杭州 手机网站,登封快乐送餐在那个网站做的广告,旺道seo营销软件,3d设计公司目录自定义话题消息定义msg文件在package.xml中添加功能包依赖在CMakeLists.txt添加编译选项编译结果使用C编写程序person_publisher.cppperson_subscriber.cpp配置CMakeLists.txt编译并运行python编写程序person_publisher.py运行平台#xff1a;华硕 Thinker Edge R 瑞芯微 …
目录自定义话题消息定义msg文件在package.xml中添加功能包依赖在CMakeLists.txt添加编译选项编译结果使用C编写程序person_publisher.cppperson_subscriber.cpp配置CMakeLists.txt编译并运行python编写程序person_publisher.py运行平台华硕 Thinker Edge R 瑞芯微 RK3399Pro 固件版本Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615 记录自【古月居】古月·ROS入门21讲 | 一学就会的ROS机器人入门教程 —— 古月居GYH P12 12.话题消息的定义与使用
自定义话题消息
定义msg文件
cd ~/catkin_workspace/src/learning_topic
mkdir msg
nano ~/catkin_workspace/src/learning_topic/msg/Person.msgstring name
uint8 age
uint8 sexuint8 unknown 0
uint8 male 1
uint8 female 2在package.xml中添加功能包依赖
nano ~/catkin_workspace/src/learning_topic/package.xmlbuild_dependmessage_generation/build_depend
exec_dependmessage_runtime/exec_depend在CMakeLists.txt添加编译选项
...
find_package(... message_generation)
...
add_message_files(FILES Person.msg)
generate_messages(DEPENDENCIES std_msgs)
...
catkin_package(... message_runtime)
...nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt编译
cd ~/catkin_workspace
catkin_make结果
可在~/catkin_workspace/devel/include/learning_topic下看到生成的Person.h
使用
C
编写程序
person_publisher.cpp
nano ~/catkin_workspace/src/learning_topic/src/person_publisher.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 该例程将发布/person_info话题自定义消息类型learning_topic::Person*/#include ros/ros.h
#include learning_topic/Person.hint main(int argc, char **argv)
{// ROS节点初始化ros::init(argc, argv, person_publisher);// 创建节点句柄ros::NodeHandle n;// 创建一个Publisher发布名为/person_info的topic消息类型为learning_topic::Person队列长度10ros::Publisher person_info_pub n.advertiselearning_topic::Person(/person_info, 10);// 设置循环的频率ros::Rate loop_rate(1);int count 0;while (ros::ok()){// 初始化learning_topic::Person类型的消息learning_topic::Person person_msg;person_msg.name Tom;person_msg.age 18;person_msg.sex learning_topic::Person::male;// 发布消息person_info_pub.publish(person_msg);ROS_INFO(Publish Person Info: name:%s age:%d sex:%d, person_msg.name.c_str(), person_msg.age, person_msg.sex);// 按照循环频率延时loop_rate.sleep();}return 0;
}
person_subscriber.cpp
nano ~/catkin_workspace/src/learning_topic/src/person_subscriber.cpp/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************//*** 该例程将订阅/person_info话题自定义消息类型learning_topic::Person*/#include ros/ros.h
#include learning_topic/Person.h// 接收到订阅的消息后会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr msg)
{// 将接收到的消息打印出来ROS_INFO(Subcribe Person Info: name:%s age:%d sex:%d, msg-name.c_str(), msg-age, msg-sex);
}int main(int argc, char **argv)
{// 初始化ROS节点ros::init(argc, argv, person_subscriber);// 创建节点句柄ros::NodeHandle n;// 创建一个Subscriber订阅名为/person_info的topic注册回调函数personInfoCallbackros::Subscriber person_info_sub n.subscribe(/person_info, 10, personInfoCallback);// 循环等待回调函数ros::spin();return 0;
}
配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt添加
add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)设置需要编译的代码和生成的可执行文件设置链接库添加依赖项。
编译并运行
cd ~/catkin_workspace
catkin_make# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic person_publisher
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic person_subscriber# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graphpython
编写程序
person_publisher.py
nano ~/catkin_workspace/src/learning_topic/scripts/person_publisher.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将发布/person_info话题自定义消息类型learning_topic::Personimport rospy
from learning_topic.msg import Persondef velocity_publisher():# ROS节点初始化rospy.init_node(person_publisher, anonymousTrue)# 创建一个Publisher发布名为/person_info的topic消息类型为learning_topic::Person队列长度10person_info_pub rospy.Publisher(/person_info, Person, queue_size10)#设置循环的频率rate rospy.Rate(10) while not rospy.is_shutdown():# 初始化learning_topic::Person类型的消息person_msg Person()person_msg.name Tom;person_msg.age 18;person_msg.sex Person.male;# 发布消息person_info_pub.publish(person_msg)rospy.loginfo(Publsh person message[%s, %d, %d], person_msg.name, person_msg.age, person_msg.sex)# 按照循环频率延时rate.sleep()if __name__ __main__:try:velocity_publisher()except rospy.ROSInterruptException:pass
nano ~/catkin_workspace/src/learning_topic/scripts/person_subscriber.py#!/usr/bin/env python
# -*- coding: utf-8 -*-########################################################################
#### Copyright 2020 GuYueHome (www.guyuehome.com). ###
######################################################################### 该例程将订阅/person_info话题自定义消息类型learning_topic::Personimport rospy
from learning_topic.msg import Persondef personInfoCallback(msg):rospy.loginfo(Subcribe Person Info: name:%s age:%d sex:%d, msg.name, msg.age, msg.sex)def person_subscriber():# ROS节点初始化rospy.init_node(person_subscriber, anonymousTrue)# 创建一个Subscriber订阅名为/person_info的topic注册回调函数personInfoCallbackrospy.Subscriber(/person_info, Person, personInfoCallback)# 循环等待回调函数rospy.spin()if __name__ __main__:person_subscriber()
运行
sudo chmod x ~/catkin_workspace/src/learning_topic/scripts/person_publisher.py
sudo chmod x ~/catkin_workspace/src/learning_topic/scripts/person_subscriber.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic person_publisher.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic person_subscriber.py# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graph
