标签:publisher catkin NAME package ## sublisher add ros
ROS话题通信
发布数据publisher
发布数据publisher
发布流程
- 包含相关头文件;
- 初始化ros节点并命名
- 创建ros节点句柄;
- 创建发布(publisher)对象;
- 初始化消息并编辑消息;
- 发布消息。
发布源代码pub.cpp实现如下:
//1.include *.h file
#include "ros/ros.h"
#include "std_msgs/String.h" // ros 文本文件------>std_msgs/String.h
#include <sstream>
int main(int argc, char *argv[])
{
// 2.initial ros node and node
ros::init(argc,argv,"ErGouZi");
// 3.create nodehandle;
ros::NodeHandle nh;
// 4.create publisher object
ros::Publisher pub = nh.advertise<std_msgs::String>("fang",10);
//5.editor data of object
std_msgs::String msg;
//6. publisher with 10Hz
ros::Rate rate(10);
// set msg serial number
int count =0;
while(ros::ok())
{
count++;
std::stringstream ss;
ss<<"hello------->"<<count;
msg.data=ss.str();
pub.publish(msg);
ROS_INFO("publisher data is:%s",ss.str().c_str());
rate.sleep();
ros::spinOnce(); //deal with callback()
}
return 0;
}
订阅消息Subscriber
订阅流程
- 包含相关头文件
- 初始化ros节点
- 创建节点句柄
- 创建订阅者对象
- 接收处理订阅到的数据
订阅源代码sub.cpp实现:
//1.include *.h file
#include "ros/ros.h"
#include "std_msgs/String.h"
void doMsg(const std_msgs::String::ConstPtr &msg)
{
//通过msg获取并操作订阅到的的数据
ROS_INFO("cuihua subscriber's data is:%s",msg->data.c_str());
}
int main(int argc, char *argv[])
{
// 2.initial ros node and node
ros::init(argc,argv,"cuihua");
// 3.create nodehandle;
ros::NodeHandle nh;
/// 4.create sublisher object
ros::Subscriber sub = nh.subscribe("fang",10,doMsg);
//5.deal with data of subscriber
//6.spin()函数
ros::spin();
return 0;
}
CmakeLists.txt文件
cmake_minimum_required(VERSION 3.0.2)
project(plumbing_pub_sub)
## 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
rospy
std_msgs
)
## 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
#Person.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
)
################################################
## 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 plumbing_pub_sub
CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/plumbing_pub_sub.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/plumbing_pub_sub_node.cpp)
add_executable(demo01_pub src/demo01_pub.cpp)
add_executable(demo02_sub src/demo02_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(demo03_pub_person ${PROJECT_NAME}_generate_messages_cpp)
#add_dependencies(demo04_sub_person ${PROJECT_NAME}_generate_messages_cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(demo01_pub
${catkin_LIBRARIES}
)
target_link_libraries(demo02_sub
${catkin_LIBRARIES}
)
#############
## 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/demo01_pub_p.py
scripts/demo02_sub_p.py
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_plumbing_pub_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)
标签:publisher,catkin,NAME,package,##,sublisher,add,ros 来源: https://blog.csdn.net/Boruson/article/details/112503712
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