ROS话题通信（自定义消息）

项目场景：

编写发布者和订阅者，实现话题通信
需要通信的消息类型定义如下 (Robotvel.msg)：
std msgs/Header header
string name
int16 id
geometry_msgs/Twist velocity

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实现步骤：

1. 新建功能包，添加依赖（roscpp rospy std_msgs geometry_msgs），CtrlShiftB编译无误；
2. 新建msg文件夹，编写RobotVel.msg文件；

std_msgs/Header header
string name
int16 id
geometry_msgs/Twist velocity

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     3.配置Package；

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     4.配置CMakeLists；

 

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     5.编译后生成头文件，在c_cpp_properties.json中添加头文件路径； 

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     6.在src下编写发布者RoborVel_pub.cpp文件；

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Header.h"
#include "header_msg_0922/RobotVel.h"
int main(int argc, char *argv[])
{
    ros::init(argc, argv, "vel_pub");
    ros::NodeHandle nh;
    ros::Publisher pub = nh.advertise<header_msg_0922::RobotVel>("RobotVel",100);
    header_msg_0922::RobotVel rv;
    ros::Duration(3).sleep();
    ros::Rate rate(10);
    while (ros::ok())
    {   
        rv.header.seq = 1;
        rv.header.frame_id = "earth";
        rv.header.stamp = ros::Time::now();
        rv.id = 1;
        rv.name = "robot";
        rv.velocity.angular.x = 0.2;
        rv.velocity.angular.y = 0;
        rv.velocity.angular.z = 0;
        rv.velocity.linear.x = 0;
        rv.velocity.linear.y = 0;
        rv.velocity.linear.z = 0.3;

        pub.publish(rv);
        ROS_INFO("Robot's name is %s,frame_id is %s,now : %f",rv.name.c_str(),rv.header.frame_id.c_str(),rv.header.stamp.toSec());
        rate.sleep();    
        ros::spinOnce();
    }
    return 0;
}

 

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     7.在src下编写订阅者RoborVel_sub.cpp文件；

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Header.h"
#include "header_msg_0922/RobotVel.h"

void doVel(const header_msg_0922::RobotVel &rv)
{
    ROS_INFO("Getting name:%s,now:%f,angular velocity(%f,%f,%f),linear velocity(%f,%f,%f)",
              rv.name.c_str(),rv.header.stamp.toSec(),
              rv.velocity.angular.x,rv.velocity.angular.y,rv.velocity.angular.z,
              rv.velocity.linear.x,rv.velocity.linear.y,rv.velocity.linear.z);
}
int main(int argc, char *argv[])
{
    ros::init(argc, argv, "vel_sub");
    ros::NodeHandle nh;
    ros::Subscriber sub = nh.subscribe("RobotVel",100,doVel);    
    ros::spin();
    return 0;
}

 

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     8.配置CMakeLists.xml；

 

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     9.运行；

 完成项目。