【ROS】订阅者Subscriber的编程实现

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一、创建订阅者代码

cd ~/catkin_ws/src/learning_topic/src
touch pose_subscriber.cpp
sudo gedit pose_subscriber.cpp

/**
 * 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
 */
 
#include <ros/ros.h>
#include "turtlesim/Pose.h"

// 接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}

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

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback
    ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}

二、配置订阅者代码编译规则

在CMakeLists中加入以下两句

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

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三、编译并运行

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_topic pose_subscriber
rosrun turtlesim turtle_teleop_key