目錄

• 自定義話題消息
• • 定義msg文件
  • 在package.xml中添加功能包依賴
  • 在CMakeLists.txt添加編譯選項
  • 編譯
  • 結果
• 使用
• • C++
  • • 編寫程序
    • • person_publisher.cpp
      • person_subscriber.cpp
    • 配置CMakeLists.txt
    • 編譯并運行
  • python
  • • 編寫程序
    • • person_publisher.py
    • 運行

平臺：華碩 Thinker Edge R 瑞芯微 RK3399Pro
固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615

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記錄自【古月居】古月·ROS入門21講 | 一學就會的ROS機器人入門教程 —— 古月居GYH P12 12.話題消息的定義與使用

自定義話題消息

定義msg文件

cd ~/catkin_workspace/src/learning_topic mkdir msg nano ~/catkin_workspace/src/learning_topic/msg/Person.msg string name uint8 age uint8 sexuint8 unknown = 0 uint8 male = 1 uint8 female = 2

在package.xml中添加功能包依賴

nano ~/catkin_workspace/src/learning_topic/package.xml <build_depend>message_generation</build_depend> <exec_depend>message_runtime</exec_depend>

在CMakeLists.txt添加編譯選項

... 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

編譯

cd ~/catkin_workspace catkin_make

結果

可在~/catkin_workspace/devel/include/learning_topic下看到生成的Person.h

使用

C++

編寫程序

person_publisher.cpp

nano ~/catkin_workspace/src/learning_topic/src/person_publisher.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將發布/person_info話題，自定義消息類型learning_topic::Person*/#include <ros/ros.h> #include "learning_topic/Person.h"int main(int argc, char **argv) {// ROS節點初始化ros::init(argc, argv, "person_publisher");// 創建節點句柄ros::NodeHandle n;// 創建一個Publisher，發布名為/person_info的topic，消息類型為learning_topic::Person，隊列長度10ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);// 設置循環的頻率ros::Rate loop_rate(1);int count = 0;while (ros::ok()){// 初始化learning_topic::Person類型的消息learning_topic::Person person_msg;person_msg.name = "Tom";person_msg.age = 18;person_msg.sex = learning_topic::Person::male;// 發布消息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);// 按照循環頻率延時loop_rate.sleep();}return 0; }

person_subscriber.cpp

nano ~/catkin_workspace/src/learning_topic/src/person_subscriber.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將訂閱/person_info話題，自定義消息類型learning_topic::Person*/#include <ros/ros.h> #include "learning_topic/Person.h"// 接收到訂閱的消息后，會進入消息回調函數 void personInfoCallback(const learning_topic::Person::ConstPtr& msg) {// 將接收到的消息打印出來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節點ros::init(argc, argv, "person_subscriber");// 創建節點句柄ros::NodeHandle n;// 創建一個Subscriber，訂閱名為/person_info的topic，注冊回調函數personInfoCallbackros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);// 循環等待回調函數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)

設置需要編譯的代碼和生成的可執行文件；

設置鏈接庫；

添加依賴項。

編譯并運行

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic person_publisher # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic person_subscriber# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

python

編寫程序

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). ### ######################################################################### 該例程將發布/person_info話題，自定義消息類型learning_topic::Personimport rospy from learning_topic.msg import Persondef velocity_publisher():# ROS節點初始化rospy.init_node('person_publisher', anonymous=True)# 創建一個Publisher，發布名為/person_info的topic，消息類型為learning_topic::Person，隊列長度10person_info_pub = rospy.Publisher('/person_info', Person, queue_size=10)#設置循環的頻率rate = rospy.Rate(10) while not rospy.is_shutdown():# 初始化learning_topic::Person類型的消息person_msg = Person()person_msg.name = "Tom";person_msg.age = 18;person_msg.sex = Person.male;# 發布消息person_info_pub.publish(person_msg)rospy.loginfo("Publsh person message[%s, %d, %d]", person_msg.name, person_msg.age, person_msg.sex)# 按照循環頻率延時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). ### ######################################################################### 該例程將訂閱/person_info話題，自定義消息類型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節點初始化rospy.init_node('person_subscriber', anonymous=True)# 創建一個Subscriber，訂閱名為/person_info的topic，注冊回調函數personInfoCallbackrospy.Subscriber("/person_info", Person, personInfoCallback)# 循環等待回調函數rospy.spin()if __name__ == '__main__':person_subscriber()

運行

sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/person_publisher.py sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/person_subscriber.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic person_publisher.py # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic person_subscriber.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

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