ROS学习笔记--消息发布器和订阅器

简化了教程中的示例（主要是CMakeLists.txt）

• 首先，中文教程里有一处翻译错误：
  http://wiki.ros.org/cn/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
  
  http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
  

示例

• 建立工作空间，创建软件包

pi@raspberrypi:~ $ mkdir -p catkin_ws/src
pi@raspberrypi:~ $ cd catkin_ws/src/
pi@raspberrypi:~/catkin_ws/src $ catkin_init_workspace 
pi@raspberrypi:~/catkin_ws/src $ catkin_create_pkg hello roscpp 
pi@raspberrypi:~/catkin_ws/src $ cd hello/
pi@raspberrypi:~/catkin_ws/src/hello $ ls
CMakeLists.txt  include  package.xml  src

• 将talker.cpp、 listener.cpp 放入src目录(可从官网复制)

pi@raspberrypi:~/catkin_ws/src/hello/src $ ls
listener.cpp  talker.cpp

• 修改CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(hello) 

find_package(catkin REQUIRED COMPONENTS roscpp)

catkin_package()

include_directories( ${catkin_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})

• 返回catkin_ws目录进行编译

pi@raspberrypi:~/catkin_ws $ catkin_make

• 运行程序
  [1] 首先运行roscore节点
  
  [2] 打开新终端，运行talker
  
  [3] 打开新终端，运行listener