ROS学习记录：基于Python的ROS话题消息编程

基于Python的ROS话题消息编程

1、进入工作空间，创建名为learning_topic的功能包

cd catkin_ws/src
catkin_create_pkg learning_topic std_msgs rospy roscpp

2、在功能包目录下创建msg文件夹用于存放Person.msg文件

Person.msg文件内容如下：

string name
uint8 sex
uint8 age

uint8 unkonw=0
uint8 male=1
uint8 female=2

3、在package.xml文件中添加功能包依赖

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

4、在CMakeLists.txt文件中添加编译选项

找到对应位置做如下修改

5、编译

cd ~/catkin_ws
catkin_make

6、编译成功之后在learning_topic包里创建文件夹scripts存放py文件

Person_publisher.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程将发布/person_info话题，自定义消息类型learning_topic::Person

import rospy
from learning_topic.msg import Person

def velocity_publisher():
    #ROS节点初始化
    rospy.init_node('person_publisher',anonymous=True)
    #创建一个Publisher，发布名为/person_info的topic,消息类型为learning_topic::Person,队列长度为10
    person_info_pub=rospy.Publisher('/person_info',Person,queue_size=10)
    #设置循环频率
    rate=rospy.Rate(10)
    while not rospy.is_shutdown():
        #初始化learning_topic::Peson类型的消息
        person_msg=Person()
        person_msg.name="ZhangJian";
        person_msg.age=20;
        person_msg.sex=Person.male;
        #发布消息
        person_info_pub.publish(person_msg)
        rospy.loginfo("Publish person message[%s,%d,%d]",person_msg.name,person_msg.age,person_msg.sex)
        #按照循环频率延时
        rate.sleep()
if __name__ == '__main__':
    try:
        velocity_publisher()
    except rospy.ROSInteruptException:
        pass

Person_subscriber.py

#!/usr/bin/env python
# -*- coding: utf-8 -*-
#该例程将订阅/person_info话题，自定义消息类型learning_topic::Person

import rospy
from learning_topic.msg import Person

def personInfoCallback(msg):
    rospy.loginfo("Subscribe Person Info: name:%s age:%d sex:%d",msg.name,msg.age,msg.sex)
def person_subscriber():
    #ROS节点初始化
    rospy.init_node('person_subscriber',anonymous=True)
    #创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallback
    rospy.Subscriber("/person_info",Person,personInfoCallback)
    #循环等待回调函数
    rospy.spin()
if __name__ == '__main__':
    person_subscriber()

7、为py文件添加执行权限

chmod 777 person_publisher.py
chmod 777 person_subscriber.py

再次编译

catkin_make

8、运行程序

运行person_publisher.py

source ./devel/setup.bash
rosrun learning_topic person_publisher.py

运行person_subscriber.py

source ./devel/setup.bash
rosrun learning_topic person_subscriber.py

订阅者（subscriber）会收到打印发布者（publisher）发布的消息。