使用ROS步骤

1. 创建工作空间并初始化

mkdir -p create_own_wkspc/src
cd create_own_wkspc
catkin build

2. 创建pkg，导入需要使用的依赖

在工作空间内的/src文件夹中创建pkg并导入依赖

cd src
catkin_create_pkg create_own_pkg roscpp std_msgs  # roscpp和std_msgs是需要用到的依赖

3. 创建源文件

cd create_own_pkg
ls      # 显示内容为CMakeLists.txt  include  package.xml  src

在pkg产生的src的文件夹里创建需要的源文件（代码）

4. Exercise 1

初始化ros

  //start node
  ros::init(argc, argv, "SupeROS");   // 是 ROS 初始化函数的调用，用于初始化 ROS 系统。
                                      // 它接受命令行参数 argc 和 argv，以及一个节点名称 "supeROS"   
                                      // $$节点名称是这个代码文件的名称吗？$$

  //create variable for node 
  ros::NodeHandle n;   // 创建了一个 ROS 节点句柄（Node Handle），它是与 ROS 系统进行通信的主要接口。
                       //通过使用节点句柄，你可以创建发布者、订阅者和服务等 ROS 组件，以及与其他节点进行通信。

...

  //1- Declare publishers (employees) ///... TO BE COMPLETED ...///
  ros::Publisher MrFish = nh.advertise<std_msgs::String>("/fish", 10);
  ros::Publisher MrVeggies = nh.advertise<std_msgs::String>("/viggies", 10);
  ros::Publisher MrFruits = nh.advertise<std_msgs::String>("/fruits", 10);

• ros::Publisher 是发布者的类定义。
• MrFish.. 是你给发布者起的名称，你可以自定义名称。
• nh.advertise<std_msgs::String>("/fish", 10) 是调用节点句柄 nh 的 advertise() 函数来创建发布者 -> std_msgs::String 是要发布的消息类型，"/fish" 是你要发布到的话题名称，10 是发布者的消息队列大小。

整体代码

 

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

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

  //start node
  ros::init(argc, argv, "SupeROS");

  //create variable for node
  ros::NodeHandle n;

  //1- Declare publishers (employees) ///... TO BE COMPLETED ...///
  ros::Publisher MrFish = nh.advertise<std_msgs::String>("fish", 100);
  ros::Publisher MrVeggies = nh.advertise<std_msgs::String>("veggies", 100;
  ros::Publisher MrFruits = nh.advertise<std_msgs::String>("fruit", 100);


  ros::Rate loop_rate(10);   // 10s wait in every loop

  int count = 0;
  while (ros::ok())
  {
    // 2- Declare msg for publishing data (point 4 might be helpful)

    ///... TO BE COMPLETED ...///
    std_msgs::String msg_fisher;
    std_msgs::String msg_veggies;
    std_msgs::String msg_fruits;

    // 3- Define possible options for food ///... TO BE COMPLETED ...///
    std::vector<std::string> fisher_options = { "tuna", "salmon", "shark" };
    std::vector<std::string> veggies_options = { "onion", "potatoes", "carrots"};
    std::vector<std::string> fruit_options = { "bananas", "apples","grapes"};

    //4- Store current option

    ///... TO BE COMPLETED ...///
    
    if (count == 3){count = 0;} //reset counter if longer than amount of options
                                // 当count为3时重新设置为1
    msg_fisher.data = fisher_options[count];
    msg_veggies.data = veggies_options[count];
    msg_fruits.data = fruits_options[count];


    //5- Publish msg_X for all food types  $$publisher -> msg$$
    
    //... TO BE COMPLETED ...///

    MrFish.publish(msg_fisher);
    MrVeggies.publish(msg_veggies);
    MrFruits.publish(msg_fruits);

    ros::spinOnce();    // 用于接收所有信息

    loop_rate.sleep();

    ++count;
  }


  return 0;

5. Exercise 2

 

#include "ros/ros.h"
#include "std_msgs/String.h"

//callback for customer 1
void customerCallback1(const std_msgs::String& msg){
        if (msg == "carrots")
        {
            //print in command window
            ROS_INFO("I purchased %s!", msg->data.c_str());
        }
}

//callback for customer 2
void customerCallback2(const std_msgs::String& msg){
        if (msg == "tuna")
        {
            //print in command window
            ROS_INFO("I purchased %s!", msg->data.c_str());
        }
}


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

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

  ros::NodeHandle nh;

  ros::Subscriber customer1_sub = nh.subscribe("veggies", 100, customerCallback1);
  ros::Subscriber customer2_sub = nh.subscribe("fish", 100, customerCallback2);

  ros::spin();

  return 0;
}

6. 编译运行两文件，使得之间产生交流

在两个pkg的CMakeLists中分别添加语句

add_executable(exercise_2 src/exercise_2.cpp)  # exercise_2为源文件名称
target_link_libraries(exercise_2 ${catkin_LIBRARIES})
add_dependencies(exercise_2 ${catkin_EXPORTED_TARGETS})  # 目前看起来可加可不加？？

进入工作空间目录并编译

catkin_make

成功之后在一个终端中运行

roscore

然后新建两个终端（ctrl+shift+E/O： 垂直/水平分割终端 ），分别运行代码，即可实现交流

source ./devel/setup.bash
rosrun 包名 C++节点