ROS学习笔记11（用C++写一个简单的消息发布和消息订阅）

1 写一个消息发布节点

首先切换到工作目录：

roscd beginner_tutorials

接着，创建src/talker.cpp，代码如下：

/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
// %Tag(FULLTEXT)%
// %Tag(ROS_HEADER)%
#include "ros/ros.h"
// %EndTag(ROS_HEADER)%
// %Tag(MSG_HEADER)%
#include "std_msgs/String.h"
// %EndTag(MSG_HEADER)%

#include <sstream>

/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line.
   * For programmatic remappings you can use a different version of init() which takes
   * remappings directly, but for most command-line programs, passing argc and argv is
   * the easiest way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
// %Tag(INIT)%
  ros::init(argc, argv, "talker");
// %EndTag(INIT)%

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
// %Tag(NODEHANDLE)%
  ros::NodeHandle n;
// %EndTag(NODEHANDLE)%

  /**
   * The advertise() function is how you tell ROS that you want to
   * publish on a given topic name. This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing. After this advertise() call is made, the master
   * node will notify anyone who is trying to subscribe to this topic name,
   * and they will in turn negotiate a peer-to-peer connection with this
   * node.  advertise() returns a Publisher object which allows you to
   * publish messages on that topic through a call to publish().  Once
   * all copies of the returned Publisher object are destroyed, the topic
   * will be automatically unadvertised.
   *
   * The second parameter to advertise() is the size of the message queue
   * used for publishing messages.  If messages are published more quickly
   * than we can send them, the number here specifies how many messages to
   * buffer up before throwing some away.
   */
// %Tag(PUBLISHER)%
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
// %EndTag(PUBLISHER)%

// %Tag(LOOP_RATE)%
  ros::Rate loop_rate(10);
// %EndTag(LOOP_RATE)%

  /**
   * A count of how many messages we have sent. This is used to create
   * a unique string for each message.
   */
// %Tag(ROS_OK)%
  int count = 0;
  while (ros::ok())
  {
// %EndTag(ROS_OK)%
    /**
     * This is a message object. You stuff it with data, and then publish it.
     */
// %Tag(FILL_MESSAGE)%
    std_msgs::String msg;

    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
// %EndTag(FILL_MESSAGE)%

// %Tag(ROSCONSOLE)%
    ROS_INFO("%s", msg.data.c_str());
// %EndTag(ROSCONSOLE)%

    /**
     * The publish() function is how you send messages. The parameter
     * is the message object. The type of this object must agree with the type
     * given as a template parameter to the advertise<>() call, as was done
     * in the constructor above.
     */
// %Tag(PUBLISH)%
    chatter_pub.publish(msg);
// %EndTag(PUBLISH)%

// %Tag(SPINONCE)%
    ros::spinOnce();
// %EndTag(SPINONCE)%

// %Tag(RATE_SLEEP)%
    loop_rate.sleep();
// %EndTag(RATE_SLEEP)%
    ++count;
  }


  return 0;
}
// %EndTag(FULLTEXT)%

2 写一个消息订阅节点

创建一个src/listener.cpp，输入以下

/*
 * Copyright (C) 2008, Morgan Quigley and Willow Garage, Inc.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the names of Stanford University or Willow Garage, Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

// %Tag(FULLTEXT)%
#include "ros/ros.h"
#include "std_msgs/String.h"

/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
// %Tag(CALLBACK)%
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}
// %EndTag(CALLBACK)%

int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line.
   * For programmatic remappings you can use a different version of init() which takes
   * remappings directly, but for most command-line programs, passing argc and argv is
   * the easiest way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "listener");

  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;

  /**
   * The subscribe() call is how you tell ROS that you want to receive messages
   * on a given topic.  This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing.  Messages are passed to a callback function, here
   * called chatterCallback.  subscribe() returns a Subscriber object that you
   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
   * object go out of scope, this callback will automatically be unsubscribed from
   * this topic.
   *
   * The second parameter to the subscribe() function is the size of the message
   * queue.  If messages are arriving faster than they are being processed, this
   * is the number of messages that will be buffered up before beginning to throw
   * away the oldest ones.
   */
// %Tag(SUBSCRIBER)%
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
// %EndTag(SUBSCRIBER)%

  /**
   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
   * callbacks will be called from within this thread (the main one).  ros::spin()
   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
   */
// %Tag(SPIN)%
  ros::spin();
// %EndTag(SPIN)%

  return 0;
}
// %EndTag(FULLTEXT)%

3 构建节点

在CMakeLists.txt最后添加：

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

完整文件：

   1 cmake_minimum_required(VERSION 2.8.3)
   2 project(beginner_tutorials)
   3 
   4 ## Find catkin and any catkin packages
   5 find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg)
   6 
   7 ## Declare ROS messages and services
   8 add_message_files(FILES Num.msg)
   9 add_service_files(FILES AddTwoInts.srv)
  10 
  11 ## Generate added messages and services
  12 generate_messages(DEPENDENCIES std_msgs)
  13 
  14 ## Declare a catkin package
  15 catkin_package()
  16 
  17 ## Build talker and listener
  18 include_directories(include ${catkin_INCLUDE_DIRS})
  19 
  20 add_executable(talker src/talker.cpp)
  21 target_link_libraries(talker ${catkin_LIBRARIES})
  22 add_dependencies(talker beginner_tutorials_generate_messages_cpp)
  23 
  24 add_executable(listener src/listener.cpp)
  25 target_link_libraries(listener ${catkin_LIBRARIES})
  26 add_dependencies(listener beginner_tutorials_generate_messages_cpp)

ref：http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber(c%2B%2B)