一次成功流水账-ros中节点名字层级关系的疑惑

这里讨论一下ros中node名字的对应关系，很多初学者在起名字是不知所措。

这里使用learning_topic的包作为例子，使用古月居的代码作为例子。   https://github.com/guyuehome/ros_21_tutorials

1. 在.cpp或.py文件中会初始化一个节点名字ros::init(argc, argv, "person_publisher_cpp");

2. 在CMakeLists.txt文件中有一个节点的名字add_executable(person_publishercmake src/person_publisher.cpp)

3.在写launch文件的时候有一个节点的名字 <node pkg="learning_topic" type="person_subscriber" output="screen" name="nodelaunch" />

这里总结一下，存在这样的对应关系：

1. rosrun 启动节点应该使用cmake中的名字

rosrun learning_topic person_publishercmake

但是rosnode list显示的名字为cpp中的名字/person_publisher_cpp

2. roslaunch通过launch文件 启动节点

rosnode list显示的名字为launch中的name标签定义的名字nodelaunch

可以看到cmake只是决定了编译后可执行文件的名字，rosrun时要用。实际跑的时cpp中的内容。

roslaunch则不同，会覆盖掉cpp中定义的名字。要注意对应。

这篇教程不错，可以一起运行下试试，加深理解。

ROS 学习笔记（12）—— launch 文件使用方法_AGOLK的博客-CSDN博客_launch文件语法

文件和代码如下：

1. person_publisher.cpp文件

/**
 * 该例程将发布/person_info话题，自定义消息类型learning_topic::Person
 */
 
#include <ros/ros.h>
#include "learning_topic/Person.h"

int main(int argc, char **argv)
{
    // ROS节点初始化
    ros::init(argc, argv, "person_publisher_cpp");

    // 创建节点句柄
    ros::NodeHandle n;

    // 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10
    ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);

    // 设置循环的频率
    ros::Rate loop_rate(1);

    int count = 0;
    while (ros::ok())
    {
        // 初始化learning_topic::Person类型的消息
    	learning_topic::Person person_msg;
		person_msg.name = "Tom";
		person_msg.age  = 18;
		person_msg.sex  = learning_topic::Person::male;

        // 发布消息
		person_info_pub.publish(person_msg);

       	ROS_INFO("Publish Person Info: name:%s  age:%d  sex:%d", 
				  person_msg.name.c_str(), person_msg.age, person_msg.sex);

        // 按照循环频率延时
        loop_rate.sleep();
    }

    return 0;
}

2.  CMakeLists.txt文件，注意文件中add_executable和target_link_libraries和add_dependencies生成的可执行文件的名字要一致。

cmake_minimum_required(VERSION 2.8.3)
project(learning_topic)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  turtlesim
  message_generation
)
add_message_files(
  FILES
  Person.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
   CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})

add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})


add_executable(person_publishercmake src/person_publisher.cpp)
target_link_libraries(person_publishercmake ${catkin_LIBRARIES})
add_dependencies(person_publishercmake ${PROJECT_NAME}_generate_messages_cpp)

add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)

2.  Launch文件，pkg=”package-name” type=”executable-name” name=”node-name”，注意这里的type并不是文件名的名字

<!--xml version="1.0"-->
<launch>
  <node pkg="learning_topic" type="person_subscriber" output="screen" name="listener" />
  <node pkg="learning_topic" type="person_publishercmake" output="screen" name="nodelaunch"/>
</launch>