDE_DIRS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(ex1a src/ex1_a.cpp)
add_executable(ex1b src/ex1_b.cpp)

#add_dependencies(ex1a ch2_generate_messages_cpp)
#add_dependencies(ex1b ch2_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(ex1a  ${catkin_LIBRARIES} )
target_link_libraries(ex1b  ${catkin_LIBRARIES} )

• 检查

rossrv show ch2/addsrv

不编译，也可以使用上面命令检查，但是catkin_make之后，会生成相应消息或者服务的头文件。

• 重点——消息和头文件的生成（编译后，路径在哪里呢？）

robot@ubuntu:~/dev/catkin_ws$ cd  devel/
robot@ubuntu:~/dev/catkin_ws/devel$ ls
env.sh  include  setup.bash  _setup_util.py  share
etc     lib      setup.sh    setup.zsh
robot@ubuntu:~/dev/catkin_ws/devel$ cd include/
robot@ubuntu:~/dev/catkin_ws/devel/include$ ls
ch2
robot@ubuntu:~/dev/catkin_ws/devel/include$ cd ch2/
robot@ubuntu:~/dev/catkin_ws/devel/include/ch2$ ls
add.h  addsrv.h  addsrvRequest.h  addsrvResponse.h   ###重点###阿达

• 使用自定义服务

touch addTwoIntsSrv.cpp

#include "ros/ros.h"
#include "add/AddTwoInts.h"

bool adds(add::AddTwoInts::Request  &req,
         add::AddTwoInts::Response &res)
{
  res.sum = req.a + req.b;
  ROS_INFO("request: x=%ld, y=%ld", (long int)req.a, (long int)req.b);
  ROS_INFO("sending back response: [%ld]", (long int)res.sum);
  return true;
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_server");
  ros::NodeHandle n;

  ros::ServiceServer service = n.advertiseService("add_two_ints", adds);
  ROS_INFO("Ready to add two ints.");
  ros::spin();

  return 0;
}

客户端

touch addTwoIntClt.cpp

#include "ros/ros.h"
#include "add/AddTwoInts.h"
#include <cstdlib>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "add_two_ints_client");
  if (argc != 3)
  {
    ROS_INFO("usage: add_two_ints_client X Y");
    return 1;
  }

  ros::NodeHandle n;
  ros::ServiceClient client = n.serviceClient<add::AddTwoInts>("add_two_ints");
  add::AddTwoInts srv;
  srv.request.a = atoll(argv[1]);
  srv.request.b = atoll(argv[2]);
  if (client.call(srv))
  {
    ROS_INFO("Sum: %ld", (long int)srv.response.sum);
  }
  else
  {
    ROS_ERROR("Failed to call service add_two_ints");
    return 1;
  }

  return 0;
}

此处使用服务消息的头文件和用法和自定义话题一样！！包名/服务文件名

cmakelists.txt同样需要注意先添加消息文件，再生成消息

• 使用话题发布自定义消息

在add/msg touch Num2.msg

int32 A

int32 B

int32 C

touch topictalker.cpp

#include "ros/ros.h"
#include "add/Num2.h"


int main(int argc, char **argv)
{
  ros::init(argc, argv, "example3_a");
  ros::NodeHandle n;
  ros::Publisher pub = n.advertise<add::Num2>("addTwoIntTopic", 1000);
  ros::Rate loop_rate(10);
  while (ros::ok())
  {
    add::Num2 msg;
    msg.A = 1;
    msg.B = 2;
    msg.C = 3;
    pub.publish(msg);
    ros::spinOnce();
    loop_rate.sleep();
  }
  return 0;
}

touch topiclister.cpp

#include "ros/ros.h"
#include "add/Num2.h"

void messageCallback(const add::Num2::ConstPtr& msg)
{
  ROS_INFO("I heard: [%d] [%d] [%d]", msg->A, msg->B, msg->C);
}

int main(int argc, char **argv)
{
  ros::init(argc, argv, "example3_b");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("addTwoIntTopic", 1000, messageCallback);
  ros::spin();
  return 0;
}

注意的是头文件的用法

add/Num2.msg  前面包名/后面自定义消息文件名

在Cmakelists.txt中切记要先add_message_files(FILES add.msg)

再generate_messages(DEPENDENCIES std_msgs)

___________________________python_________________________________

话题

talker.py

#!/usr/bin/env python
import rospy
from std_msgs.msg import String
# rospy.init_node(NAME, ...), it tells rospy the name of your node 
# until rospy has this information, it cannot start communicating with the ROS Master. 
# the name must be a base name, i.e. it cannot contain any slashes "/".

def	talker():
	pub = rospy.Publisher('chatter',String,queue_size=10)
	rospy.init_node('talker',anonymous=True)
	rate = rospy.Rate(10)
	while not rospy.is_shutdown():
		hello_str = "hello world%s" % rospy.get_time()
		rospy.loginfo(hello_str)
		rospy.logdebug(hello_str)
		pub.publish(hello_str)
		rate.sleep()

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

listen.py

#!/usr/bin/env python
import rospy
from std_msgs.msg import String

def	callback(data):
	rospy.loginfo(rospy.get_caller_id() + "I heard %s ", data.data)

def	listener():
	rospy.init_node('listenner',anonymous=True)
	rospy.Subscriber('chatter',String,callback)
	
	rospy.spin()
#rospy.spin() simply keeps your node from exiting until the node has been shutdown. 
#Unlike roscpp, rospy.spin() does not affect the subscriber callback functions, as those have their own threads.
if __name__ == '__main__':
	listener()

服务

add_two_ints_server.py

#!/usr/bin/env python
from hellopy.srv import *
import rospy

def	handle_add_two_ints(req):
	print "Returning [%s + %s = %s]" % (req.a,req.b,(req.a+req.b))
	return AddTwoIntsResponse(req.a+req.b)

def	add_two_ints_server():
	rospy.init_node('add_two_ints_server')
	s = rospy.Service('add_two_ints',AddTwoInts,handle_add_two_ints)
	print "Ready to add two ints"
	rospy.spin()

if __name__ == '__main__':
	add_two_ints_server()

add_two_ints_client.py

#!/usr/bin/env python

import rospy
from hellopy.srv import *

def	add_two_ints_client(x,y):
	rospy.wait_for_service('add_two_ints')
	try:
		add_two_ints = rospy.ServiceProxy('add_two_ints',AddTwoInts)
		resp1 = add_two_ints(x,y)
		return resp1.sum
	except rospy.ServiceException, e:
		print "Service call failed:%s" % e

def usage():
	return "%s [x,y]" % sys.argv[0]

if __name__ == '__main__':
	if len(sys.argv)== 3:
		x = int(sys.argv[1])
		y = int(sys.argv[2])
	else:
		print usage()
		sys.exit(1)
	print "Requesting %s + %s" % (x,y)
	print"%s + %s  = %s " % (x,y,add_two_ints_client(x,y))

python 如果自定的数据类型或者服务，也是需要编译的，如果是标准的话题或者数据格式，可以不编译

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(hellopy)


find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation
)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   Num.msg)

## Generate services in the 'srv' folder
 add_service_files(
   FILES
   AddTwoInts.srv)


 generate_messages(
   DEPENDENCIES
   std_msgs
 )


catkin_package(
  INCLUDE_DIRS include
  LIBRARIES hellopy
  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
  DEPENDS system_lib
)

###########
## Build ##
###########


include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)


# add_executable(${PROJECT_NAME}_node src/hellopy_node.cpp)

# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )