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_topicmkdir msgnano ~/catkin_workspace/src/learning_topic/msg/Person.msg string nameuint8 ageuint8 sexuint8 unknown = 0uint8 male = 1uint8 female = 2 在package.xml中添加功能包依赖 nano ~/catkin_workspace/src/learning_topic/package.xml <build_depend>message_generation</build_depend><exec_depend>message_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_workspacecatkin_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.h"int 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.advertise<learning_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_workspacecatkin_make# 新建一个终端source ~/catkin_workspace/devel/setup.bashroscore# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_topic person_publisher# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_topic person_subscriber# 新建一个终端source ~/catkin_workspace/devel/setup.bashrqt_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 rospyfrom learning_topic.msg import Persondef velocity_publisher():# ROS节点初始化rospy.init_node('person_publisher', anonymous=True)# 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_size=10)#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 rospyfrom 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', anonymous=True)# 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.pysudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/person_subscriber.py# 新建一个终端source ~/catkin_workspace/devel/setup.bashroscore# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_topic person_publisher.py# 新建一个终端source ~/catkin_workspace/devel/setup.bashrosrun learning_topic person_subscriber.py# 新建一个终端source ~/catkin_workspace/devel/setup.bashrqt_graph
