8006.ros2发布与订阅

4.1 发布订阅独立式

not_composable_pub.cpp  #文件名称，此代码风格已经不被推荐了.
/*
*第1种发布风格，此风格已经不被推荐了
*
*/

#include <iostream>
#include <chrono>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

// chrono 时间库

using namespace std::chrono_literals;

/* 此风格已经不被推荐了. */

int main(int argc, char* argv[])
{
    rclcpp::init(argc, argv);

    auto node = rclcpp::Node::make_shared("minimal_publisher");
    auto publisher = node->create_publisher<std_msgs::msg::String>("topic", 10);
    std_msgs::msg::String message;
    auto publish_count = 0;

    rclcpp::WallRate  loop_rate(500ms);

    while (rclcpp::ok()){
        message.data = "Hello world!" + std::to_string(publish_count++);
        RCLCPP_INFO(node->get_logger(), "Publishing:'%s'", message.data.c_str());
        publisher->publish(message);

        rclcpp::spin_some(node);
        loop_rate.sleep();
    }

    rclcpp::shutdown();

    std::cout << "This is a test" << std::endl;

    return 0;
}

# 初始化环境变量
C:\dev\ros2_example_ws> call C:\dev\ros2_dashing\local_setup.bat
#编译功能包
C:\dev\ros2_example_ws>  colcon build
C:\dev\ros2_example_ws>  call install\local_setup.bat
#运行节点
C:\dev\ros2_example_ws> ros2 run xhome_rcl_cpp xpublisher_not_composable

/****************************************************************************************
* 文件名称:not_composable_sub.cpp 文件.
*
****************************************************************************************/

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

rclcpp::Node::SharedPtr g_node= nullptr;

void topic_callback(const std_msgs::msg::String::SharedPtr msg)
{
    RCLCPP_INFO(g_node->get_logger(), "I heard: '%s'", msg->data.c_str());
}

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);

    //创建订阅节点.
    g_node = rclcpp::Node::make_shared("minimal_subscribe");

    auto subscription = g_node->create_subscription<std_msgs::msg::String>("topic", 10, topic_callback);

    rclcpp::spin(g_node);

    rclcpp::shutdown();

    subscription = nullptr;
    g_node = nullptr;

    return 0;
}

4.2 发布与类定时器回调式

member_function_pub.cpp

#include <chrono>
#include <memory>
#include <iostream>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"


using namespace std::chrono_literals;


class MinimalPublisher:public rclcpp::Node
{
public:
    MinimalPublisher():Node("Minimal_publisher"), count_(0)
    {
        publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
        
        //clion IDE 中报错，编译也报错，从命令行编译，不报错.
        timer_ = this->create_wall_timer(500ms,
                                         std::bind(&MinimalPublisher::timer_callback,                      this));
    }

private:
    //回调函数中实现对消息发布.
    void timer_callback(){
        auto message = std_msgs::msg::String();
        message.data = "Hello , world! " + std::to_string(count_++);
        RCLCPP_INFO(this->get_logger(), "Publishing:'%s'", message.data.c_str());
        publisher_->publish(message);
    }

    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
    size_t count_;
};

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

    rclcpp::init(argc, argv);

    //自旋
    rclcpp::spin(std::make_shared<MinimalPublisher>());

    rclcpp::shutdown();

    return 0;
}

/****************************************************************************************
* member_function_sub.cpp 订阅文件.
* 
****************************************************************************************/

#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using std::placeholders::_1;

class MinimalSubscriber: public rclcpp::Node
{
public:
    MinimalSubscriber():Node("Minimal_subscriber")
    {
        subscription_ = this->create_subscription<std_msgs::msg::String>("topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
    }

private:
    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
    {
        RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
    //订阅者指针.
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MinimalSubscriber>());
    rclcpp::shutdown();

    return 0;
}

4.3 发布与订阅lambda式

lambda_pub.cpp

#include <chrono>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace  std::chrono_literals;

class MinimalPublisher : public rclcpp::Node
{
public:
    MinimalPublisher():Node("minimal_publisher"), count_(0)
    {
        publisher_  = this->create_publisher<std_msgs::msg::String>("topic", 10);
        auto timer_callback = [this]()->void {
            auto message = std_msgs::msg::String();
            message.data = "Hello world! " + std::to_string(this->count_++);

            RCLCPP_INFO(this->get_logger(), "Publishing :'%s' ", message.data.c_str());
            this->publisher_->publish(message);
        };

        timer_ = this->create_wall_timer(500ms,timer_callback);
    }

private:
    rclcpp::TimerBase::SharedPtr  timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
    size_t count_;
};

int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);

    rclcpp::spin(std::make_shared<MinimalPublisher>());

    rclcpp::shutdown();

    return 0;
}

/*****************************************************************************************
*lambda_sub.cpp 文件 订阅者
*
****************************************************************************************/

#include <iostream>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

//订阅者类lambda表达式方式.
class MinimalSubscriber:public rclcpp::Node
{
public:
    MinimalSubscriber():Node("Minimal_subsriber")
    {
        subscription_ = this->create_subscription<std_msgs::msg::String>("topic", 10,
                [this](std_msgs::msg::String::UniquePtr msg){
            RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
        });
    }

private:
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr  subscription_;

};


int main(int argc, char * argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<MinimalSubscriber>());
    rclcpp::shutdown();

    return 0;
}

4.4 配置与编译

# CMakeLists.txt

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)


add_executable(xpublisher_not_composable src/not_composable_pub.cpp )
ament_target_dependencies(xpublisher_not_composable rclcpp std_msgs)

add_executable(xpublisher_member_function src/member_function_pub.cpp)
ament_target_dependencies(xpublisher_member_function rclcpp std_msgs)

add_executable(xpublisher_lambda src/lambda_pub.cpp)
ament_target_dependencies(xpublisher_lambda rclcpp std_msgs)

add_executable(xsubscriber_not_composable src/not_composable_sub.cpp)
ament_target_dependencies(xsubscriber_not_composable rclcpp std_msgs)

add_executable(xsubscriber_member_function src/member_function_sub.cpp)
ament_target_dependencies(xsubscriber_member_function rclcpp std_msgs)

add_executable(xsubscriber_lambda src/lambda_sub.cpp)
ament_target_dependencies(xsubscriber_lambda rclcpp std_msgs)

install(TARGETS
  xpublisher_lambda
  xpublisher_not_composable
  xpublisher_member_function
  xsubscriber_lambda
  xsubscriber_not_composable
  xsubscriber_member_function
  DESTINATION lib/${PROJECT_NAME}
)

#package.xml

<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>

<exec_depend>rclcpp</exec_depend>
<exec_depend>std_msgs</exec_depend>

# 编译功能包

C:\dev\ros2_example_ws>  call C:\dev\ros2_dashing\local_setup.bat  # 以下两个步骤都不可变少.
C:\dev\ros2_example_ws> colcon build --symlink-install

C:\dev\ros2_example_ws> call install\local_setup.bat
C:\dev\ros2_example_ws> ros2 run xhome_rcl_cpp xpublisher_lambda