实例说明
两个node,一个发布模拟的GPS消息(格式为自定义,包括坐标和工作状态),另一个接受并处理该信息(计算到原点的距离)。
注:传感器得到原始数据,经过ros封装为msg进行发布出去
文章目录
1. 创建工作空间
$ mkdir -p ~/practice/catkin_ws/src
$ cd ~/practice/catkin_ws/src
$ catkin_init_workspace
// 可选择编译(空的,后面编译就行,不影响)
$ cd ~/catkin_ws
$ catkin_make
2. 创建功能包
$ cd ~/catkin_ws/src
$ catkin_create_pkg topic_demo roscpp rospy std_msg
3. 定义msg
$ cd topic_demo/
$ mkdir msg
$ cd msg
$ vi gps.msg
设置.msg文件定义坐标x, y和工作状态
定义完成保存并退出,后续编译后.msg文件会自动生成一个头文件
4. 在src中创建.cpp文件(talker & listener)
$ cd ~/catkin_ws/src/topic_demo/src
$ touch talker.cpp
$ touch listener.cpp
对talker.cpp进行编写,code如下:
//ROS头文件
#include <ros/ros.h>
//自定义msg产生的头文件
#include <topic_demo/gps.h>
int main(int argc, char **argv)
{
//用于解析ROS参数,第三个参数为本节点名
ros::init(argc, argv, "talker");
//实例化句柄,初始化node
ros::NodeHandle nh;
//自定义gps msg
topic_demo::gps msg;
msg.x = 1.0;
msg.y = 1.0;
msg.state = "working";
//创建publisher
ros::Publisher pub = nh.advertise<topic_demo::gps>("gps_info", 1);
//定义发布的频率
ros::Rate loop_rate(1.0);
//循环发布msg
while (ros::ok())
{
//以指数增长,每隔1秒更新一次
msg.x = 1.03 * msg.x ;
msg.y = 1.01 * msg.y;
ROS_INFO("Talker: GPS: x = %f, y = %f ", msg.x ,msg.y);
//以1Hz的频率发布msg
pub.publish(msg);
//根据前面定义的频率, sleep 1s
loop_rate.sleep();//根据前面的定义的loop_rate,设置1s的暂停
}
return 0;
}
对listener.cpp进行编写,code如下:
//ROS头文件
#include <ros/ros.h>
//包含自定义msg产生的头文件
#include <topic_demo/gps.h>
//ROS标准msg头文件
#include <std_msgs/Float32.h>
void gpsCallback(const topic_demo::gps::ConstPtr &msg)
{
//计算离原点(0,0)的距离
std_msgs::Float32 distance;
distance.data = sqrt(pow(msg->x,2)+pow(msg->y,2));
//float distance = sqrt(pow(msg->x,2)+pow(msg->y,2));
ROS_INFO("Listener: Distance to origin = %f, state: %s",distance.data,msg->state.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("gps_info", 1, gpsCallback);
//ros::spin()用于调用所有可触发的回调函数。将进入循环,不会返回,类似于在循环里反复调用ros::spinOnce()。
ros::spin();
return 0;
}
解释部分:ros::Subscriber sub = n.subscribe(“gps_info”, 1, gpsCallback);
(topic名称,队列长度,回调函数(指针))
Subscriber接收到gps_info传来的消息,需要做个处理,需要用gpsCallback处理,因此需要定义函数gpsCallback。
注:callback中用指针作为传入的参数,ConstPtr(常指针)指向gps的消息(msg)
5. CMakeList.txt & package.xml //配置
CmakeList.txt
cmake_minimum_required(VERSION 2.8.3)
project(topic_demo)
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
rospy
std_msgs
)
add_message_files(
FILES
gps.msg
# Message2.msg
) // 新添加 添加自定义的msg
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
) // 新添加 生成msg对应的头文件
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_executable(talker src/talker.cpp )
#必须添加add_dependencies,否则找不到自定义的msg产生的头文件
add_dependencies(talker topic_demo_generate_messages_cpp) // 新添加
target_link_libraries(talker ${catkin_LIBRARIES}) // 新添加
add_executable(listener src/listener.cpp ) // 新添加
add_dependencies(listener topic_demo_generate_messages_cpp) // 新添加
target_link_libraries(listener ${catkin_LIBRARIES}) // 新添加
package.xml
<?xml version="1.0"?>
<package>
<name>topic_demo</name>
<version>0.0.0</version>
<description>The publish_subscribe_demo package</description>
<maintainer email="hanhaomin008@126.com">davidhan</maintainer>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend> // 新添加
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend> // 新添加
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
6. 编译
$ cd ~/catkin_ws
$ catkin_make
7. 运行topic_demo
$ cd ~/catakin_ws
$ source devel/setup.bash
$ rosrun topic_demo talker
另开一个终端
$ cd ~/catakin_ws
$ source devel/setup.bash
$ rosrun topic_demo listener
8. 查看消息节点
显示node之间关系
$ rqt_graph
显示node,并查看某节点属性
$ rosnode list
$ rosnode info /*nodename*