ROS Melodic 自定义消息类型

最新推荐文章于 2022-10-24 11:52:51 发布

KaHoWong

最新推荐文章于 2022-10-24 11:52:51 发布

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分类专栏： RoboticsX-Study ROS机器人

本文链接：https://blog.csdn.net/weixin_41281151/article/details/117951819

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ROS Melodic 自定义消息类型

参考视频：
ROS21讲话题消息的定义和使用

定义msg文件

在自己创建的ros功能包中定义msg文件夹
在这里插入图片描述
新建.msg 消息类型文件

touch   ServoCtl.msg

把自定义的消息类型写进ServoCtl.msg 文件中，如下所示，为控制舵机的两个消息， uint16 ref_angle、uint16 ref_speed
在这里插入图片描述

在package.xml中添加功能包依赖

  <!--生成自定义消息类型，添加编译依赖和执行依赖-->
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

在package.xml中添加编译选项

find_package(… message_generation)

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation 
)

编译新添的msg文件、去编译生成自定义的msg所需要链接的库

#编译新添的msg文件
add_message_files(FILES  ServoCtl.msg)
#去编译生成自定义的msg所需要链接的库
generate_messages(DEPENDENCIES geometry_msgs std_msgs)

catkin_package 添加 message_runtime

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES servo
 CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib 
)

编译，查看新生成的消息类型

catkin_make
rosmsg show servo/ServoCtl

在这里插入图片描述

生成发布者、订阅者节点，调用新建消息类型

publisher

servo_publisher.cpp

#include  <ros/ros.h>
#include "servo/ServoCtl.h"

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

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个publisher，发布名为 /servo_ctrl 的topic, 消息类型为   servo::ServoCtl.h  队列长度10
    ros::Publisher  servo_info_pub = n.advertise<servo::ServoCtl>("/servo_ctrl",10);

    ros::Rate  loop_rate(1);

    int cout = 0;
    while (ros::ok)
    {
            //初始化 servo::ServoCtl 类型的消息
            servo::ServoCtl  servo_msgs;
            servo_msgs.ref_angle  =  10;
            servo_msgs.ref_speed  = 10;     

            // 发布消息
            servo_info_pub.publish(servo_msgs);

            ROS_INFO("publish  servo_msg  :   ref_angle: %d ,  ref_speed: %d ",   servo_msgs.ref_angle,  servo_msgs.ref_speed);

            // 按照循环频率延时
            loop_rate.sleep();
    }
    
    return 0;
}

linstener

servo_listener.cpp

#include  <ros/ros.h>
#include "servo/ServoCtl.h"

//  接收到订阅的消息后，会进入消息回调函数
void  servoInfoCallback (const  servo::ServoCtl::ConstPtr &msg)
{
        // 将接收到的消息打印出来
        ROS_INFO("Subcribe  SERVO Info:   ref_angle: %d   ref_speed:%d   ",
                                msg->ref_angle, msg->ref_speed);
}

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

    // 创建节点句柄
    ros::NodeHandle  n;

    // 创建一个subscriber,  订阅名为 /servo_info  的topic, 注册回调函数 servoInfoCallback
    ros::Subscriber  servo_info_sub  = n.subscribe("/servo_ctrl",10,servoInfoCallback);

    //  循环等待回调函数
    ros::spin(); 
    return 0;
}

修改CMakeLists.txt 文件

添加新建节点编译规则和依赖

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

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

在这里插入图片描述

完整的package.xml CMakeLists.txt

package.xml

<?xml version="1.0"?>
<package format="2">
  <name>servo</name>
  <version>0.0.0</version>
  <description>The servo package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <maintainer email="x@todo.todo">x</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/servo</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>geometry_msgs</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_export_depend>geometry_msgs</build_export_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <exec_depend>geometry_msgs</exec_depend>
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>

  <!--生成自定义消息类型，添加编译依赖和执行依赖-->
  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(servo)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  message_generation 
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   geometry_msgs#   std_msgs
# )

#编译新添的msg文件
add_message_files(FILES  ServoCtl.msg)
#去编译生成自定义的msg所需要链接的库
generate_messages(DEPENDENCIES geometry_msgs std_msgs)



################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES servo
 CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib 
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

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

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

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



## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/servo.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/servo_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_servo.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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ROS Melodic 自定义消息类型

ROS Melodic 自定义消息类型参考视频：ROS21讲话题消息的定义和使用定义msg文件在自己创建的ros功能包中定义msg文件夹新建.msg 消息类型文件touch ServoCtl.msg把自定义的消息类型写进ServoCtl.msg 文件中，如下所示，为控制舵机的两个消息， uint16 ref_angle、uint16 ref_speed在package.xml中添加功能包依赖  &lt
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