ROS学习篇第（三）篇：工作空间功能包的创建与Public实现

最新推荐文章于 2021-03-17 20:54:50 发布

笨笨钢铁侠

最新推荐文章于 2021-03-17 20:54:50 发布

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分类专栏： ROS 文章标签： ros 创建

本文链接：https://blog.csdn.net/qq_43525704/article/details/102930216

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6 篇文章 4 订阅

订阅专栏

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
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2、编译这个空间

回到根空间下

$ cd ~/catkin_text/  
$ catkin_make

在这里插入图片描述

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：
在这里插入图片描述

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
在这里插入图片描述
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