ros(5)话题的自定义消息

１.首先创建msg文件

在cd ~//catkin_workspace/src/learning_topic/msg/新建person.msg

string name
uint8  age
uint8  sex
 
uint8 unknown = 0
uint8 male    = 1
uint8 female  = 2

修改package.xml

 

 添加这两句

 <build_depend>message_generation</build_depend>
  <exec_depend>message_runtime</exec_depend>

修改cmakelists.txt

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  roscpp
  rospy
  std_msgs
  turtlesim
  message_generation ##查找依赖包
)
 
＃＃生成消息
add_message_files(
  FILES
  Person.msg
)
 
generate_messages(
  DEPENDENCIES
  std_msgs
)
 
＃＃添加依赖包
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES learning_topic
   CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime
#  DEPENDS system_lib
)

编译

catkin_make

会在/devel/include/<package_name>/person.h文件

２.创建发布者和订阅程序

person_publisher.cpp

/**
 * 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10
    ros::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

/**
 * 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personInfoCallback
    ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);
 
    // 循环等待回调函数
    ros::spin();
 
    return 0;
}

修改

cmakelists

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)

编译

catkin_make

运行

roscore

rosrun topic_publisher person_publisher

rosrun topic_publisher person_subscriber

截图

 

 实时传送信息