ros中自定义数据类型传送msg，并且发布和订阅该消息（python代码）

1 .定义

假设我在无人车，无人机，地面基站之间要传送一系列目标的信息，现在要自定义传输的目标的ros格式，就需要msg文件。

GroundObject.msg文件内容为：

float64 UTC_time		# in ms

int32 VehicleNumber                    
VEHICLE_OBJ_COOP[] VehicleObjectCOOP

VEHICLE_OBJ_COOP.msg文件内容是：

int32 class      # 0:unknow 1:car 2:ped
int32 ismove
int32 vehicleclass  # 0:HM 1:LM 3:objects
float64 lon    	
float64 lat    

VEHICLE_OBJ_COOP[] 表示一个包含车辆信息的数组，其中每个元素使用的是另一个自定义消息类型VehicleObjectCOOP，在VEHICLE_OBJ_COOP.msg文件中定义。

2.订阅自定义信息的代码

#!/usr/bin/env python

import rospy
from your_package.msg import GroundObject, VEHICLE_OBJ_COOP  # Import the custom messages

def publisher():
    # 初始化发布节点
    rospy.init_node('ground_station_publisher', anonymous=True)
    
    # 创建发布者，发布到 'ground_object_topic' 话题，消息类型为 GroundObject
    pub = rospy.Publisher('ground_object_topic', GroundObject, queue_size=10)
    
    rate = rospy.Rate(1)  # 设置发布频率为 1Hz

    while not rospy.is_shutdown():
        # 创建 GroundObject 消息
        ground_msg = GroundObject()
        ground_msg.UTC_time = rospy.get_time()  # 使用 ROS 时间作为 UTC 时间
        ground_msg.VehicleNumber = 2  # 假设有两辆车

        # 创建第一个 VEHICLE_OBJ_COOP 对象
        vehicle1 = VEHICLE_OBJ_COOP()
        vehicle1.class = 1  # 车辆
        vehicle1.ismove = 1  # 正在移动
        vehicle1.vehicleclass = 0  # 类别为 HM
        vehicle1.lon = 120.1
        vehicle1.lat = 30.1

        # 创建第二个 VEHICLE_OBJ_COOP 对象
        vehicle2 = VEHICLE_OBJ_COOP()
        vehicle2.class = 2  # 行人
        vehicle2.ismove = 0  # 不移动
        vehicle2.vehicleclass = 3  # 类别为 objects
        vehicle2.lon = 121.2
        vehicle2.lat = 31.2

        # 将车辆对象放入 GroundObject 消息中的数组
        ground_msg.VehicleObjectCOOP = [vehicle1, vehicle2]

        # 发布消息
        pub.publish(ground_msg)
        rospy.loginfo("Published GroundObject message: %s", ground_msg)

        rate.sleep()

if __name__ == '__main__':
    try:
        publisher()
    except rospy.ROSInterruptException:
        pass

3.订阅自定义信息的代码

#!/usr/bin/env python

import rospy
from your_package.msg import GroundObject, VEHICLE_OBJ_COOP  # Import the custom messages

def callback(data):
    rospy.loginfo("Received GroundObject message at UTC_time: %f", data.UTC_time)
    rospy.loginfo("Vehicle count: %d", data.VehicleNumber)
    
    for idx, vehicle in enumerate(data.VehicleObjectCOOP):
        rospy.loginfo("Vehicle %d -> Class: %d, IsMoving: %d, VehicleClass: %d, Lon: %f, Lat: %f",
                      idx, vehicle.class, vehicle.ismove, vehicle.vehicleclass, vehicle.lon, vehicle.lat)

def listener():
    # 初始化订阅节点
    rospy.init_node('ground_station_subscriber', anonymous=True)
    
    # 创建订阅者，订阅 'ground_object_topic' 话题，消息类型为 GroundObject
    rospy.Subscriber('ground_object_topic', GroundObject, callback)
    
    rospy.spin()  # 保持节点持续运行

if __name__ == '__main__':
    listener()

4.文件夹结构

your_catkin_ws/                 # ROS工作空间
├── src/
│   ├── your_package/           # 你的ROS包
│   │   ├── CMakeLists.txt      # ROS包的CMake配置文件
│   │   ├── package.xml         # ROS包的XML配置文件
│   │   ├── msg/                # 消息定义文件夹
│   │   │   ├── GroundObject.msg
│   │   │   ├── VEHICLE_OBJ_COOP.msg
│   │   ├── src/            # Python脚本存放目录
│   │   │   ├── publisher_node.py  # 发布者节点脚本
│   │   │   ├── subscriber_node.py  # 订阅者节点脚本

from your_package.msg import GroundObject, VEHICLE_OBJ_COOP
所以从your_package的msg文件夹里，引用GroundObject, VEHICLE_OBJ_COOP两个msg文件

5.文件夹创建，编译和运行的步骤

5.1 创建ROS工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_create_pkg your_package std_msgs rospy roscpp #创建了一个包

#这一步后会在your_package中生成下面几个文件

~/catkin_ws/
├── src/
│   ├── your_package/
│   │   ├── CMakeLists.txt
│   │   ├── package.xml
│   │   ├── src

5.2 编译

cd ~/catkin_ws
catkin_make

这一步以后文件架构变为如下：也就是多了build和devel

~/catkin_ws/
├── src/
│   ├── your_package/
│   │   ├── CMakeLists.txt
│   │   ├── package.xml
│   │   ├── launch 
│   │   ├── src/
│   │   │   └──  publisher_node.py
│   │   │   └──  subscriber_node.py
└── build
└── devel
    

5.3 CMakeLists.txt文件修改

cmake_minimum_required(VERSION 3.0.2)
project(your_package)

## 找到catkin依赖
find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  message_generation  # 添加这一行用于生成消息
)

## 添加消息文件
add_message_files(
  FILES
  GroundObject.msg     # 添加你的消息文件
  VEHICLE_OBJ_COOP.msg
)

## 生成消息
generate_messages(
  DEPENDENCIES
  std_msgs  # 如果你的消息依赖于标准消息类型
)

## 声明catkin包
catkin_package(
  CATKIN_DEPENDS message_runtime std_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

5.4 package.xml修改

package.xml 也需要包括生成自定义消息的配置。确保文件中包含了 message_generation 和 message_runtime 依赖：

<package format="2">
  <name>your_package</name>
  <version>0.0.0</version>
  <description>The your_package package</description>
  <maintainer email="user@domain.com">Your Name</maintainer>
  <license>BSD</license>

  <buildtool_depend>catkin</buildtool_depend>

  <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>
  <build_depend>rospy</build_depend>
  <exec_depend>rospy</exec_depend>
  <build_depend>std_msgs</build_depend>
  <exec_depend>std_msgs</exec_depend>

</package>

5.5 修改后再次编译

cd ~/your_catkin_ws
catkin_make

编译完成后，运行以下命令更新环境变量，使ROS能够找到新的包和消息：

source devel/setup.bash

6.运行发布者和订阅者

6.1 启动核心

roscore

6.2 一个终端运行发布者节点

rosrun your_package publisher_node.py

6.3 一个终端运行订阅者节点

rosrun your_package subscriber_node.py