ros自定义消息类型 订阅与发布

一、自定义消息类型

1、msg文件夹下定义消息名称speed_remote.msg，写入代码

#标准格式的头信息
uint32 seq
time stamp
string frame_id

int16 left
int16 right
int16 stop
int16 plat

2、在功能包清单 package.xml 中添加功能包依赖：编译依赖 + 运行依赖

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

3、在编译规则 CMakeList.txt 中添加编译选项

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
  serial
	
)


add_message_files(
  FILES
  speed_remote.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES serial_port
  CATKIN_DEPENDS roscpp serial rospy std_msgs message_runtime
#  DEPENDS system_lib
)

add_executable(sBus src/sBus.cpp) 
add_dependencies(sBus ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) 
target_link_libraries(sBus ${catkin_LIBRARIES})

二、发布消息

//sBus.cpp
#include <ros/ros.h>
#include <iostream>
#include <serial_port/speed_remote.h>

int main(int argc, char** argv)
{
	ros::init(argc, argv, "sBus");
    //创建句柄（虽然后面没用到这个句柄，但如果不创建，运行时进程会出错）
    ros::NodeHandle n;

    //创建一个Publisher 发布名为speed_remote的topic 消息类型为 serial_port:: speed_remote,队列的长度为10
	//serial_port:: speed_remote 其中sserial_port为功能包名  speed_remote为自定义的消息文件名 在devel里面生成头文件
	ros::Publisher speed_remote_pub = n.advertise<serial_port:: speed_remote> ("/speed_remote",10);
	//设置循环频率
	ros::Rate loop_rate(100); //设置的越大 发布订阅的频率越大

	//初始化serial_port:: speed_remote类型的消息
	serial_port::speed_remote msg_speed_remote;

    msg_speed_remote.left=1;
	msg_speed_remote.right=2;    
    msg_speed_remote.plat=3;
	msg_speed_remote.stop=4;

	//发布消息				
	speed_remote_pub.publish(msg_speed_remote);
    loop_rate.sleep();
 
    return 0;
}

三、订阅消息

//driving_control.cpp
#include <ros/ros.h>
#include <iostream>
#include <serial_port/speed_remote.h>

void speedRemoteCallback(const serial_port::speed_remote::ConstPtr& msg )
{
	//msg为解析的遥控信息msg->left左轮转速, msg->right右轮转速,msg->plat云台转动（正前方为0,左边-1,右边1）,msg->stop急停（1）
	ROS_INFO("Subcribe Person Info : %d %d %d %d", msg->left, msg->right,msg->plat,msg->stop);
}

int main(int argc, char** argv)
{
	ros::init(argc, argv, "driving_control");
    //创建句柄（虽然后面没用到这个句柄，但如果不创建，运行时进程会出错）
    ros::NodeHandle n;

    //创建一个Subscriber 订阅名为/speed_remote的topic
	ros::Subscriber speed_remote_sub = n.subscribe ("/speed_remote",10,speedRemoteCallback);
	
	//循环等待回调函数
	ros::spin();
	return 0;

}