ROS教程1--创建节点

编写cpp文件

//example1_a.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main(int argc, char **argv)
{
ros::init(argc, argv, "example1_a");
ros::NodeHandle n;
ros::Publisher pub = n.advertise<std_msgs::String>("message", 1000);
ros::Rate loop_rate(10);
while (ros::ok())
{
std_msgs::String msg;
std::stringstream ss;
ss << " I am the example1_a node ";
msg.data = ss.str();
//ROS_INFO("%s", msg.data.c_str());
pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}

//

//example1_b.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"

void messageCallback(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, "example1_b");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("message", 1000, messageCallback);
ros::spin();
return 0;
}

编译节点

rosed chapter2_tutorials CMakeLists.txt

添加如下内容至文件末尾

include_directories(
include
${catkin_INCLUDE_DIRS}
)

add_executable(chap2_example1_a src/example1_a.cpp)
add_executable(chap2_example1_b src/example1_b.cpp)

add_dependencies(chap2_example1_a chapter2_tutorials_generate_messages_cpp)
add_dependencies(chap2_example1_b chapter2_tutorials_generate_messages_cpp)

target_link_libraries(chap2_example1_a ${catkin_LIBRARIES})
target_link_libraries(chap2_example1_b ${catkin_LIBRARIES})

运行

roscore         //在三个新终端中运行
rosrun chapter2_tutorials chap2_example1_a
rosrun chapter2_tutorials chap2_example1_b

注意事项

在新的命令行下可能会出现无法找到新建的包的情况，需要更新一下

在 ~/dev/catkin_ws/src 目录下，输入命令

source devel/setup.bash

或许也需要重新编译一下，输入命令如下

catkin_make     //在 ~/dev/catkin_ws/ 目录下
//或者
catkin_make chapter2_tutorials