ROS入门之话题消息的定义与使用

1.定义msg文件：
在catkin_ws/src/learning_topic文件下新建msg文件夹并在文件夹下新建Person.msg文件。
msg文件中代码如下：

string name
uint8 sex
uint8 age

uint8 unknow = 0
uint8 male = 1
uint8 female = 2

2.在package.xml中添加功能包依赖：
在catkin_ws/src/learning_topic/package.xml中添加

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

3.在CMakeLists.txt添加编译选项：
find_package中添加message_generation，添加后如下所示：

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  turtlesim
  message_generation
)

catkin_package中添加message_runtime，添加后如下所示：

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
  CATKIN_DEPENDS roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)

以及添加：

add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)

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

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

4. src中的代码：
person_publisher.cpp

/**
* 该例程将发布/person_info话题，自定义消息类型learning_topic::Person
*/

#include <ros/ros.h>
#include "learning_topic/Person.h"

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

   // 创建节点句柄
   ros::NodeHandle n;

   // 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10
   ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);

   // 设置循环的频率
   ros::Rate loop_rate(1);

   int count = 0;
   while (ros::ok())
   {
       // 初始化learning_topic::Person类型的消息
   	learning_topic::Person person_msg;
   	person_msg.name = "Tom";
   	person_msg.age  = 18;
   	person_msg.sex  = learning_topic::Person::male;

       // 发布消息
   	person_info_pub.publish(person_msg);

      	ROS_INFO("Publish Person Info: name:%s  age:%d  sex:%d", 
   	 person_msg.name.c_str(), person_msg.age, person_msg.sex);

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

   return 0;
}

person_subscriber.cpp

/**
* 该例程将订阅/person_info话题，自定义消息类型learning_topic::Person
*/

#include <ros/ros.h>
#include "learning_topic/Person.h"

// 接收到订阅的消息后，会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
   // 将接收到的消息打印出来
   ROS_INFO("Subcribe Person Info: name:%s  age:%d  sex:%d", 
   		 msg->name.c_str(), msg->age, msg->sex);
}

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

   // 创建节点句柄
   ros::NodeHandle n;

   // 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
   ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);

   // 循环等待回调函数
   ros::spin();

   return 0;
}

5.编译运行：
在catkin_ws目录下运行catkin_make,编译完成后，需要在两个两个不同终端中运行以下两个命令：

第一步打开接收
rosrun learning_topic person_subscriber 
第二部打开发送
rosrun learning_topic person_publisher