ROS教程2 编写简单的消息发布器和订阅器 (C++ catkin)

创建工作环境

创建文件夹,创建包

mkdir -p ~/catkin_arduino_ros/src

catkin_create_pkg test1_pub_sub std_msgs rospy roscpp

　　

在桌面打开终端，添加工作路径

　　

echo "source /home/dongdong/catkin_arduino_ros/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

　　

创建项目文件　　

1创建src/talker.cpp文件

cd ~/catkin_arduino_ros/src
gedit talker.cpp

　复制代码

#include "ros/ros.h"
#include "std_msgs/String.h"

#include <sstream>

int main(int argc, char **argv)
{

  ros::init(argc, argv, "talker");

  ros::NodeHandle n;

  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);

  ros::Rate loop_rate(10);

  int count = 0;
  while (ros::ok())
  {

    std_msgs::String msg;

    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();

    ROS_INFO("%s", msg.data.c_str());

    chatter_pub.publish(msg);

    ros::spinOnce();

    loop_rate.sleep();
    ++count;
  }

  return 0;
}

　保存

2创建src/listener.cpp文件

gedit listener.cpp

　复制源代码

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv)
{

  ros::init(argc, argv, "listener");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

  ros::spin();

  return 0;
}

编译节点

更改编译文件

在CMakeLists.txt文件末尾加入几条语句:

include_directories(include ${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})

　　

　　

编译

cd ~/catkin_arduino_ros/
catkin_make

　　

运行节点

//分别打开三个窗口
roscore

rosrun test1_pub_sub talker

rosrun test1_pub_sub listener