ROS通信编程

最新推荐文章于 2024-05-26 13:33:58 发布

Justinlevy

最新推荐文章于 2024-05-26 13:33:58 发布

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文章标签： ubuntu

本文链接：https://blog.csdn.net/qq_53088119/article/details/129533174

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工作空间与功能包创建

1、工作空间创建

（1）创建ros工作区

mkdir -p ~/ros/src

（2）进入工作区src文件夹

cd ~/ros/src

（3）生成工作区

catkin_init_workspace

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（4）编译工作区
进入工作区

编译

catkin_make

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生成了build和devel文件夹

（5）注册工作区
bash注册

source devel/setup.bash

验证注册

echo $ROS_PACKAGE_PATH

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2、创建工程包

（1）切换工作区

cd ~/ros/src

（2）创建comm（通信）包，此包依靠std_msgs、roscpp、rospy
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（3）编译工程包
进入工作区

cd ~/ros

编译

catkin_make

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3、创建收发节点

节点（node）是连接到ROS网络中可执行的基本单元
此处创建收发节点即是发布者与订阅者

（1）发布者

转至工程包

cd ~/ros/src/comm

进入src子目录

cd src

创建talker.cpp文件，写一个发布（Publisher）节点
1）创建talker.cpp文件

touch talker.cpp

2）打开文件

gedit talker.cpp

3）替换为如下内容

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "talker");
 
  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;
 
  /**
   * The advertise() function is how you tell ROS that you want to
   * publish on a given topic name. This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing. After this advertise() call is made, the master
   * node will notify anyone who is trying to subscribe to this topic name,
   * and they will in turn negotiate a peer-to-peer connection with this
   * node.  advertise() returns a Publisher object which allows you to
   * publish messages on that topic through a call to publish().  Once
   * all copies of the returned Publisher object are destroyed, the topic
   * will be automatically unadvertised.
   *
   * The second parameter to advertise() is the size of the message queue
   * used for publishing messages.  If messages are published more quickly
   * than we can send them, the number here specifies how many messages to
   * buffer up before throwing some away.
   */
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
 
  ros::Rate loop_rate(10);
 
  /**
   * A count of how many messages we have sent. This is used to create
   * a unique string for each message.
   */
  int count = 0;
  while (ros::ok())
  {
    /**
     * This is a message object. You stuff it with data, and then publish it.
     */
    std_msgs::String msg;
 
    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
 
    ROS_INFO("%s", msg.data.c_str());
 
    /**
     * The publish() function is how you send messages. The parameter
     * is the message object. The type of this object must agree with the type
     * given as a template parameter to the advertise<>() call, as was done
     * in the constructor above.
     */
    chatter_pub.publish(msg);
 
    ros::spinOnce();
 
    loop_rate.sleep();
    ++count;
  }
  return 0;
}

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（2）订阅者

创建listener.cpp文件，写一个订阅（Subscriber）节点
创建listener.cpp文件

touch listener.cpp

打开文件

gedit listener.cpp

替换为如下内容

#include "ros/ros.h"
#include "std_msgs/String.h"
 
/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}
 
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "listener");
 
  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;
 
  /**
   * The subscribe() call is how you tell ROS that you want to receive messages
   * on a given topic.  This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing.  Messages are passed to a callback function, here
   * called chatterCallback.  subscribe() returns a Subscriber object that you
   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
   * object go out of scope, this callback will automatically be unsubscribed from
   * this topic.
   *
   * The second parameter to the subscribe() function is the size of the message
   * queue.  If messages are arriving faster than they are being processed, this
   * is the number of messages that will be buffered up before beginning to throw
   * away the oldest ones.
   */
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
 
  /**
   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
   * callbacks will be called from within this thread (the main one).  ros::spin()
   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
   */
  ros::spin();
 
  return 0;
}

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（3）编辑文件

编辑Cmakelist.txt文件
（在工作区ros/src/comm下）
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添加代码

include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker comm_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener comm_generate_messages_cpp)