ROS编程与导航---ROS 基础 1：节点

1 ROS基础

1.1 节点

node (via python)

STEP1 ：创建一个ROS包，包名 node
STEP2：在src文件夹下新建发布端文件 node_sub.py

// node publisher 

// 
#!/usr/bin/env python
'''node ROS Node via python'''
import rospy
from std_msgs.msg import String

def talker():
    '''node Publisher'''
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('node', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

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

STEP3：在src文件夹下新建订阅端文件 node_sub.py

// node subscriber 

#!/usr/bin/env python
'''node ROS Node'''
import rospy
from std_msgs.msg import String

def callback(data):
    '''node Callback Function'''
    rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)

def listener():
    '''node Subscriber'''
    # In ROS, nodes are uniquely named. If two nodes with the same
    # node are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('node', anonymous=True)

    rospy.Subscriber("chatter", String, callback)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()

if __name__ == '__main__':
    listener()

STEP4: 修改node文件夹下的CMakeLists.txt 文件

// node CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(node)
find_package(catkin REQUIRED)
catkin_package()
include_directories()

STEP5: 在不同终端分别运行

roscore

rosrun node node_pub.py

rosrun node node_sub.py 

发布端截图
订阅端截图

node (via c++)

STEP1：创建一个ROS包，包名 cplus_node
STEP2：在src文件夹下新建发布端文件 cplus_node_pub.cpp

// node publisher 

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main(int argc, char *argv[])
{
	ros::init(argc, argv, "cplus_node_publisher");
	ros::NodeHandle n;
	ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
	ros::Rate loop_rate(10);
	int count = 0;
	while (ros::ok())
	{
		std_msgs::String msg;
		std::stringstream ss;
		ss << "hello world " << count;
		msg.data = ss.str();
		ROS_INFO("%s", msg.data.c_str());
		chatter_pub.publish(msg);
		ros::spinOnce();
		loop_rate.sleep();
		++count;
	}
	return 0;
}

STEP 3 在src文件夹下新建订阅端文件 cplus_node_sub.cpp

// node subscriber 

#include "ros/ros.h"
#include "std_msgs/String.h"
using namespace std;
void chatterCallback(const std_msgs::String& msg)
{
	string subinfo;
	subinfo=msg.data;
	ROS_INFO("I heard: [%s]", subinfo.c_str());
}

int main(int argc, char *argv[])
{
	ros::init(argc, argv, "cplus_node_subscriber");
	ros::NodeHandle n;
	ros::Subscriber sub = n.subscribe("chatter", 1000, &chatterCallback);
	ros::spin();
	return 0;
}

STEP 4 修改node文件夹下的CMakeLists.txt 文件

cmake_minimum_required(VERSION 3.0.2)
project(cplus_node)

find_package(catkin REQUIRED )
find_package(catkin REQUIRED COMPONENTS  roscpp)

catkin_package()

include_directories(  include ${catkin_INCLUDE_DIRS})

add_executable(cplus_node_pub   src/cplus_node_pub.cpp)
add_dependencies(cplus_node_pub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(cplus_node_pub   ${catkin_LIBRARIES} )

add_executable(cplus_node_sub   src/cplus_node_sub.cpp )
add_dependencies(cplus_node_sub ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(cplus_node_sub   ${catkin_LIBRARIES})

STEP 5: 编译 cplus_node_pub.cpp 及 cplus_node_sub.cpp
STEEP6: 在不同终端分别运行

roscore

rosrun cplus_node cplus_node_pub

rosrun cplus_node cplus_node_sub

发布端截图

订阅端截图