4.1 话题模型
4.2 创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscoppy rospy std_msgs geometry_msgs turtlesim
4.3 创建发布者代码(C++)
1. 初始化ROS节点;
2. 向ROS master注册节点信息,包括发布的话题名和话题中的消息类型;
2. 创建消息数据;
3. 按照一定频率循环发布消息
创建 velocity_publisher.cpp
// 该例子将发布turtle/cmd_vel话题,消息类型geometry_msgs::Twist
# include<ros/ros.h>
# include<geometry_msgs/Twist.h>
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(int argc, argv, "test_publisher");
// 创建节点句柄:用来管理节点资源
ros::NodeHandle n;
// 创建一个publisher,发布名为/turtlet/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度为10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>('/turtlel/cmd_vel',10);
//设置循环评率
ros::Rate loop_rate(10);
int count = 0;
// 封装数据,然后发布出去
while(ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5
vel_msg.angular.z = 0.5
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publish turtle velocity command[%0.2f m/s, %0.2f rad/s]",vel_msg.linear.x, vel_msg.angular.z);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
Python版本在后面
4.4 配置发布者代码的编译规则
如何配置CMakeLists.txt中的编译规则
- 设置需要编译的代码和生成的可执行文件;
- 设置链接库;
add_excutable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraies(velocity_publisher ${cakin_LIBRARIES})
4.5 编译并运行发布者
cd ~/catkin_ws(回到工作空间的根目录下)
catkin_make(编译)
source devel/setup.bash(设置环境变量,在setup.bash设置了工作空间则不用此步骤)
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher
4.6 创建发布者代码(Python)
1. 初始化ROS节点;
2. 向ROS master注册节点信息,包括发布的话题名和话题中的消息类型;
3. 创建消息数据;
4. 按照一定频率循环发布消息
创建 velocity_publisher.py
#!/usr/bin/env python
# -*- coding: utf-8 -*-
# 该例子将发布turtle/cmd_vel话题,消息类型geometry_msgs::Twist
import rospy
from geometry_msgs import Twist
def velocity_publisher():
# ROS节点初始化
ros.init_node("test_publisher", anonymous=True)
# 创建一个publisher,发布名为/turtlet/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度为10
turtle_vel_pub = rospy.Publisher('/turtlel/cmd_vel', Twist, queue_size=10)
# 设置循环评率
rate = rospy.Rate(10)
# 封装数据,然后发布出去
while not rospy.is_shutdown():
# 初始化geometry_msgs::Twist类型的消息
vel_msg = Twist()
vel_msg.linear.x = 0.5
vel_msg.angular.z = 0.5
# 发布消息
turtle_vel_pub.publish(vel_msg)
ros.loginfo("Publish turtle velocity command[%0.2f m/s, %0.2f rad/s]",vel_msg.linear.x, vel_msg.angular.z)
# 按照循环频率延时
rate.sleep()
if __name__ == '__main__':
try:
velocity_publisher()
except rospy.ROSInterruptException:
pass