ROS自身话题也挺好的，不过暂时还不知道如何判断网络，因此，还是想换回tcp/udp通信。
但是发现通信时数据比较多，调查一下，发现ROS支持google的protoBuf。
先建立一个ROS的项目，方便后面我们测试。 然后建立两个包，一个用作tcp发送数据，一个用作接收。然后在解析protoBuf的内容，看看是否一致。
目录结构如下：
proto目录下只有一个文件，test.proto，名字可以随意起，但是后缀不能错。
文件内容如下：
syntax = "proto3";
package Ott;
message Oddometry{
double p_x = 1;
double p_y = 2;
double p_z = 3;
double o_x = 4;
double o_y = 5;
double o_z = 6;
double o_w = 7;
int32 flag = 8;
}src目录下有一个CMakeLists.txt，内容如下：
# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmake
cmake_minimum_required(VERSION 3.0.2)
project(testRosPB VERSION 0.0.1.1118)
set(CATKIN_TOPLEVEL TRUE)
# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}
RESULT_VARIABLE _res
OUTPUT_VARIABLE _out
ERROR_VARIABLE _err
OUTPUT_STRIP_TRAILING_WHITESPACE
ERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
# searching fot catkin resulted in an error
string(REPLACE ";" " " _cmd_str "${_cmd}")
message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()
# include catkin from workspace or via find_package()
if(_res EQUAL 0)
set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
# include all.cmake without add_subdirectory to let it operate in same scope
include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
add_subdirectory("${_out}")
else()
# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
# or CMAKE_PREFIX_PATH from the environment
if(NOT DEFINED CMAKE_PREFIX_PATH)
if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
if(NOT WIN32)
string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
else()
set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
endif()
endif()
endif()
# list of catkin workspaces
set(catkin_search_path "")
foreach(path ${CMAKE_PREFIX_PATH})
if(EXISTS "${path}/.catkin")
list(FIND catkin_search_path ${path} _index)
if(_index EQUAL -1)
list(APPEND catkin_search_path ${path})
endif()
endif()
endforeach()
# search for catkin in all workspaces
set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
find_package(catkin QUIET
NO_POLICY_SCOPE
PATHS ${catkin_search_path}
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
if(NOT catkin_FOUND)
message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
endif()
endif()
---------------------------------------------要去掉此行，下面是加入protobuf的支持--------------------------------------------
# use protobuf
include(FindProtobuf)
find_package(Protobuf REQUIRED COMPONENTS roscpp)
set(proto_dir ${PROJECT_SOURCE_DIR}/proto)
file(GLOB proto_files "${proto_dir}/*.proto")
catkin_destinations()
set(proto_gen_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME})
set(proto_gen_cpp_dir ${proto_gen_dir})
file(MAKE_DIRECTORY ${proto_gen_dir})
file(MAKE_DIRECTORY ${proto_gen_cpp_dir})
set(protogen_include_dirs ${proto_gen_cpp_dir}/../ ${proto_gen_python_dir})
# Create lists of files to be generated
set(proto_gen_cpp_files "")
foreach(proto_file ${proto_files})
get_filename_component(proto_name ${proto_file} NAME_WE)
list(APPEND proto_gen_cpp_files
${proto_gen_cpp_dir}/${proto_name}.pb.h
${proto_gen_cpp_dir}/${proto_name}.pb.cc
)
endforeach(proto_file ${proto_files})
# Run protoc and generate language-specific headers.
add_custom_command(
OUTPUT ${proto_gen_cpp_files}
COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} --proto_path=${proto_dir} --cpp_out=${proto_gen_cpp_dir} ${proto_files}
DEPENDS ${PROTOBUF_PROTOC_EXECUTABLE} ${proto_files}
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
set_source_files_properties(${proto_gen_cpp_files} PROPERTIES GENERATED TRUE)
add_custom_target(${PROJECT_NAME}_generate_headers
DEPENDS ${proto_gen_cpp_files}
)
