ROS官网教程
文章目录
1 创建ROS工作空间2 创建ROS软件包3 一个发布/订阅示例4 构建节点5 运行示例1 创建ROS工作空间
创建ROS工作空间：$ mkdir -p ~/your_dir/src$ cd ~/your_dir/$ catkin_make
创建成功：
$ /work/ros$ ls -a. .. build .catkin_workspace devel src
将当前工作空间设置在环境的最顶层：
echo "source /home/you/your_dir/devel/setup.bash" >> ~/.bashrcsource ~/.bashrc
查看ROS_PACKAGE_PATH环境变量是否包含你当前的工作空间目录：
echo $ROS_PACKAGE_PATH
显示如下，路径用:隔开
/home/you/your_dir/src:/opt/ros/melodic/share
2 创建ROS软件包
创建ROS软件包命令：catkin_create_pkg <package_name> [depend1] [depend2] [depend3]...
#切换至工作空间中的源文件空间目录cd /home/you/your_dir/src#创建软件包catkin_create_pkg pub_sub_eg roscpp std_msgs
正确的目录结构如下：
your_dir/ -- 工作空间build/.catkin_workspacedevel/src/ -- 源文件空间CMakeLists.txt -- catkin自动创建的CMake 文件pub_sub_eg/ -- 软件包CMakeLists.txt-- pub_sub_eg的CMakeLists.txtpackage.xml -- pub_sub_eg的文件、依赖清单...其他包/CMakeLists.txtpackage.xml
3 一个发布/订阅示例
发布者//pub_eg.cpp#include "ros/ros.h"#include "std_msgs/String.h"#include <sstream>int main(int argc, char **argv){ros::init(argc, argv, "talker");ros::NodeHandle n;ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);ros::Rate loop_rate(10);int count = 0;while (ros::ok()){std_msgs::String msg;std::stringstream ss;ss << "hello world " << count;msg.data = ss.str();ROS_INFO("%s", msg.data.c_str());chatter_pub.publish(msg);ros::spinOnce();loop_rate.sleep();++count;}return 0;}
订阅
//sub_eg.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;}
修改CMakeLists
将以下内容添加到/home/you/your_dir/src/pub_sub_eg/CMakeLists.txt文件的最后
add_executable(talker src/pub_eg.cpp)target_link_libraries(talker ${catkin_LIBRARIES})add_executable(listener src/sub_eg.cpp)target_link_libraries(listener ${catkin_LIBRARIES})
4 构建节点
指令：cd /home/you/your_dircatkin_make
成功：
如下图所示，并在/home/you/your_dir/devel/lib/pub_sub_eg目录下生成两个可执行文件listener、talker
5 运行示例
运行roscore新开终端，执行roscore，成功界面如下图，不是卡住了，这个终端被它占用了
运行发布者(talker)节点
命令：rosrun <package_name> <node_name>
:~$ rosrun pub_sub_eg talker[ INFO] [1632380887.305613762]: hello world 0[ INFO] [1632380887.406156027]: hello world 1[ INFO] [1632380887.506550027]: hello world 2[ INFO] [1632380887.605821851]: hello world 3[ INFO] [1632380887.705849630]: hello world 4[ INFO] [1632380887.806313501]: hello world 5[ INFO] [1632380887.906271487]: hello world 6[ INFO] [1632380888.006119049]: hello world 7
运行订阅者(listener)节点
:~$ rosrun pub_sub_eg listener[ INFO] [1632381058.295723795]: I heard: [hello world 3][ INFO] [1632381058.395464944]: I heard: [hello world 4][ INFO] [1632381058.494946567]: I heard: [hello world 5][ INFO] [1632381058.595786883]: I heard: [hello world 6][ INFO] [1632381058.695049193]: I heard: [hello world 7]
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