目录
一、创建发送程序
1、进入工程包
新建终端为终端1,进入工程包
ros为工作空间,comm为工程包
cd ~/ros/src/comm/src
2、创建文件
文件名为yuan.cpp
touch yuan.cpp
3、编写代码
打开cpp文件
gedit yuan.cpp
复制如下代码
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<geometry_msgs/Twist.h> //运动速度结构体类型 geometry_msgs::Twist的定义文件
int main(int argc, char *argv[])
{
ros::init(argc, argv, "vel_ctrl"); //对该节点进行初始化操作
ros::NodeHandle n; //申明一个NodeHandle对象n,并用n生成一个广播对象vel_pub
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
//vel_pub会在主题"/turtle1/cmd_vel"(机器人速度控制主题)里广播geometry_msgs::Twist类型的数据
//ros::Rate loopRate(2);
ROS_INFO("draw_circle start...");//输出显示信息
while(ros::ok())
{
geometry_msgs::Twist vel_cmd; //声明一个geometry_msgs::Twist 类型的对象vel_cmd,并将速度的值赋值到这个对象里面
vel_cmd.linear.x = 2.0;//前后(+-) m/s
vel_cmd.linear.y = 0.0; //左右(+-) m/s
vel_cmd.linear.z = 0.0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 1.8; //机器人的自转速度,+左转,-右转,单位是rad/s
vel_pub.publish(vel_cmd); //赋值完毕后,发送到主题"/turtle1/cmd_vel"。机器人的核心节点会从这个主题接受发送过去的速度值,并转发到硬件体上去执行
std_msgs::String msg;
std::stringstream ss;//定义输出流对象
ss <<vel_cmd;
msg.data = ss.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();//调用此函数给其他回调函数得以执行(比例程未使用回调函数)
//loopRate.sleep();
}
return 0;
}
4、关闭文件
文件创建并编写成功
二、创建接收程序
创建小乌龟接收程序,实时接收位置信息
1、新建接收程序
touch callBackYuan.cpp
2、编写代码
打开cpp文件
touch callBackYuan.cpp
复制如下代码
#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("it is location: [%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, "yuan");
/**
* 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;
}
3、关闭文件
三、修改CMakeLists.txt
1、进入工程包
cd ~/ros/src/comm
2、打开文件
gedit CMakeLists.txt
3、末尾添加代码
add_executable(yuan src/yuan.cpp)
target_link_libraries(yuan ${catkin_LIBRARIES})
#add_dependencies(yuan comm_generate_messages_cpp)
add_executable(callBackYuan src/callBackYuan.cpp)
target_link_libraries(callBackYuan ${catkin_LIBRARIES})
4、关闭程序
四、编译程序
1、进入工作空间
cd ~/ros
2、编译程序
catkin_make
五、运行程序
1、注册程序
进入工作空间
cd ~/ros
注册程序
source ./devel/setup.bash
2、新建终端2
运行ros
roscore
3、新建终端3
运行接收服务程序
进入工作空间
cd ~/ros
注册程序
source ./devel/setup.bash
运行服务程序
rosrun comm callBackYuan
4、新建终端4
运行小海龟
rosrun turtlesim turtlesim_node
5、运行小海龟程序
终端1运行小海龟程序,其他终端不关闭
rosrun comm yuan
终端3—实时位置接收程序callBackYuan.cpp开始接收终端1–位置发送程序yuan.cpp发送的位置信息
在终端1,ctrl+c关闭程序
六、参考与总结
1、参考
https://blog.csdn.net/qq_42451251/article/details/104664926
2、总结
实现小海龟画圆,记录小海龟旋转的实时位置