ROS2创建包 编译 和运行过程

1 创建ros2包

https://docs.ros.org/en/foxy/Tutorials/Workspace/Creating-A-Workspace.html
https://docs.ros.org/en/foxy/Tutorials/Creating-Your-First-ROS2-Package.html

创建一个路径

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src

创建ros2包

cd ~/dev_ws/src
ros2 pkg create --build-type ament_cmake <package_name>

2 编译

cd ~/dev_ws
colcon build 

当仅编译my_package时用

colcon build --packages-select my_package

3 source环境变量

. install/setup.bash

4 运行

ros2 run my_package my_node

5 检查包目录

CMakeLists.txt include package.xml src

6 例子

https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Cpp-Publisher-And-Subscriber.html

6.1 创建包

mkdir -p ~/dev_ws/src
cd /dev_ws/src
ros2 pkg create --build-type ament_cmake cpp_pubsub
cd dev_ws/src/cpp_pubsub/src

6.2 写发布节点

添加文件publisher_member_function.cpp，写入

#include <chrono>
#include <functional>
#include <memory>
#include <string>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

/* This example creates a subclass of Node and uses std::bind() to register a
* member function as a callback from the timer. */

class MinimalPublisher : public rclcpp::Node
{
  public:
    MinimalPublisher()
    : Node("minimal_publisher"), count_(0)
    {
      publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
      timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
    }

  private:
    void timer_callback()
    {
      auto message = std_msgs::msg::String();
      message.data = "Hello, world! " + std::to_string(count_++);
      RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
      publisher_->publish(message);
    }
    rclcpp::TimerBase::SharedPtr timer_;
    rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
    size_t count_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

6.3 写发布节点

添加文件subscriber_member_function.cpp，写入

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using std::placeholders::_1;

class MinimalSubscriber : public rclcpp::Node
{
  public:
    MinimalSubscriber()
    : Node("minimal_subscriber")
    {
      subscription_ = this->create_subscription<std_msgs::msg::String>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
    }

  private:
    void topic_callback(const std_msgs::msg::String::SharedPtr msg) const
    {
      RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
    }
    rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalSubscriber>());
  rclcpp::shutdown();
  return 0;
}

6.4 CMakeLists.txt

在CMakeLists.txt中写入

cmake_minimum_required(VERSION 3.5)
project(cpp_pubsub)

Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(talker src/publisher_member_function.cpp)
ament_target_dependencies(talker rclcpp std_msgs)

add_executable(listener src/subscriber_member_function.cpp)
ament_target_dependencies(listener rclcpp std_msgs)

install(TARGETS
  talker
  listener
  DESTINATION lib/${PROJECT_NAME})

ament_package()

6.5 添加依赖

打开package.xml，确保填写 , and tags:

<description>Examples of minimal publisher/subscriber using rclcpp</description>
<maintainer email="you@email.com">Your Name</maintainer>
<license>Apache License 2.0</license>

在ament_cmake buildtool依赖后面加入

<depend>rclcpp</depend>
<depend>std_msgs</depend>

6.6 编译运行

cd ~/dev_ws
colcon build --packages-select cpp_pubsub

. install/setup.bash

ros2 run cpp_pubsub talker

打开另一个节点

ros2 run cpp_pubsub listener

结果