一次成功流水账-安装LCM并跑通通信示例

主要步骤：

1. 安装LCM

2. 使用CMake组织工程并编译

1. 安装依赖，使用的是Ubuntu16.04的环境，后续验证ubuntu 20.04，该教程同样可以跑通。

# 必选
sudo apt install build-essential libglib2.0-dev cmake
# 可选，可根据使用的语言选择安装
sudo apt install default-jdk python-all-dev liblua5.1-dev golang doxygen

2. 下载、编译并安装

# 拷贝源码
git clone https://github.com/lcm-proj/lcm.git
cd lcm
# 编译并安装
mkdir build && cd build
cmake ..
make -j4
sudo make install

2. 使用CMake组织工程并跑通通信示例

生成头文件：

创建 lcm_test 文件夹，新建example_t.lcm文件，内容如下：

package exlcm;
struct example_t
{
    int64_t  timestamp;
    double   position[3];
    double   orientation[4]; 
    int32_t  num_ranges;
    int16_t  ranges[num_ranges];
    string   name;
    boolean  enabled;
}

打开 lcm_test 文件夹，运行

lcm-gen -x example_t.lcm

命令生成消息类型，成功运行后会生成 exlcm 文件夹，文件夹中有example_t.hpp的头文件。若没有识别lcm-gen命令，则需要检查是否成功安装 lcm，或是否将 lcm 编译结果添加进环境变量。

创建lcm_send.cpp，lcm_receive.cpp，read_log.cpp，example_t.lcm，CMakeLists.txt五个文件，文件内容如下。

lcm_send.cpp：

#include <lcm/lcm-cpp.hpp>

#include "exlcm/example_t.hpp"

int main(int argc, char ** argv)
{
    lcm::LCM lcm("udpm://239.255.76.67:7667?ttl=1");
    if(!lcm.good())
        return 1;
    exlcm::example_t my_data;
    my_data.timestamp = 0;
    my_data.position[0] = 1;
    my_data.position[1] = 2;
    my_data.position[2] = 3;
    my_data.orientation[0] = 1;
    my_data.orientation[1] = 0;
    my_data.orientation[2] = 0;
    my_data.orientation[3] = 0;
    my_data.num_ranges = 15;
    my_data.ranges.resize(my_data.num_ranges);
    for(int i = 0; i < my_data.num_ranges; i++)
        my_data.ranges[i] = i;
    my_data.name = "example string from computer1";
    my_data.enabled = true;
    lcm.publish("EXAMPLE", &my_data);
    return 0;
}

lcm_receive.cpp：

#include <stdio.h>
#include <lcm/lcm-cpp.hpp>
#include "exlcm/example_t.hpp"
class Handler 
{
    public:
        ~Handler() {}
        void handleMessage(const lcm::ReceiveBuffer* rbuf,
                const std::string& chan, 
                const exlcm::example_t* msg)
        {
            int i;
            printf("Received message on channel \"%s\":\n", chan.c_str());
            printf("  timestamp   = %lld\n", (long long)msg->timestamp);
            printf("  position    = (%f, %f, %f)\n",
                    msg->position[0], msg->position[1], msg->position[2]);
            printf("  orientation = (%f, %f, %f, %f)\n",
                    msg->orientation[0], msg->orientation[1], 
                    msg->orientation[2], msg->orientation[3]);
            printf("  ranges:");
            for(i = 0; i < msg->num_ranges; i++)
                printf(" %d", msg->ranges[i]);
            printf("\n");
            printf("  name        = '%s'\n", msg->name.c_str());
            printf("  enabled     = %d\n", msg->enabled);
        }
};
int main(int argc, char** argv)
{
    lcm::LCM lcm("udpm://239.255.76.67:7667?ttl=1");
    if(!lcm.good())
        return 1;
    Handler handlerObject;
    lcm.subscribe("EXAMPLE", &Handler::handleMessage, &handlerObject);
    while(0 == lcm.handle());
    return 0;
}

read_log.cpp：

#include <stdio.h>

#include <lcm/lcm-cpp.hpp>

#include "exlcm/example_t.hpp"

int main(int argc, char **argv)
{
    if (argc < 2) {
        fprintf(stderr, "usage: read_log <logfile>\n");
        return 1;
    }

    // Open the log file.
    lcm::LogFile log(argv[1], "r");
    if (!log.good()) {
        perror("LogFile");
        fprintf(stderr, "couldn't open log file %s\n", argv[1]);
        return 1;
    }

    while (1) {
        // Read a log event.
        const lcm::LogEvent *event = log.readNextEvent();
        if (!event)
            break;

        // Only process messages on the EXAMPLE channel.
        if (event->channel != "EXAMPLE")
            continue;

        // Try to decode the message.
        exlcm::example_t msg;
        if (msg.decode(event->data, 0, event->datalen) != event->datalen)
            continue;

        // Decode success!  Print out the message contents.
        printf("Message:\n");
        printf("  timestamp   = %lld\n", (long long) msg.timestamp);
        printf("  position    = (%f, %f, %f)\n", msg.position[0], msg.position[1], msg.position[2]);
        printf("  orientation = (%f, %f, %f, %f)\n", msg.orientation[0], msg.orientation[1],
               msg.orientation[2], msg.orientation[3]);
        printf("  ranges:");
        for (int i = 0; i < msg.num_ranges; i++)
            printf(" %d", msg.ranges[i]);
        printf("\n");
        printf("  name        = '%s'\n", msg.name.c_str());
        printf("  enabled     = %d\n", msg.enabled);
    }

    // Log file is closed automatically when the log variable goes out of
    // scope.

    printf("done\n");
    return 0;
}

CMakeLists.txt：

cmake_minimum_required(VERSION 3.1)

project(lcm_test)

find_package(lcm REQUIRED)

add_executable(lcm_receive lcm_receive.cpp)

add_executable(lcm_send lcm_send.cpp)

add_executable(read_log read_log.cpp)

target_link_libraries(lcm_receive lcm)

target_link_libraries(lcm_send lcm)

target_link_libraries(read_log lcm)

编译并运行，在lcm_test 文件夹下新建build文件夹，在build文件夹中执行

cmake ..
make

生成三个可执行文件，lcm_receive,lcm_send, read_log.

先执行./lcm_receive；再./lcm_send，即可以收到发的内容。