学习视频:https://www.bilibili.com/video/BV1zt411G7Vn?t=1225&p=10
目标:通过程序发布指令让小海龟运动
一、创建工作空间和功能包
1.创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
catkin_make install
2.创建功能包
cd src/
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
二、用C++创建发布者代码
1.创建代码
gedit ~/catkin_ws/src/learning_topic/src/velocity_publisher.cpp
运行指令,打开velocity_publisher.cpp文件。
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布turtle1/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(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
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 = 0.2;
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publsh 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;
}
将上面代码复制到velocity_publisher.cpp文件中,保存关闭。
2.配置发布者代码编译规则
gedit ~/catkin_ws/src/learning_topic/CMakeLists.txt
运行指令,打开CMakeList.txt文件。
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
将上面两行代码加入CMakeList.txt文件中,如下图所示,保存退出。
add_executable作用:编译成velocity_publisher可执行文件
target_link_libraries作用:让可执行文件与ROS接口作连接
三、用python创建发布者代码
1.创建发布者代码
mkdir -p ~/catkin_ws/src/learning_topic/scripts
gedit ~/catkin_ws/src/learning_topic/scripts/velocity_publisher.py
运行指令,打开velocity_publisher.py文件。
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
########################################################################
# 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
import rospy
from geometry_msgs.msg import Twist
def velocity_publisher():
# ROS节点初始化
rospy.init_node('velocity_publisher', anonymous=True)
# 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
#设置循环的频率
rate = rospy.Rate(10)
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 = 0.2
# 发布消息
turtle_vel_pub.publish(vel_msg)
rospy.loginfo("Publsh 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
将上面代码复制到velocity_publisher.py文件中,保存关闭。
2.设置velocity_publisher.py 文件运行权限
cd ~/catkin_ws/src/learning_topic/scripts
chmod +x velocity_publisher.py
四、编译工作空间(python不需要本步骤)
命令行输入
cd ~/catkin_ws/
catkin_make
编译之后会在工作空间/devel/lib/learning_topic目录下生成velocity_publisher可执行文件
五、运行程序
1.运行roscore
roscore
2.打开新的命令窗,运行小海龟仿真器
rosrun turtlesim turtlesim_node
3.设置环境变量:使用新的命名窗需要重新设置环境变量
cd ~/catkin_ws
source devel/setup.bash
补充:永久设置环境变量
打开命令窗,输入指令:
gedit ~/.bashrc
将下面一行代码放在.bashrc文件的最后一行
source ~/catkin_ws/devel/setup.bash
如下图所示,保存退出。
4.打开新的命令窗,运行velocity_publisher.py脚本
rosrun learning_topic velocity_publisher.py
或(运行velocity_publisher可执行文件)
rosrun learning_topic velocity_publisher
5.运行效果图如下