ROS基础——自定义消息发布节点的创建

最新推荐文章于 2024-01-18 17:07:26 发布
最新推荐文章于 2024-01-18 17:07:26 发布
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分类专栏： 机器人工程理论基础：ROS基础 文章标签： ros
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ROS中自定义消息的发布和订阅ROS自定义msg类型及使用记录我的调试bug历程,找不到自定义消息类型的文件 bug找不到.h文件是电脑编译顺序的问题，先把add_executable(swarm_node_v2 src/swarm_node_v2.cpp)以及target_link_libraries(swarm_node_v2${catkin_LIBRARIES})注释，重新运行...
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ROS中自定义消息的发布和订阅
ROS自定义msg类型及使用

记录我的调试bug历程,
找不到自定义消息类型的文件 bug
找不到.h文件是电脑编译顺序的问题，先把add_executable(swarm_node_v2 src/swarm_node_v2.cpp)以及

target_link_libraries(swarm_node_v2${catkin_LIBRARIES})

注释，重新运行，给电脑生成.h文件的时间再进行编译。

第二点，各种发布订阅的消息类型要匹配上，如果匹配不上会报错。
第三点，自定义的消息类型的使用规则有一点像C++里面的class类，注意给我们的名字变量链接上。

Echo the topic to each all birds publish their position and see something

是提示我们查看消息类型，rostopic list,rostopic echo /pos 显示最终结果。

pos.name = ros::this_node::getName();

(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~$ cd ros
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ roslaunch swarm XinLAB2part2.launch
RLException: [XinLAB2part2.launch] is neither a launch file in package [swarm] nor is [swarm] a launch file name
The traceback for the exception was written to the log file
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ source devel/setup.bash
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ roslaunch swarm XinLAB2part2.launch
... logging to /home/warmtree/.ros/log/45439a1a-8619-11ea-bc84-60f677506757/roslaunch-warmtree-HP-Pavilion-Laptop-15-cc5xx-10355.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://warmtree-HP-Pavilion-Laptop-15-cc5xx:37183/

SUMMARY
========

CLEAR PARAMETERS
 * /bluesim/blue1/
 * /bluesim/blue2/
 * /bluesim/blue3/
 * /bluesim/blue4/
 * /bluesim/blue5/
 * /bluesim/blue_swarm/
 * /redsim/red1/
 * /redsim/red2/
 * /redsim/red3/
 * /redsim/red4/
 * /redsim/red5/
 * /redsim/red_swarm/

PARAMETERS
 * /bluesim/blue_swarm/move_key: 98
 * /redsim/red_swarm/move_key: 114
 * /rosdistro: melodic
 * /rosversion: 1.14.3
 * /world_size: 2.0

NODES
  /bluesim/
    blue1 (swarm/swarm_node_v2)
    blue2 (swarm/swarm_node_v2)
    blue3 (swarm/swarm_node_v2)
    blue4 (swarm/swarm_node_v2)
    blue5 (swarm/swarm_node_v2)
    blue_swarm (swarm/swarm_behavior)
  /redsim/
    red1 (swarm/swarm_node_v2)
    red2 (swarm/swarm_node_v2)
    red3 (swarm/swarm_node_v2)
    red4 (swarm/swarm_node_v2)
    red5 (swarm/swarm_node_v2)
    red_swarm (swarm/swarm_behavior)
  /
    teleop (capture_key/capture_key_node)

ROS_MASTER_URI=http://localhost:11311

process[teleop-1]: started with pid [10371]
process[bluesim/blue_swarm-2]: started with pid [10372]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
process[redsim/red_swarm-8]: started with pid [10383]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
ERROR: cannot launch node of type [swarm/swarm_node_v2]: can't locate node [swarm_node_v2] in package [swarm]
^[[A^C[redsim/red_swarm-8] killing on exit
[bluesim/blue_swarm-2] killing on exit
[teleop-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:check /home/warmtree/ros/logs/swarm/build.check.012.log    
CMake Error at /home/warmtree/ros/src/swarm/CMakeLists.txt:111 (add_executable):
  add_executable cannot create target "swarm_node" because another target
  with the same name already exists.  The existing target is an executable
  created in source directory "/home/warmtree/ros/src/swarm".  See
  documentation for policy CMP0002 for more details.


