跳转至

一种跨平台模块化软件通讯机制

参考


roscore

启动 ROS Master、Parameter Server 和 rosout


hello ros

  1. 初始化工作空间

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    mkdir -p ~/hello_ros/src
cd ~/hello_ros
catkin_make
source devel/setup.bash
    • src 是必须的

  2. 创建 ros 包

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    cd ~/hello_ros/src
catkin_create_pkg hello std_msgs roscpp
cd ..
catkin_make
source devel/setup.bash
cd ~/hello_ros/src/hello
    • 创建一个 hello 的 ros 包，并指定依赖

  3. 发布者

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    vim publisher_node.cpp
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    #include "ros/ros.h"
#include "std_msgs/String.h"

int main(int argc, char **argv) {
    ros::init(argc, argv, "simple_publisher");
    ros::NodeHandle nh;

    // 创建发布者对象
    ros::Publisher pub = nh.advertise<std_msgs::String>("chatter", 1000);

    ros::Rate loop_rate(10);  // 10 Hz
    int count = 0;

    while (ros::ok()) {
        std_msgs::String msg;
        msg.data = "Hello, ROS! " + std::to_string(count);

        ROS_INFO("%s", msg.data.c_str());

        // 发布消息
        pub.publish(msg);

        ros::spinOnce();
        loop_rate.sleep();
        ++count;
    }

    return 0;
}

  4. 订阅者

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    vim subscriber_node.cpp
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    #include "ros/ros.h"
#include "std_msgs/String.h"

// 回调函数，处理接收到的消息
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, "simple_subscriber");
    ros::NodeHandle nh;

    // 创建订阅者对象
    ros::Subscriber sub = nh.subscribe("chatter", 1000, chatterCallback);

    // 进入循环，等待回调
    ros::spin();

    return 0;
}

  5. 编译

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    vim CMakeLists.txt
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    add_executable(publisher_node publisher_node.cpp)
target_link_libraries(publisher_node ${catkin_LIBRARIES})

add_executable(subscriber_node subscriber_node.cpp)
target_link_libraries(subscriber_node ${catkin_LIBRARIES})
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    cd ~/hello_ros
catkin_make
source devel/setup.bash

  6. 运行

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    roscore
rosrun hello publisher_node
rosrun hello subscriber_node