ROS学习笔记（4）发布者Publisher的编程实现

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