ROS|ROS Tutorials: Publisher 与 Subscriber ROSTutorials:Publisher与Subscriber

0. rqt_graph 显示当前所有节点的关系
1. Create Publisher
talker.cpp:

#include #include "ros/ros.h" #include "std_msgs/String.h" int main(int argc, char **argv) { ros::init(argc, argv, "talker"); ros::NodeHandle n; ros::Publisher chatter_pub = n.advertise("chatter", 1000); ros::Rate loop_rate(10); int count = 0; while(ros::ok()) { std_msgs::String msg; std::stringstream stringStream; stringStream << "hello world" << count; msg.data = https://www.it610.com/article/stringStream.str(); chatter_pub.publish(msg); ros::spinOnce(); loop_rate.sleep(); ++count; } return 0; }

2. Create Subscriber
【ROS|ROS Tutorials: Publisher 与 Subscriber】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; }

3. Compile. 编辑CmakeLists.txt.

include_directories(include ${catkin_INCLUDE_DIRS}) add_executable(talker src/talker.cpp) add_executable(listener src/listener.cpp) add_dependencies(talker ${PROJECT_NAME}_generate_messages_cpp) add_dependencies(listener ${PROJECT_NAME}_generate_messages_cpp) target_link_libraries(talker ${catkin_LIBRARIES}) target_link_libraries(listener ${catkin_LIBRARIES})

使用 catkin_make 编译
4. Run Publisher and Subscriber
In Terminal 1: