1.话题模型
2.创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
3.发布者Publisher的编程实现
实现流程:
- 初始化ROS结点;
- 向ROS Master注册结点信息,包括发布的话题名和话题中的消息类型;
- 创建消息数据
- 按照一定频率循环发布消息
cd learning_topic/src/
touch velocity_publisher.cpp
/**
* 该例程将发布turtle1/cmd_vel话题,消息类型geomtry_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("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;
}
4.配置发布者代码编译规则
在~/catkin_ws/src/learning_topic文件下的CMakeLists.txt中的build部分加入下面两行代码
add_executable(velocity_publisher src/velocity_publisher.cpp)
//将后者编译为前者可执行文件
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
//链接
5.编译并运行发布者
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic velocity_publisher
编译生成的文件