CMake Error at /home/warmtree/ros/src/swarm/CMakeLists.txt:122 (target_link_libraries):
  Cannot specify link libraries for target "swarm_node_v2" which is not built
  by this project.


make: *** [cmake_check_build_system] Error 1
cd /home/warmtree/ros/build/swarm; catkin build --get-env swarm | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
...............................................................................
Failed     << swarm:check                [ Exited with code 2 ]                
Failed    <<< swarm                      [ 1.0 seconds ]                       
[build] Summary: 1 of 2 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1.0 seconds total.                                            
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:check /home/warmtree/ros/logs/swarm/build.check.013.log    
CMake Error at /home/warmtree/ros/src/swarm/CMakeLists.txt:122 (target_link_libraries):
  Cannot specify link libraries for target "swarm_node_v2" which is not built
  by this project.


make: *** [cmake_check_build_system] Error 1
cd /home/warmtree/ros/build/swarm; catkin build --get-env swarm | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
...............................................................................
Failed     << swarm:check                [ Exited with code 2 ]                
Failed    <<< swarm                      [ 1.0 seconds ]                       
[build] Summary: 1 of 2 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1.0 seconds total.                                            
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ source devel/setup.bash
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:check /home/warmtree/ros/logs/swarm/build.check.014.log    
CMake Error at /home/warmtree/ros/src/swarm/CMakeLists.txt:122 (target_link_libraries):
  Cannot specify link libraries for target "swarm_node_v2" which is not built
  by this project.


