目录
一、工作空间的创建
1、创建文件夹和路径
$ mkdir -p ~/catkin_text/src //创建文件夹
$ cd ~/catkin_text/src //定位到src
$ catkin_init_workspace //对工作空间进行初始化
一定要在src下 初始化
2、编译这个空间
回到根空间下
$ cd ~/catkin_text/
$ catkin_make
3、添加路径
$ source devel/setup.bash //相当于地址 认路
也可在/home下按 ctrl+h 双击进入 .bashrc 文件 在最后一行加入完整路径,之后就不用每次都source一下环境变量了
source /home/zyf/catkin_ws/devel/setup.bash
二、功能包的创建 catkin_create_pkg [功能包][依赖]
~$ cd ~/catkin_ws/src
~/catkin_ws/src$ catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
Created file learning_topic/CMakeLists.txt
Created file learning_topic/package.xml
Created folder learning_topic/include/learning_topic
Created folder learning_topic/src
Successfully created files in /home/zyf/catkin_ws/src/learning_topic. Please adjust the values in package.xml.
此时/src下生成了一个名为learning_topic功能包 依赖在CMakeLists.txt和package.xml中:
三、 功能包的实现。例:publish话题
(1) 文件代码实现:在文件路径下:~/catkin_ws/src/learning_service/src/velocity.cp
/**
* 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msg::Twist
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc,char **argv)
{
ros::init(argc,argv,"velocity_publisher");
ros::NodeHandle n;
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel",10);
ros::Rate loop_rate(10);
int count = 0;
while(ros::ok())
{
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
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);
loop_rate.sleep();
}
return 0;
}
(2)配置:
①调整CmakeLists.txt文件
至于文件中的细节参照 文科升 https://blog.csdn.net/moyu123456789/article/details/88127794
1、设置需要编译的代码和生成可执行文件
2、设置链接库
# 可执行文件名不能和其它节点名字重复
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
②调整package.xml文件 (看情况)
文件中的说明参照https://blog.csdn.net/qq904305159/article/details/78618854
例:Subscriber 话题
路径同上 pose_subsriber.cpp
(1)代码
/**
* 本例程将订阅/turtle1/pose话题,消息类型turtlesim::Pose
*/
#include <ros/ros.h>
#include <turtlesim/Pose.h>
using namespace ros;
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
ROS_INFO("Turtle pose:x:%0.6f,y:%0.6f",msg->x,msg->y);
}
int main(int argc,char **argv)
{
init(argc,argv,"pose_subscriber");
NodeHandle n;
Subscriber pose_sub = n.subscribe("/turtle1/pose",10,poseCallback);
spin();
return 0;
}
(2)配置:同上 生成的可执行文件要改
add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})
四、编译
~/catkin_ws$ catkin_make
五、最后测试
$ roscore
$ rosrun turtlesim turtlesim_node
$ rosrun learning_topic pose_subscriber
$ rosrun learning_topic velocity_publisher