ROS 18.04(melodic)编写topic通信

１、创建工作环境

$mkdir -p ~/catkin_ws/src
$cd ~/catkin_ws
$catkin_make
$source devel/setup.bash

2、在/catkin_ws/src下创建toplic_example功能包

$cd src
$catkin_creat_pkg topic_example std_msgs roscpp

3、在/catkin_ws/src/topic_example下创建src包，放置publish_node.cpp和subscribe_node.cpp两个文件

$cd topic_example
$mkdir -p src
$cd src
$gedit publish_node.cpp
$gedit subscribe_node.cpp

4、publish_node.cpp代码如下

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

int main(int argc,char **argv)
{
    ros::init(argc,argv,"publish_node");//初始化ros，节点取名为publish_node
    ros::NodeHandle nh;//声明一个句柄

    ros::Publisher chatter_pub =nh.advertise<std_msgs::String>("chatter",1000);//告诉ros节点管理器，publish_node会在chatter这个话题上发布std_msgs类型消息
    ros::Rate loop_rate(10);//指定自循环的频率，10HZ
    int count=0;

    while(ros::ok())
    {
        std_msgs::String msg;
        std::stringstream ss;
        ss<<"hello"<<count;
        msg.data=ss.str();
        ROS_INFO("%s",msg.data.c_str());

        chatter_pub.publish(msg);

        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }
    return 0;
}

5、subscribe_node.cpp代码如下：

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
    ROS_INFO("I hear:[%s]",msg->data.c_str());
}

int main(int argc,char **argv)
{
    ros::init(argc,argv,"subscribe_node");
    ros::NodeHandle nh;

    ros::Subscriber chatter_sub =nh.subscribe("chatter",1000,chatterCallback);

    ros::spin();

    return 0;

}

６、修改catkin_ws/src/topic_example下的CMakeLists.txt文件

在文件末尾加上：

include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(publish_node src/publish_node.cpp)
target_link_libraries(publish_node ${catkin_LIBRARIES})
add_dependencies(publish_node topic_example_generate_messages_cpp)

add_executable(subscribe_node src/subscribe_node.cpp)
target_link_libraries(subscribe_node ${catkin_LIBRARIES})
add_dependencies(subscribe_node topic_example_generate_messages_cpp)

７、回到工作环境下，进行编译

$cd ~/catkin_ws/
$catkin_make
$source devel/setup.bash

8、编译无误后，进行通信

先运行主节点

$roscore

使用ctrl+shift+t，创建新终端，

$rosrun topic_example publish_node

ctrl+t，开新终端，运行：

$source ~/catkin/devel/setup.bash
$rosrun topic_example subscribe_node

9、实现通信

 遇到的问题：

解决办法：在catkin_ws/src/topic_example下的CMakeList.txt中添加

cmake_policy(SET CMP0046 OLD)