ROS基础——自定义消息发布节点的创建

最新推荐文章于 2022-03-03 09:54:37 发布
最新推荐文章于 2022-03-03 09:54:37 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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本文链接：https://blog.csdn.net/weixin_44991673/article/details/105740660
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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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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...
ROS笔记 – 自定义消息格式
01-06
CMakeList.txt修改（按内容在CMakeList.txt中的顺序） 10行左右 find_package添加message_generation，用于调用生成mymsg.h头文件的函数。如下： find_package(catkin REQUIRED COMPONENTS roscpp rospy message_generation std_msgs ) 54行左右 添加自定义msg的文件名，如下 add_message_files( FILES mymsg.msg ) 79行左右，添加如下内容以生成头文件 generate_messages( DEPENDENCI
自定义ros消息（msg，srv）时，引用头文件时出现fatal error: my_package/Point.h: 没有那个文件或目录
weixin_44251398的博客
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自定义ros消息（msg，srv）时，引用头文件时出现fatal error: my_package/Point.h: 没有那个文件或目录的问题。 在编译ros的消息时，会在devel/include/my_package文件夹下自动生成一个.h文件，如下图： 但是实际编译的时候，如果没有事先把消息文件（msg，srv）编译成.h文件，.cpp文件调用时就会出现fatal error: my_package/Point.h: 没有那个文件或目录。 所以应先将消息文件编译成头文件，在去调用该头文件。 .
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zhangrelay的专栏
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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
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zhangrelay的专栏
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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。
ROS学习笔记5源码-发布者与订阅者.zip
03-17
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
07-19
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
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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...
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chamu99的博客
01-27 2384
PX4官网安装教程 源码方式安装 1.第一步执行，创建文件夹；移到创建文件夹中 mkdir -p ~/catkin_ws/src cd ~/catkin_ws 2.执行 catkin init 出错如下图 解决方法： 'catkin：未找到命令' 解决方案 注意：版本不同，将上面文章中第3个命令git branch melodic-devel，改为git branch kinetic-devel ，如下： git clone https://github.co...
roscpp源码阅读
weixin_30950237的博客
06-10 252
roscpp doxgen 这只是我摘取的一些主要代码 node_handle.cpp //NodeHandle的构造函数 void NodeHandle::construct(const std::string& ns, bool validate_name) { ros::start(); } init.h #This method enters a loop, pr...
catkin build – Build Packages
cxyhjl的博客
12-08 3119
https://catkin-tools.readthedocs.io/en/latest/verbs/catkin_build.html catkinbuild– Build Packages build 动词用于在 catkin 工作区中构建一个或多个包。 像大多数动词一样，构建是上下文感知的，可以从初始化工作区包含的任何目录中执行。 如果工作区尚未初始化，则 build 可以使用默认配置对其进行初始化，但前提是从工作区根调用它。 也可以使用 --workspace 选项从任意工作目录构建特定...
古月居 ROS 21 讲5
m0_48868565的博客
09-13 291
古月居 ROS 21 讲 5、话题消息的订阅与使用 1)完成数据接口的定义：在learning topic中创建msg，打开终端设置 string name uint8 sex uint8 age uint8 unknown = 0 uint8 male = 1 uint8 female = 2 2）根据数据接口定义设置编译规则 ➢ 在package.xml中添加功能包依赖 <build_depend>message_generation</build_depend>编译依赖
ROS源代码阅读（4）：ROS程序的初始化——file_log::init()和param::init()
格物致知 诚意正心
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接着上一篇博文ROS源代码阅读（3）：ROS程序的初始化——this_node::init()。在此文中我们继续探讨的是ROS环境的初始化——file_log::init()和param::init()函数。1.file_log::init()函数从file_log::init()的名字我们可以猜测，该函数用于对日志文件的初始化。 file_log::init()函数定义在./src/ros_co
ROS源代码阅读（3）：ROS程序的初始化——this_node::init()
格物致知 诚意正心
09-18 3005
接着上一篇博文《ROS程序的初始化——从ros:init()出发》，我们接着来分析ROS程序的初始化问题。在此文中我们探讨的是节点环境的初始化——this_node::init()函数。
ros中rqt_reconfigure源码解读及其C++实现
welin的博客
09-08 4102
ROS中参数如需实时更新得采用dynamic_reconfigure机制，这样用户在客户端修改参数后不需要重启master，直接向服务端发送请求，然后服务端通过回调函数确认来完成参数的动态重配置，具体服务端、客户端的写法可参见dynamic_reconfigure/Tutorials和《ROS动态调参(dynamic reconfigure)客户端服务端之C++ Python实现》。此外，ROS还...
melodic 安装 kalibr
weixin_42404713的博客
08-25 873
这里主要记录编译过程中遇到的坑 1首先是一些常规的操作，主要是安装简单的第三方依赖 sudo apt-get install python-setuptools python-rosinstall ipython sudo apt-get install libeigen3-dev libboost-all-dev doxygen libopencv-dev sudo apt-get install ros-melodic-vision-opencv ros-indigo-image-transport
ros2创建自定义消息
05-25
在ROS 2中，创建自定义消息需要以下步骤： 1. 创建.msg文件：在ROS 2中，消息定义使用.msg文件。创建一个新的.msg文件，其中包含自定义消息的字段和类型。例如，如果您想要创建一个名为“my_message”的自定义消息，可以创建一个名为“my_message.msg”的文件，并在其中定义消息的字段和类型。 2. 编译消息：要使用自定义消息，您需要将其编译成ROS 2可用的代码。可以使用ROS 2的消息构建工具Colcon来完成此操作。首先，在您的工作空间中创建一个“msg”文件夹，并将您的.msg文件放在其中。然后，在终端中运行以下命令： ``` colcon build --packages-select my_package ``` 这将编译您的自定义消息并生成ROS 2可用的代码。 3. 使用自定义消息：一旦您的自定义消息已经编译，您可以在ROS 2中使用它。在您的ROS 2节点或包中，包含您的自定义消息的头文件，并使用该消息的类型来定义变量。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::make_shared("my_node"); auto publisher = node->create_publisher<my_package::msg::MyMessage>("my_topic", 10); my_package::msg::MyMessage message; message.field1 = 1; message.field2 = "hello"; publisher->publish(message); ``` 这将创建一个名为“my_topic”的主题，并使用您的自定义消息类型来发布名为“message”的消息。 总之，以上是在ROS 2中创建自定义消息的基本步骤。

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