ROS 发布者Publisher的编程实现

如何实现一个发布者：

• 初始化ROS节点；
• 向ROS Master注册节点信息，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

C++代码实现:

/**
* 该例程将发布turtle1/cmd_vel话题，消息类型geometry_msgs::Twist
*/

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int arg, char **argv)
{
    // ROS 节点初始化
    ros::init(arg, 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);

    // 设置循环打频率
    ros::Rate loop_rate(10);

    int count = 0;
    while(ros::ok())
    {
        // 初始化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("Publsh turtle velocity[%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;
}

Python代码实现:

import rospy
from geometry_msgs.msg import Twist

def velocity_publisher():
    # ROS节点初始化
    rospy.init_node('velocity_publisher', anonymous=True)

    # 创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msts::Twist，队列长度10
    turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel',Twist, queue_size=10)
    
    # 设置循环频率
    rate = rospy.Rate(10)

    while not rospy.is_shutdown():
        # 初始化geometry_msgs::Twist类型打消息
        vel_msg = Twist()
        vel_msg.linear.x = 0.5
        vel_msg.angular.z = 0.2

        # 发布消息
        turtle_vel_pub.publish(vel_msg)
        rospy.loginfo("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
        rate.sleep()

if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInterruptException:
        pass