ROS-msg消息接收与发布

最新推荐文章于 2024-07-25 16:36:14 发布

塰欸翀

最新推荐文章于 2024-07-25 16:36:14 发布

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文章标签：自动驾驶 c++ 人工智能

本文链接：https://blog.csdn.net/weixin_54369269/article/details/123152071

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ROS 消息发布消息订阅学生信息节点通信

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msg_pub

#include "ros/ros.h"
#include "bingda_practices/student.h"//student.msg头文件，在编译后生成

int main(int argc, char **argv){

        ros::init(argc,argv,"msg_pub");
        ros::NodeHandle n;
        ros::Publisher chatter_pub = n.advertise<bingda_practices::student>("student_info",1000);
        ros::Rate loop_rate(10);
        uint8_t count = 0;
        while (ros::ok())
        {
                bingda_practices::student student;
                student.first_name = "bingda";
                student.last_name = "robot";
                student.age = count;
                student.score = 100;
                chatter_pub.publish(student);

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

msg_sub

#include "ros/ros.h"
#include "bingda_practices/student.h"

//回调函数
void Callback(const bingda_practices::student::ConstPtr& msg ){
        ROS_INFO("student name is %s %s;age is %d;score is %d.",msg->first_name.c_str(),msg->last_name.c_str(),msg->age,msg->score);
}

int main(int argc, char **argv){

        ros::init(argc,argv,"msg_sub");
        ros::NodeHandle n;
        ros::Subscriber sub = n.subscribe("student_info",1000,Callback);
        ros::spin();

        return 0;
}