本博客内容包括:
1、创建发布节点
2、创建订阅节点:订阅节点订阅两个话题,一个持续订阅,一个只订阅一次数据作为初始化
(目的是为了做个记录,很容易忘记这部分的内容,用到的时候又会花很多时间,以此记录。)
创建功能包和节点的过程参见:功能包创建
发布节点:
#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <iostream>
int main(int argc, char** argv)
{
ros::init(argc, argv,"location_info");//节点名称
ros::NodeHandle nh_; // 定义ROS句柄
ros::Publisher msgPointPub = nh_.advertise<geometry_msgs::PointStamped>("location_info", 1000);//发布器
geometry_msgs::PointStamped msgPointStamped;
while(ros::ok())
{
msgPointStamped.point.x=10;
msgPointStamped.point.y=10;
msgPointStamped.point.z=10;
ros::Time current_time = ros::Time::now();
msgPointStamped.header.stamp = current_time;
msgPointStamped.header.frame_id = "map";
msgPointPub.publish(msgPointStamped);
}
return 0;
}
订阅节点:
#include "ros/ros.h"
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/PointStamped.h>
#include "tf/transform_broadcaster.h"
#include "tf/tf.h"
#include <geometry_msgs/Quaternion.h>
#include <nav_msgs/Odometry.h>
#include <iostream>
using namespace std;
nav_msgs::Odometry odom;
geometry_msgs::Quaternion q;//定义四元数
ros::Subscriber odom_sub;//odom的订阅者
void odom_Callback(const nav_msgs::Odometry::ConstPtr& odom_msg)
{
nav_msgs::Odometry odom_msg1 = *odom_msg;
odom.pose.pose=odom_msg1.pose.pose;
std::cout << " [" << odom.pose.pose.orientation.w << ", " << odom.pose.pose.orientation.x << ", "
<< odom.pose.pose.orientation.y << ", " << odom.pose.pose.orientation.z << "]" << std::endl
<< std::endl;
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "slo_pose_listener");
// 创建节点句柄
ros::NodeHandle n;
odom_sub = n.subscribe("/odom", 1, odom_Callback);
//方法二(这个可以,只订阅一次数据)
geometry_msgs::PointStamped point_vlc;
boost::shared_ptr<geometry_msgs::PointStamped const> point_vlc_ptr;
point_vlc_ptr = ros::topic::waitForMessage<geometry_msgs::PointStamped>("/location_info", ros::Duration(5));
if(point_vlc_ptr != NULL)
{
point_vlc = *point_vlc_ptr;
// ROS_INFO("point_vlc_x=%.5f, y=%.5f, z=%.5f", point_vlc.point.x*100, point_vlc.point.y*100, point_vlc.point.z*100);
}
else
{
ROS_INFO("no topic location/info!!");
}
static tf2_ros::TransformBroadcaster vlpodom_broadcaster;//tf发布器
geometry_msgs::TransformStamped myodom_odom;//myodom_odom;
ros::Rate loop_rate(100);
while(ros::ok())
{
std::cout << " [" << point_vlc.point.x << ", "
<< point_vlc.point.y << ", "
<< point_vlc.point.z << "]" << std::endl;
ros::Time current_time = ros::Time::now();
myodom_odom.header.stamp = current_time;
myodom_odom.header.frame_id = "vlp_odom";//"map";
myodom_odom.child_frame_id = "odom";
myodom_odom.transform.translation.x = point_vlc.point.x+odom.pose.pose.position.x;
myodom_odom.transform.translation.y = point_vlc.point.y+odom.pose.pose.position.y;
myodom_odom.transform.translation.z = point_vlc.point.z+odom.pose.pose.position.z;
myodom_odom.transform.rotation.x = odom.pose.pose.orientation.x;//q.x;
myodom_odom.transform.rotation.y = odom.pose.pose.orientation.y;
myodom_odom.transform.rotation.z = odom.pose.pose.orientation.z;
myodom_odom.transform.rotation.w = odom.pose.pose.orientation.w;
///发布tf
vlpodom_broadcaster.sendTransform(myodom_odom);
// ros::spin();
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}
代码形式没有优化,如有需要自己修改哈