ROS2 C++ Subscriber Publisher 订阅发布例子

ROS2 Subscriber Publisher 例子

运行环境

Ubuntu 20.04
ROS Foxy

• sub

#include <iostream>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>

void callback(const std_msgs::msg::String::SharedPtr msg) {
    std::cout << "sub " << msg->data.c_str() << std::endl;
}

int main(int argc, char **argv) {
    std::cout << "Hello, ROS2 Sub!" << std::endl;
    rclcpp::init(argc, argv);
    auto node = rclcpp::Node::make_shared("sub_node");
    auto sub = node->create_subscription<std_msgs::msg::String>("/pub", 1, callback);
    rclcpp::spin(node);
    return 0;
}

• pub

#include <iostream>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>


int main(int argc, char **argv) {
    std::cout << "Hello, ROS2 Sub!" << std::endl;
    rclcpp::init(argc, argv);
    auto node = rclcpp::Node::make_shared("pub_node");
    auto chatter_pub = node->create_publisher<std_msgs::msg::String>("/pub", 1);
    rclcpp::WallRate r(5);
    
    std_msgs::msg::String msg;
    int i = 0;
    while (rclcpp::ok()) {
        msg.data = "data: " + std::to_string(i++);
        std::cout << "pub " << msg.data.c_str() << std::endl;
        chatter_pub->publish(msg);
        rclcpp::spin_some(node);
        r.sleep();
    }
    rclcpp::shutdown();
    return 0;
}

• CMakeLists.txt

cmake_minimum_required(VERSION 3.5.1)
project(ros2_pubsub_demo)

set(CMAKE_CXX_STANDARD 14)
set(TARGET_NAME ${PROJECT_NAME})

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)

include_directories(
    ${rclcpp_INCLUDE_DIRS}
)

add_executable(pub pub.cc)
add_executable(sub sub.cc)

ament_target_dependencies(pub rclcpp std_msgs)
ament_target_dependencies(sub rclcpp std_msgs)

• 运行

mkdir build && cd build
cmake ..
make 
./pub
./sub

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