# Create proto library for lining.
include_directories(${PROTOBUF_INCLUDE_DIR} ${PROTOBUF_INCLUDE_DIR}/../../)
add_library(${PROJECT_NAME}_proto ${proto_gen_cpp_files})
target_link_libraries(${PROJECT_NAME}_proto ${PROTOBUF_LIBRARY})
add_dependencies(${PROJECT_NAME}_proto ${PROJECT_NAME}_generate_headers)
---------------------------------------------要去掉此行，上面是加入protobuf的支持--------------------------------------------
include_directories(
include
${catkin_INCLUDE_DIRS}
${CATKIN_DEVEL_PREFIX} #忘记是不是新加的了
)
catkin_workspace()这样就可以把protobuf封装成一个动态库，后面的包都能利用上。
新建的两个包目录下都各只有一个cpp文件，先看main_sub.cpp，一看名字大家就都知道，这是订阅示例改的。不多说，先看代码。
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <stdio.h>
#include <string.h>
#include <iostream>
using namespace std; //用string带来后果，在pub中编译带来了问题。
#include<sys/types.h>
#include<stdlib.h>
#include<winsock2.h>
#pragma comment(lib,"ws2_32.lib")
#include "include/testRosPB/test.pb.h" //注意，protobuf编译test.proto
，生成的文件
int main(int argc, char **argv)
{
if(argc != 3)
{
printf("Usage:%s [ip] [port]\n",argv[0]);
//return 0; //简单测试不要了。
}
WSADATA ws;
WSAStartup(MAKEWORD(2,2),&ws);
//创建一个用来通讯的socket
int sock = socket(AF_INET,SOCK_STREAM, 0);
if(sock < 0)
{
perror("socket");
return 1;
}
//需要connect的是对端的地址，因此这里定义服务器端的地址结构体
struct sockaddr_in server;
server.sin_family = AF_INET;
server.sin_port = htons(atoi("9962"));
server.sin_addr.s_addr = inet_addr("127.0.0.1"); //本机测试
int len = sizeof(struct sockaddr_in);
if(connect(sock, (struct sockaddr*)&server, len) < 0 )
{
perror("connect");
return 2;
}
//连接成功进行收数据
//开始准备，发送pb数据
char buf[80];
Ott::Oddometry ommm;
ommm.set_p_x(111);
ommm.set_p_y(222);
ommm.set_p_z(333);
ommm.set_o_x(1);
ommm.set_o_y(2);
ommm.set_o_z(3);
ommm.set_o_w(4);
ommm.set_flag(5);
//while(1) //不用循环发送了，发一次就好。
{
string data;
ommm.SerializeToString(&data);
char *bts = new char[data.length()];
printf("data: \n");
for(int i = 0; i < data.length(); i++)
{
printf("%d ",data[i]);
}
printf("\n%d %s",sizeof(Ott::Oddometry), data);
printf("\n%f %f", ommm.p_x(), ommm.p_y());
strcpy(bts, data.c_str());
int _s = send(sock, data.c_str(), sizeof(Ott::Oddometry ), 0); //发送数据出去
printf("\nsend###");
Ott::Oddometry aa;
aa.ParseFromString(data);
printf("\n%d %s",sizeof(Ott::Oddometry), data);
printf("\n%f %f\n", aa.p_x(), aa.p_y());
}
closesocket(sock);;
return 0;
}仅有cpp还不行，还要修改main_sub目录下的CMakeLists.txt文件
cmake_minimum_required(VERSION 3.0.2)
project(main_sub VERSION 0.0.1.1118)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES main_sub
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${CATKIN_DEVEL_PREFIX} #新加内容
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/main_sub.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/main_sub_node.cpp)
add_executable(${PROJECT_NAME} main_sub.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PROTOBUF_LIBRARY} testRosPB_proto)
#链接库，新加内容，${PROTOBUF_LIBRARY} testRosPB_proto
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_main_sub.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
文件修改内容都标出来了
再看main_pub.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Bool.h"
#include "include/testRosPB/test.pb.h" //前面编译的
#include <winsock2.h>