make: *** [cmake_check_build_system] Error 1
cd /home/warmtree/ros/build/swarm; catkin build --get-env swarm | catkin env -si  /usr/bin/make cmake_check_build_system; cd -
...............................................................................
Failed     << swarm:check                [ Exited with code 2 ]                
Failed    <<< swarm                      [ 0.9 seconds ]                       
[build] Summary: 1 of 2 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 0.9 seconds total.                                            
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:make /home/warmtree/ros/logs/swarm/build.make.012.log      
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp: In function ‘int main(int, char**)’:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:47: error: ‘NameAndPose’ was not declared in this scope
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                               ^~~~~~~~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:37: error: parse error in template argument list
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: no matching function for call to ‘ros::NodeHandle::advertise<<expression error> >(const char [5], int)’
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:40:
/opt/ros/melodic/include/ros/node_handle.h:249:15: note: candidate: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
     Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)
               ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:249:15: note:   template argument deduction/substitution failed:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: template argument 1 is invalid
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:40:
/opt/ros/melodic/include/ros/node_handle.h:315:13: note: candidate: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
   Publisher advertise(const std::string& topic, uint32_t queue_size,
             ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:315:13: note:   template argument deduction/substitution failed:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: template argument 1 is invalid
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
make[2]: *** [CMakeFiles/swarm_node_v2.dir/src/swarm_node_v2.cpp.o] Error 1
make[1]: *** [CMakeFiles/swarm_node_v2.dir/all] Error 2
make: *** [all] Error 2
cd /home/warmtree/ros/build/swarm; catkin build --get-env swarm | catkin env -si  /usr/bin/make --jobserver-fds=4,5 -j; cd -
...............................................................................
Failed     << swarm:make                 [ Exited with code 2 ]                
Failed    <<< swarm                      [ 2.6 seconds ]                       
[build] Summary: 1 of 2 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 2.6 seconds total.                                            
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:make /home/warmtree/ros/logs/swarm/build.make.013.log      
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp: In function ‘int main(int, char**)’:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:47: error: ‘NameAndPose’ was not declared in this scope
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                               ^~~~~~~~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:47: note: suggested alternative:
In file included from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:45:0:
/home/warmtree/ros/devel/.private/swarm/include/swarm/NameAndPose.h:54:54: note:   ‘swarm::NameAndPose’
 typedef ::swarm::NameAndPose_<std::allocator<void> > NameAndPose;
                                                      ^~~~~~~~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:37: error: parse error in template argument list
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                     ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: no matching function for call to ‘ros::NodeHandle::advertise<<expression error> >(const char [5], int)’
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:40:
/opt/ros/melodic/include/ros/node_handle.h:249:15: note: candidate: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, bool)
     Publisher advertise(const std::string& topic, uint32_t queue_size, bool latch = false)
               ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:249:15: note:   template argument deduction/substitution failed:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: template argument 1 is invalid
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
In file included from /opt/ros/melodic/include/ros/ros.h:45:0,
                 from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:40:
/opt/ros/melodic/include/ros/node_handle.h:315:13: note: candidate: template<class M> ros::Publisher ros::NodeHandle::advertise(const string&, uint32_t, const SubscriberStatusCallback&, const SubscriberStatusCallback&, const VoidConstPtr&, bool)
   Publisher advertise(const std::string& topic, uint32_t queue_size,
             ^~~~~~~~~
/opt/ros/melodic/include/ros/node_handle.h:315:13: note:   template argument deduction/substitution failed:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:75: error: template argument 1 is invalid
     ros::Publisher pubPos = nh_glob.advertise<NameAndPose::Point>("/pos",1);
                                                                           ^
make[2]: *** [CMakeFiles/swarm_node_v2.dir/src/swarm_node_v2.cpp.o] Error 1
make[1]: *** [CMakeFiles/swarm_node_v2.dir/all] Error 2
make: *** [all] Error 2
cd /home/warmtree/ros/build/swarm; catkin build --get-env swarm | catkin env -si  /usr/bin/make --jobserver-fds=4,5 -j; cd -
...............................................................................
Failed     << swarm:make                 [ Exited with code 2 ]                
Failed    <<< swarm                      [ 1.8 seconds ]                       
[build] Summary: 1 of 2 packages succeeded.                                    
[build]   Ignored:   None.                                                     
[build]   Warnings:  None.                                                     
[build]   Abandoned: None.                                                     
[build]   Failed:    1 packages failed.                                        
[build] Runtime: 1.8 seconds total.                                            
