ROS实战 通信机制--“Hello World”

1.建好工作空间配置好环境

mkdir -p ~/Desktop/catkin_ws/src
cd ~/Desktop/catkin_ws/src/
catkin_init_workspace
cd ..
catkin_make
source devel/setup.bash

2.创建功能包communication  依赖包分别为std_msgs rospy roscpp

cd src
catkin_create_pkg communication std_msgs rospy roscpp

3.用clion打开catkin_ws工作空间 并在communication功能包内src文件夹下创建talker.cpp文件

#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"

int main(int argc,char **argv)
{
    ros::init(argc,argv,"talker");
    ros::NodeHandle n1;
    ros::Publisher chatter_pub=n1.advertise<std_msgs::String>("chatter",1000);
    ros::Rate loop_rate(10);
    int  count=0;
    while(ros::ok())
    {
        std_msgs::String msg;
        std::stringstream ss;
        ss << "Hello World" <<count;
        msg.data=ss.str();

        ROS_INFO("%s",msg.data.c_str());
        chatter_pub.publish(msg);
        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }
    return 0;
}

4、用在communication功能包内src文件夹下创建listener.cpp文件

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

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

int main(int argc,char **argv)
{
    ros::init(argc,argv,"listener");
    ros::NodeHandle n1;
    ros::Subscriber chatter_sub=n1.subscribe("chatter",1000,chatter_callback);
    ros::spin();

    return 0;

}

5、修改CMakeList.txt文件  在文件中增加以下编译内容

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)
//==========================上面为CMajeList文件自带内容===============================

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

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

6、载入CMakeList文件运行talker  和 listener 节点

先在终端中输入roscore运行Master，随后在clion上分别运行talker和listener两个节点

talker节点返回如下：

Listener 节点返回如下：

7.打开 rqt_console查看消息推送

在终端输入rqt_console即可打开日志记录工具 他会记录ROS运行的所有日志消息：info、warn、error等

若没安装则使用以下语句安装

sudo apt-get install ros-kinetic-rqt
sudo apt-get install ros-kinetic-common-plugins

打开后即可看到