ROS实践（3）-收发节点

一 代码下载

https://www.packtpub.com，注册登陆后，点击support，搜索“Learning ROS for Robotics Programming”，下载源代码。

 

二 代码拷贝

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# pwd /root/dev/rosbook/chapter2_tutorials/src root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# cp /home/yangkai04/Documents/Learning\ ROS\ for\ Robotics\ Programming\ 1448OS_Code/1448OS_02_Code/chapter2_tutorials/src/example1_a.cpp . root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# cp /home/yangkai04/Documents/Learning\ ROS\ for\ Robotics\ Programming\ 1448OS_Code/1448OS_02_Code/chapter2_tutorials/src/example1_b.cpp .

 

三 编译节点

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# rosed chapter2_tutorials CMakeLists.txt 添加下面两行到结尾 rosbuild_add_executable(example1_a src/example1_a.cpp) rosbuild_add_executable(example1_b src/example1_b.cpp)   root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src#rosmake chapter2_tutorials

 

四 启动节点

主节点

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials# roscore ... logging to /root/.ros/log/b85ec466-a62f-11e6-bcd2-f48e38af57c0/roslaunch-yangkai04-Inspiron-3650-25477.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://yangkai04-Inspiron-3650:44387/ ros_comm version 1.11.20 SUMMARY ======== PARAMETERS  * /rosdistro: indigo  * /rosversion: 1.11.20 NODES auto-starting new master process[master]: started with pid [25489] ROS_MASTER_URI=http://yangkai04-Inspiron-3650:11311/ setting /run_id to b85ec466-a62f-11e6-bcd2-f48e38af57c0 process[rosout-1]: started with pid [25502] started core service [/rosout] 检查ros是否运行 root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# rosnode list /rosout

 

其他terminal运行下面命令

root@yangkai04-Inspiron-3650:/home/yangkai04#rosrun chapter2_tutorials example1_a

root@yangkai04-Inspiron-3650:/home/yangkai04#rosrun chapter2_tutorials example1_b [ INFO] [1478663608.828902693]: I heard: [ I am the example1_a node ] [ INFO] [1478663608.928542361]: I heard: [ I am the example1_a node ] [ INFO] [1478663609.028693039]: I heard: [ I am the example1_a node ] [ INFO] [1478663609.128679581]: I heard: [ I am the example1_a node ] [ INFO] [1478663609.228640477]: I heard: [ I am the example1_a node ] [ INFO] [1478663609.328685535]: I heard: [ I am the example1_a node ] [ INFO] [1478663609.428603744]: I heard: [ I am the example1_a node ]

可以发现b一直在拉取a发的消息

 

五 查看执行情况

root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src#rosnode list /example1_a /example1_b /rosout   root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# rostopic list /message /rosout /rosout_agg     root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# rostopic echo /message data:  I am the example1_a node --- data:  I am the example1_a node --- data:  I am the example1_a node --- data:  I am the example1_a node ---   root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src# rostopic info /message Type: std_msgs/String Publishers:  * /example1_a (http://yangkai04-Inspiron-3650:46673/) Subscribers:  * /example1_b (http://yangkai04-Inspiron-3650:33482/) root@yangkai04-Inspiron-3650:~/dev/rosbook/chapter2_tutorials/src#

 

 六 源代码

example1_a.cpp

#include "ros/ros.h"

#include "std_msgs/String.h"

#include <sstream>

 

int main(int argc, char **argv)

{

  ros::init(argc, argv, "example1_a");

  ros::NodeHandle n;

  ros::Publisher pub = n.advertise<std_msgs::String>("message", 1000);

  ros::Rate loop_rate(10);

  while (ros::ok())

  {

    std_msgs::String msg;

    std::stringstream ss;

    ss << " I am the example1_a node ";

    msg.data = ss.str();

    //ROS_INFO("%s", msg.data.c_str());

    pub.publish(msg);

    ros::spinOnce();

    loop_rate.sleep();

  }

  return 0;

}

 

example1_b.cpp

#include "ros/ros.h"

#include "std_msgs/String.h"

 

void messageCallback(const std_msgs::String::ConstPtr& msg)

{

  ROS_INFO("I heard: [%s]", msg->data.c_str());

}

 

int main(int argc, char **argv)

{

  ros::init(argc, argv, "example1_b");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("message", 1000, messageCallback);

  ros::spin();

  return 0;

}