【ROS学习-10】用C++编写一个简单的Publisher和Subscriber
1.创建Publisher
Node
roscd
beginner_tutorials
创建src/talker.cpp文件，内容如下（可从https://raw.github.com/ros/ros_tutorials/kinetic-devel/roscpp_tutorials/talker/talker.cpp获取源码）：
#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;
}
2.创建一个Subscriber
Node
接下来再创建一个订阅者程序src/listener.cpp，源码如下（https://raw.github.com/ros/ros_tutorials/kinetic-devel/roscpp_tutorials/listener/listener.cpp）：
#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;
}
接下来在CMakeLists.txt文件最后添加如下内容：
add_executable(talker
src/talker.cpp)
target_link_libraries(talker
${catkin_LIBRARIES})
add_dependencies(talker
beginner_tutorials_generate_messages_cpp)
add_executable(listener
src/listener.cpp)
target_link_libraries(listener
${catkin_LIBRARIES})
add_dependencies(listener
beginner_tutorials_generate_messages_cpp)
3.编译执行
cd
~/ros/catkin_ws
catkin_make
编译完后，使用如下命令执行（分别在两个Terminal）：
rosrun
beginner_tutorials talker
执行后会有如下打印输出：
[
INFO] [1497787911.592887183]: hello world 0
[
INFO] [1497787911.692986744]: hello world 1
[
INFO] [1497787911.792978718]: hello world 2
[
INFO] [1497787911.892973684]: hello world 3
[
INFO] [1497787911.992973354]: hello world 4
[
INFO] [1497787912.092982118]: hello world 5
[
INFO] [1497787912.192957919]: hello world 6
[
INFO] [1497787912.292959869]: hello world 7
而下面命令：
rosrun
beginner_tutorials listener
执行后有如下输出：
[
INFO] [1497787976.316714360]: I heard: [hello world 275]
[
INFO] [1497787976.416562016]: I heard: [hello world 276]
[
INFO] [1497787976.516452913]: I heard: [hello world 277]
[
INFO] [1497787976.616635718]: I heard: [hello world 278]
[
INFO] [1497787976.716403373]: I heard: [hello world 279]
[
INFO] [1497787976.816449993]: I heard: [hello world 280]
[
INFO] [1497787976.916431239]: I heard: [hello world 281]
4.参考网址
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