话题通信图示:
打开新创建的工作空间
创建msg文件
自定义变量类型中申明三个变量
string name
int32 age
float32 height
修改配置文件
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
修改另一个配置文件
第一步
第二步(注意,这是自己创建的msg文件名称)
第三步(解封这段)
第四步 后面添加
编译
编写发布者程序
创建文件
需要修改配置文件,让系统先编译自定义数据类型
add_dependencies(person_pub ${PROJECT_NAME}_generate_messages_cpp )
发布者代码
#include "ros/ros.h"
#include "../../../devel/include/plumbing_pub_sub/Person.h"
/*
发布方:发布人的消息
1.包含头文件
#include "plumbing_pub_sub/person.h"
2.初始化ROS节点
3.创建节点句柄
4.创建发布者对象
5.编写发布逻辑,发布数据
*/
int main(int argc,char *argv[])
{
setlocale(LC_ALL,"");
ROS_INFO("这是消息发布者");
// 2.初始化ROS节点
ros::init(argc,argv,"banZhuRen");
// 3.创建节点句柄
ros::NodeHandle nh;
// 4.创建发布者对象
ros::Publisher pub = nh.advertise<plumbing_pub_sub::Person>("liaotian",10);
// 5.编写发布逻辑,发布数据
//5.1创建被发布的数据
plumbing_pub_sub::Person person;
person.name = "张三";
person.age = 18;
person.height = 1.70;
//5.2设置发布频率
ros::Rate rate(1);
//5.3循环发布数据
while(ros::ok())
{
//数据发布
pub.publish(person);
ROS_INFO("发布的消息为:名字:%s,年龄:%d,身高:%2f",person.name.c_str(),person.age,person.height);
//年龄加一
person.age ++;
//延时
rate.sleep();
//建议
ros::spinOnce();
}
return 0;
}
代码效果:
编写订阅者代码
创建订阅者cpp文件
订阅者cpp代码:
#include "ros/ros.h"
#include "../../../devel/include/plumbing_pub_sub/Person.h"
/*
发布方:发布人的消息
1.包含头文件
#include "plumbing_pub_sub/person.h"
2.初始化ROS节点
3.创建节点句柄
4.创建发布者对象
5.编写发布逻辑,发布数据
*/
int main(int argc,char *argv[])
{
setlocale(LC_ALL,"");
ROS_INFO("这是消息发布者");
// 2.初始化ROS节点
ros::init(argc,argv,"banZhuRen");
// 3.创建节点句柄
ros::NodeHandle nh;
// 4.创建发布者对象
ros::Publisher pub = nh.advertise<plumbing_pub_sub::Person>("liaotian",10);
// 5.编写发布逻辑,发布数据
//5.1创建被发布的数据
plumbing_pub_sub::Person person;
person.name = "张三";
person.age = 18;
person.height = 1.70;
//5.2设置发布频率
ros::Rate rate(1);
//5.3循环发布数据
while(ros::ok())
{
//数据发布
pub.publish(person);
ROS_INFO("发布的消息为:名字:%s,年龄:%d,身高:%2f",person.name.c_str(),person.age,person.height);
//年龄加一
person.age ++;
//延时
rate.sleep();
//建议
ros::spinOnce();
}
return 0;
}
最后的配置文件:
cmake_minimum_required(VERSION 3.0.2)
project(plumbing_pub_sub)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Person.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES plumbing_pub_sub
# CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/plumbing_pub_sub.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(person_pub src/person_pub.cpp)
add_executable(person_sub src/person_sub.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(person_pub ${PROJECT_NAME}_generate_messages_cpp )
add_dependencies(person_sub ${PROJECT_NAME}_generate_messages_cpp )
## Specify libraries to link a library or executable target against
target_link_libraries(person_pub
${catkin_LIBRARIES}
)
target_link_libraries(person_sub
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_plumbing_pub_sub.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)