#include <windows.h>
#pragma comment(lib,"ws2_32.lib")
#include <string.h>
#include <iostream>
//using namespace std;
int startup(int _port,const char* _ip)
{
WSADATA ws;
WSAStartup(MAKEWORD(2,2),&ws);
int sock = socket(AF_INET, SOCK_STREAM, 0);
if(sock < 0)
{
perror("socket");
exit(1);
}
struct sockaddr_in local;
local.sin_family = AF_INET;
local.sin_port = htons( _port);
local.sin_addr.s_addr = inet_addr(_ip);
int len = sizeof(local);
if(bind(sock,(struct sockaddr*)&local , len) < 0)
{
perror("bind");
exit(2);
}
if(listen(sock, 5) < 0) //允许连接的最大数量为5
{
perror("listen");
exit(3);
}
return sock;
}
int main(int argc, char **argv)
{
int listen_sock = startup(atoi("9962"),"127.0.0.1");//初始化
//用来接收客户端的socket地址结构体
struct sockaddr_in remote;
int len = sizeof(struct sockaddr_in);
while(1)
{
int sock = accept(listen_sock, (struct sockaddr*)&remote, &len);
if(sock < 0)
{
perror("accept");
continue;
}
printf("get a client, ip:%s, port:%d\n",inet_ntoa(remote.sin_addr),ntohs(remote.sin_port));
char buf[81];
while(1)
{
int _s = recv(sock, buf, sizeof(buf)-1,0);
if(_s > 0)
{
buf[_s] = 0;
// printf("client:%s\n",buf);
printf("data: %d\n", _s);
for(int i = 0; i < _s; i++)
{
printf("%d ",buf[i]);
}
buf[_s] = '\0';
printf("\n");
std::string data(buf, _s);
Ott::Oddometry ommm;
ommm.ParseFromString(data);
printf("\n%d %s",sizeof(Ott::Oddometry), data);
printf("\n%f %f\n", ommm.p_x(), ommm.p_y());
}
else
{
printf("client is quit!\n");
break;
}
}
}
// 设置编码
setlocale(LC_ALL,"");
ros::init(argc, argv, "topic_pub_cpp");
ros::NodeHandle n;
// chatter 是我们要发布到的话题，也就是交换数据的缓冲池
//ros::Publisher pubA = n.advertise<Ott::Oddometry>("aaaa", 1000);
ros::Publisher pub = n.advertise<std_msgs::String>("chatter", 1000);
std::string content = "Hello World!";
std_msgs::String msgs;
ros::Rate loop_rate(0.5); // 0.5s执行一次循环
int count = 0;
while (ros::ok())
{
count ++;
msgs.data = content + std::to_string(count);
// ROS_INFO("Publish Topic [chatter]: %s", msgs.data.c_str());
pub.publish(msgs);
loop_rate.sleep();
ros::spinOnce(); // 一个好习惯
}
return 0;
}同样也要修改CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(main_pub VERSION 0.0.1.1118)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp)
include(FindProtobuf) #新加内容
find_package(Protobuf REQUIRED) #新加内容
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
# )
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES main_pub
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${PROTOBUF_INCLUDE_DIR} #新加内容
${CATKIN_DEVEL_PREFIX} #新加内容
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/main_pub.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/main_pub_node.cpp)
add_executable(${PROJECT_NAME} main_pub.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} testRosPB_proto)
#新加内容 ${PROTOBUF_LIBRARIES} testRosPB_proto
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_main_pub.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
都处理好之后，回到主目录下，执行cakin_make
成功后就可以测试了
注意生成了动态库 testRosPB_proto.dll 如果不想用roslaunch的方式启动，可以把它拷贝到exe文件的同级目录下，然后再运行exe
参考文献：
1 https://www.pudn.com/news/628f8317bf399b7f351e69d3.html
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