2-ROS通信编程

ROS topic 编程

创建一个ROS工作空间并在工作空间内创建src源码路径

初始化这个工作空间

mkdir  -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

在工作空间的根目录下编译并 设置环境变量 并检查是否设置正确

source devel/setup.zsh
echo $ROS_PACKAGE_PATH

ROS 项目开发流程

$ catkin_create_pkg <package_name> [depend1] [depend2] [depend3]

创建并编译功能包

cd catkin_ws/src
catkin_create_pkg learning_communication rospy roscpp std_msgs std_srvs
cd ..   //(编译一定是在工作空间的根目录)
catkin_make
source devel/setup.zsh

新增代码之后需要修改 CMakeLists.txt

1. 设置需要编译的代码和生成可执行文件
2. 设置链接库

vi catkin_ws/src/learning_communication/CMakeLists.txt

add_executable(string_publisher src/string_publisher.cpp)
target_link_libraries(string_publisher ${catkin_LIBRARIES})

add_executable(string_subscriber src/string_subscriber.cpp)
target_link_libraries(string_subscriber ${catkin_LIBRARIES})

运行、检验

source devel/setup.zsh

roscore &

rosrun learning_communication string_publisher
rosrun learning_communication string_subscriber   //新建一个终端

自定义 msg

创建 msg 文件夹及文件

cd catkin_ws/src/learning_communication
mkdir msg
cd msg
touch PersonMsg.msg

在 PersonMsg.msg 添加内容

string name
uint8  age
uint8  sex

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

在 pachage.xml 中添加功能包依赖

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

在 CMakeLists.txt 中添加编译选项

find_package(... message_generation)

catkin_package(... message_runtime)

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

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

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

运行、检验

source devel/setup.zsh
roscore &

rosrun learning_communication person_publisher
rosrun learning_communication person_subscriber   //新建一个终端

ROS service 编程

自定义 srv

创建 msg 文件夹及文件

cd catkin_ws/src/learning_communication
mkdir srv
cd srv
touch PersonSrv.srv

在 PersonSrv.srv 添加内容

string name
uint8  age
uint8  sex

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

---
string result

三横线以上是 request 内容 以下是 respond 内容

在 CMakeLists.txt 添加一行

add_service_files(FILES PersonSrv.srv)

其实还应该在package.xml中添加依赖。以及链接库，由于msg已经添加过，所以可以省

ROS查看节点类型一节该类型的结构体成员

rostopic type /turtle1/pose
rosmsg show turtlesim/Pose

rostopic type /turtle1/cmd_vel
rosmsg show geometry_msgs/Twist

ROS topic code