《ROS机器人开发实践》学习：话题中的publisher与subcriber

talker.cpp

/**
 * 该例程将发布chatter话题，消息类型String
 */
 
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"

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

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Publisher，发布名为chatter的topic，消息类型为std_msgs::String
    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

    // 设置循环的频率
    ros::Rate loop_rate(10);

    int count = 0;
    while (ros::ok())
    {
        // 初始化std_msgs::String类型的消息
        std_msgs::String msg;
        std::stringstream ss;
        ss << "hello world " << count;
        msg.data = ss.str();

        // 发布消息
        ROS_INFO("%s", msg.data.c_str());
        chatter_pub.publish(msg);

        // 循环等待回调函数
        ros::spinOnce();

        // 按照循环频率延时
        loop_rate.sleep();
        ++count;
    }

    return 0;
}

listener.cpp

/**
 * 该例程将订阅chatter话题，消息类型String
 */
 
#include "ros/ros.h"
#include "std_msgs/String.h"

// 接收到订阅的消息后，会进入消息回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{
    // 初始化ROS节点
    ros::init(argc, argv, "listener");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subscriber，订阅名为chatter的topic，注册回调函数chatterCallback
    ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}

CMakeLists.txt

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp)

运行程序

cd catkin_ws
source ./devel/setup.bash

rosrun learning_communication talker
rosrun learning_communication listener

运行结果

talker

[ INFO] [1607305586.074130131]: hello world 240
[ INFO] [1607305586.174132582]: hello world 241
[ INFO] [1607305586.274235026]: hello world 242
[ INFO] [1607305586.374129060]: hello world 243
[ INFO] [1607305586.474132128]: hello world 244
[ INFO] [1607305586.574125738]: hello world 245
...

listener

[ INFO] [1607305586.074765383]: I heard: [hello world 240]
[ INFO] [1607305586.174760641]: I heard: [hello world 241]
[ INFO] [1607305586.274845601]: I heard: [hello world 242]
[ INFO] [1607305586.374755674]: I heard: [hello world 243]
[ INFO] [1607305586.474753830]: I heard: [hello world 244]
[ INFO] [1607305586.574725170]: I heard: [hello world 245]
...

 

工程下载地址： 

https://download.csdn.net/download/u012410628/13460230