ROS框架——发布者功能包和订阅者功能包进行bool类型数据结构的topic通讯

ROS框架——发布者功能包和订阅者功能包进行bool类型数据结构的topic通讯

code review!

零.同时运行两个功能包

一.发布者功能包

1.1.文件结构

1.2.bool_publisher_node.cpp

代码

#include <ros/ros.h>
#include <std_msgs/Bool.h>

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

    // 创建一个ROS发布器，发布名为 "bool_topic" 的topic，消息类型为std_msgs::Bool
    ros::Publisher bool_pub = nh.advertise<std_msgs::Bool>("/bool_topic", 1);

    // 在这里执行你希望的操作，比如循环发布bool状态
    ros::Rate loop_rate(1); // 发布频率为1Hz
    bool status = false;
    while (ros::ok()) {
        // 执行你的业务逻辑来更新bool状态，这里仅为示例
        status = !status; // 反转bool状态

        // 创建消息并发布
        std_msgs::Bool msg;
        msg.data = status;
        bool_pub.publish(msg);

        ros::spinOnce(); // 处理订阅的消息（如果有）

        loop_rate.sleep();
    }

    return 0;
}

1.3.CMakeLists.txt

代码

cmake_minimum_required(VERSION 3.0.2)
project(publisher_bool_topic)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
)

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

install(TARGETS bool_publisher_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

1.4.package.xml

代码

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

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


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

  </export>
</package>

二.订阅者功能包

2.1.文件结构

2.2.bool_subscriber_node.cpp

代码

#include <ros/ros.h>
#include <std_msgs/Bool.h>

// 回调函数，处理接收到的消息
void boolCallback(const std_msgs::Bool::ConstPtr& msg) {
    bool status = msg->data;
    ROS_INFO("Received bool status: %s", status ? "true" : "false");
}

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

    // 创建一个ROS订阅器，用于接收名为 "bool_topic" 的topic
    ros::Subscriber bool_sub = nh.subscribe("/bool_topic", 1, boolCallback);

    // 循环等待接收消息
    ros::spin();

    return 0;
}

2.3.CMakeLists.txt

代码

cmake_minimum_required(VERSION 3.0.2)
project(subscriber_bool_topic)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

catkin_package()

include_directories(
  ${catkin_INCLUDE_DIRS}
)

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

install(TARGETS bool_subscriber_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

2.4.package.xml

代码

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

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


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

  </export>
</package>

三.launch文件(该launch可同时启动两个功能包的rosnode)

bool_topic.launch

代码

<launch>
    <!-- 启动publisher_bool_topic节点 -->
    <node name="publisher_bool_node" pkg="publisher_bool_topic" type="bool_publisher_node" output="screen" />

    <!-- 启动subscriber_bool_topic节点 -->
    <node name="subscriber_bool_node" pkg="subscriber_bool_topic" type="bool_subscriber_node" output="screen" />
</launch>