(base) warmtree@warmtree-HP-Pavilion-Laptop-15-cc5xx:~/ros$ catkin build
-------------------------------------------------------
Profile:                     default
Extending:          [cached] /opt/ros/melodic
Workspace:                   /home/warmtree/ros
-------------------------------------------------------
Build Space:        [exists] /home/warmtree/ros/build
Devel Space:        [exists] /home/warmtree/ros/devel
Install Space:      [unused] /home/warmtree/ros/install
Log Space:          [exists] /home/warmtree/ros/logs
Source Space:       [exists] /home/warmtree/ros/src
DESTDIR:            [unused] None
-------------------------------------------------------
Devel Space Layout:          linked
Install Space Layout:        None
-------------------------------------------------------
Additional CMake Args:       None
Additional Make Args:        None
Additional catkin Make Args: None
Internal Make Job Server:    True
Cache Job Environments:      False
-------------------------------------------------------
Whitelisted Packages:        None
Blacklisted Packages:        None
-------------------------------------------------------
Workspace configuration appears valid.
-------------------------------------------------------
[build] Found '2' packages in 0.0 seconds.                                     
[build] Package table is up to date.                                           
Starting  >>> capture_key                                                      
Starting  >>> swarm                                                            
Finished  <<< capture_key                [ 0.2 seconds ]                       
_______________________________________________________________________________
Errors     << swarm:make /home/warmtree/ros/logs/swarm/build.make.014.log      
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp: In function ‘int main(int, char**)’:
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:67: error: invalid use of non-static data member ‘swarm::NameAndPose_<std::allocator<void> >::Point’
     ros::Publisher pubPos = nh_glob.advertise<swarm::NameAndPose::Point>("/pos",1);
                                                                   ^~~~~
In file included from /home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:45:0:
/home/warmtree/ros/devel/.private/swarm/include/swarm/NameAndPose.h:43:15: note: declared here
   _Point_type Point;
               ^~~~~
/home/warmtree/ros/src/swarm/src/swarm_node_v2.cpp:130:82: error: no matching function for call to ‘ros::NodeHandle::advertise<<expression error> >(const char [5], int)’
     ros::Publisher pubPos = nh_glob.advertise<swarm::NameAndPose::Point>("/pos",1);
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ROS基础——自定义话题消息
weixin_44991673的博客
04-24 1704
真是的，明明有
在/home/yonghuming/gongzuokongjian/下运行catkin build命令缺对/home/yonghuming/进行build
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04-16 1424
在/home/yonghuming/gongzuokongjian/下运行catkin build命令缺对/home/yonghuming/进行build 当我想运用catkin系列命令创建一个工作空间时，出现了如下问题，我想创建的工作空间为gongzuokongjian，该工作空间的路径为/Home/zhangman，但是当我在/Home/zhangman/gognzuokognjian路径下调...
“// XTDRONE // GAZEBO // ROS“ :~/catkin_ws$ catkin build报错
For_Air_的博客
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GAZEBO catkin_ws$ catkin build报错
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qq_38313901的博客
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系统版本信息：ubuntu 16.04 + gazebo 7 + cmake version 3.13.0 catkin build错误信息： -------------------------------------------------------------------- Profile: default Extending: [env] /opt/ros/kinetic Workspace: /ho
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therealSXC的博客
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【代码】aerial_mapper problem example(already fixed)
ROS学习笔记5源码-发布者与订阅者.zip
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编写ROS C++程序通常包括创建Node，定义消息类型，创建发布者和订阅者，以及处理回调函数。C++的模板机制允许开发者创建自定义Message类型，增强了灵活性。 5. **学习笔记5源码**： 这个压缩包中的源码可能是实现...
ROS培训课件——广州站
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3. **ROS消息与数据类型**：理解ROS中的消息系统，包括标准数据类型如`std_msgs`和自定义消息的创建。学习`msg`和`srv`文件的编写。 4. **ROS节点与节点管理**：掌握创建和运行ROS节点的方法，学习使用`rosrun`、`...
ros-android-hello
09-08
1. **发布话题（Publishing Topics）**：Android应用会创建一个ROS节点，该节点会定期发布消息到指定的话题。这通常涉及到创建一个`Publisher`对象，设置话题名和消息类型，然后在循环中发送消息。 2. **订阅话题...
Mastering ROS for Robotics Programming - Second Edition
01-09
1. **ROS基础**：介绍ROS的基本架构，包括节点、消息、服务、参数服务器等核心概念，以及如何安装和配置ROS环境。 2. **ROS工作流**：讲解如何使用ROS的工具，如`catkin`工作空间、`roslaunch`、`rqt`图形工具和`...
帮人写系列-大连浩如科技有限公司的uwb（ros节点）
最新发布
03-13
3. **消息类型**：定义了用于在ROS系统中传递UWB数据的自定义消息类型。 4. **节点图描述**：.launch文件，用于启动和配置ROS节点。 5. **文档**：可能是README文件，解释了如何构建、运行和理解代码，以及可能的...
尝试CornerNet-Lite进行目标识别并嵌入ROS
qq_25349629的博客
04-24 4579
CornerNet-Lite是刚开源不久的实时目标检测方法，据说比YOLO3 牛逼，于是打算尝鲜一波。 首先说运行的环境要求： 1）Python 3.7 2）PyTorch 1.0.0 3）CUDA 10 （意思是你得有一张NVIDIA的显卡，比如我的是GTX1060） 4）GCC 4.9.2 or above 1. 去github下载源码 https://github.com/...
ROS学习之 cpp名字和节点信息
shiyue0010的专栏
07-19 2789
wiki链接： http://wiki.ros.org/roscpp/Overview/Names%20and%20Node%20Information     大部分常用的获取节点信息和操作命名的API如下.     1.获取节点信息     相关链接： ros::this_Node名字空间 API: http://docs.ros.org/api/roscpp/html/name
机器人程序设计课程配套系统镜像使用说明（ Ubuntu 14.04.5 + ROS indigo ）
zhangrelay的专栏
03-16 5489
本镜像主要针对机器人程序设计本科课程，供学生课程学习与实践操作使用，基于ROS爱好者和学生使用的反馈意见对之前发布的版本进行修正和补充，在此致谢。 U盘镜像可以使用Universal-USB-Installer或UltraISO，依据电脑配置情况。 1 http://blog.csdn.net/zhangrelay/article/details/53324759 2 http://blog.csdn.net/zhangrelay/article/details/54632130
ubuntu18.04+ROS-Melodic 配置moveit
SimileciWH的博客
10-10 8160
                                                                                                  持续更新...... 转载请标明出处！！！ 在已经安装ROS-melodic之后，再进行一下操作。如果你没有安装ROS，请务必先安装。安装方法可以查看官网。 link：http://wiki.ro...
人机智能交互技术（ROS）实践作业模版与说明
zhangrelay的专栏
10-31 2737
人机智能交互技术实践作业模版与说明，具体包括4个专项实践和1个综合实践，综合实践需要做PPT汇报。
在ROS中使用中文语音交互（百度语音baidu_speech）
zhangrelay的专栏
12-21 6100
目前，ROS可以用的中文语音工具还是有一些的，功能也越来越丰富，但有一些有使用的限制，有一些用起来不是很方便。这里以百度语音为例具体说明，参考链接如下：1 http://wiki.ros.org/baidu_speech2 https://github.com/DinnerHowe/baidu_speech----1. 概述使用百度语音API实现语音识别和TTS的功能包，可以修改或自定义参数的示例
ros2创建自定义消息
05-25
例如，如果您想要在ROS 2节点中发布一个名为“my_topic”的主题，其中包含您的自定义消息类型，可以执行以下操作： ```c++ #include "my_package/my_message.hpp" ... rclcpp::Node::SharedPtr node = rclcpp::Node...

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