ROS发布和订阅数组消息/ C++ & Python

ROS发布和订阅数组消息

前段时间需要用到C++来写节点发布数组消息,并用Python来订阅该消息,在网上搜索发现关于数组消息的帖子少之又少,遂把自己做的一点微小的工作发上来,欢迎指正.

一个发布数组消息的talker节点(C++)

废话不多说,先上代码：

#include"ros/ros.h" 
#include"std_msgs/Float64MultiArray.h"          
#include"std_msgs/String.h" 
#include<sstream>
#include<vector>
#include<string.h> 
using namespace std; 

vector<double> array_test={0,1,2,3,4,5,6,7,8,9,10,11};

int number_array()
{
    for(int k=0;k<2;k++)
    {
	    array_test[k]=k;
	}	
}
int main(int argc, char** argv) 
{ 	
	ros::init(argc, argv, "talker"); // 节点名称 
	ros::NodeHandle n; 
	ros::Publisher chatter_pub = n.advertise<std_msgs::Float64MultiArray>("chatter", 1000); 
	//ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter",1000); 
	ros::Rate loop_rate(10); 
	int count = 0; 
	while( ros::ok() )
	 { 	
		number_array();
		std_msgs::Float64MultiArray msg;
       		msg.data = array_test;
	    ROS_INFO("data: %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f%6.2f\n",array_test[0],array_test[1],array_test[2],array_test[3],array_test[4],array_test[5],array_test[6],array_test[7],array_test[8],array_test[9],array_test[10],array_test[11]); 
		chatter_pub.publish(msg); 
		ros::spinOnce(); 
		loop_rate.sleep(); 
		++count; 
	} 
	return 0; 
}

这里需要修改一下CMakeList中的内容
首先是在开头出找到

#add_compile_options(-std=c++11)

将前面的#号删掉,即取消注释

然后在文本末端加入

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

里面的talker, my_listener等内容根据具体情况修改

一个订阅数组消息的节点(Python)

还是先上代码

#!/usr/bin/env python 
import rospy 
from std_msgs.msg import Float64MultiArray 
def callback(msgg):  #msgg的名字随便定义,保持一致即可
	rospy.loginfo("I heared:%6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f\n",msgg.data[0],msgg.data[1],msgg.data[2],msgg.data[3],msgg.data[4],msgg.data[5],msgg.data[6],msgg.data[7],msgg.data[8],msgg.data[9],msgg.data[10],msgg.data[11]) #数组的大小要与talker里面的一样
	
def listener(): 
	rospy.init_node('listener', anonymous= True)
	rospy.Subscriber("chatter", Float64MultiArray, callback) 
	rospy.spin() 
if __name__ == '__main__': 
	listener() 

注意把该.py文件放在程序包下的scripts文件夹下

编译运行即可,记得在运行Python节点前先授权,即在scripts文件夹下打开终端,输入

chmod +x listener_test.py

注意"+"前和"x"后都有一个空格.