ROS（二）自己动手写一个简单的发布（Publisher）、订阅(Subscriber)程序

ROS版本：indigo

Linux版本：Ubuntu14.04

在开始第一个ROS(Robot Operating System)程序之前，确保已经按照官方教程成功安装了ROS。本文建立的是一个非常简单的发布（Publisher）、订阅(Subscriber)程序.

一个简单的发布（Publisher）、订阅(Subscriber)程序
写一个发布（Publisher）节点

节点（node）是连接到ROS网络中可执行的基本单元。我们在这创建一个发布者—“talker”节点，这个节点持续对外发布消息。

首先我们要把目录切换到我们的beginner_tutorials工程包中。

$ cd ~/catkin_ws/src/beginner_tutorials  

因为我们已经编译过这个工程包了，所以会在beginner_tutorials文件夹下看到CmakeList.txt、package.xml文件和include、src这两个目录。接下来进入src子目录

$ cd src 

在src目录中创建一个talker.cpp文件，里面的内容如下：

 #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;  
    }  

写一个订阅（Subscriber）节点
还是在src目录下，创建一个listener.cpp文件。内容如下：

#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;  
    }  

编译创建的节点
在编译我们创建的节点之前，我们还需要编辑Cmakelist.txt文件（注意：是beginner_tutorials项目包下的CMakelist文件），告诉编辑器我们需要编辑什么文件，需要什么依赖。

$ gedit CMakeLists.txt

在文件末尾添加如下语句：

include_directories(include ${catkin_INCLUDE_DIRS})  

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

add_executable(listener src/listener.cpp)  
target_link_libraries(listener ${catkin_LIBRARIES})  
add_dependencies(listener beginner_tutorials_generate_messages_cpp)  

将目录切换到工作区目录，并执行catkin_make运行命令：

 $ cd ~/catkin_ws  
    $ catkin_make  

不出意外的话，会出现如下界面：

至此，程序已经创建完成，而接下来我们要检查一下我们创建的程序是否正确。
测试程序的正确性
首先，我们得要启动ROS核心程序roscore。

$ roscore  

在使用我们的程序之前，需要先把程序注册

$ cd ~/catkin_ws  
$ source ./devel/setup.bash

运行talker节点：

$ rosrun beginner_tutorials talker

在另一个终端下运行listener节点：

$ rosrun beginner_tutorials listener  

（注意：在运行listener节点时应再把程序注册一遍，即

$ cd ~/catkin_ws  
$ source ./devel/setup.bash

）

这时候会看到如下信息：

如图能看见发布和订阅的节点正在正常运行。一个在发送一个在接收。
这说明订阅节点（listener）已经成功的接收到了发布节点（talker）发布的信息。至此，整个程序结束！