ros话题通信自定义msg

---

1. 定义msg文件

在功能包下创建msg目录，并添加自定义的msg文件。这里以ExampleMessage.msg为例。

工作空间为ROS_WS，功能包名为example_ros_msg，文件目录如下图所示：

ExampleMessage.msg文件内容如下：

Header header
int32 demo_int
float64 demo_double

2.编辑配置文件

(1) package.xml

  <!--自定义msg需要的编译依赖-->
  <build_depend>message_generation</build_depend>
  <!--自定义msg需要的执行依赖-->
  <exec_depend>message_runtime</exec_depend>

(2) CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  message_generation
)
# 需要加入 message_generation,必须有 std_msgs

## 配置 msg 源文件
add_message_files(
  FILES
  ExampleMessage.msg
)

# 生成消息时依赖于 std_msgs
generate_messages(
  DEPENDENCIES
  std_msgs
)

#执行时依赖
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo02_talker_listener
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

3. 编译

在 工作空间/devel/include/包名/下生成了 ExampleMessage.h 文件

4. 使用

为了方便代码提示以及避免误抛异常，需要先配置 vscode，将前面生成的 head 文件路径配置进 c_cpp_properties.json 的 includepath属性:

{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "",
                "limitSymbolsToIncludedHeaders": true
            },
            "includePath": [
                "/opt/ros/noetic/include/**",
                "/usr/include/**",
                "/xxx/yyy工作空间/devel/include/**" //配置 head 文件的路径 
            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++17"
        }
    ],
    "version": 4
}

(1)发布

example_ros_msg_publisher.cpp 的代码如下：

#include "ros/ros.h"
#include "example_ros_msg/ExampleMessage.h"
#include "math.h"

int main(int argc, char  *argv[])
{
    ros::init(argc, argv, "example_ros_msg_pub");

    ros::NodeHandle nh;

    ros::Publisher myPublisher = nh.advertise<example_ros_msg::ExampleMessage>("example_topic",1);

    example_ros_msg::ExampleMessage m;
    m.header.seq = 0;
    m.header.frame_id = "base_frame";
    m.demo_int = 1;
    m.demo_double = 100.0;

    ros::Rate r(1);

    double sqrt_arg;
    while (ros::ok())
    {
        m.header.seq ++;
        m.header.stamp = ros::Time::now();
        m.demo_int *= 2;
        sqrt_arg = m.demo_double;
        m.demo_double = sqrt(sqrt_arg);

        myPublisher.publish(m);
        r.sleep();
    }
    
    /* code */
    return 0;
}

(2)CMakeLists.txt

add_executable(example_ros_msg_publisher src/example_ros_msg_publisher.cpp)

add_dependencies(example_ros_msg_publisher ${PROJECT_NAME}_generate_messages_cpp)

target_link_libraries(example_ros_msg_publisher
  ${catkin_LIBRARIES}
)

(3) 编译并执行