ROS编程入门教程（全过程示例代码）

ROS系统目前主流语言为C++/Python , Python需要安装vscode，所以本文使用C++ .编译使用catkin (catkin和rosbuild都能用)

首先创建工作空间（working space）

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace

创建功能包pkg ,

catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

创建源代码目录和源码cpp

mkdir -p ~/catkin_ws/src/beginner_tutorials/src

#include "ros/ros.h"
#include "std_msgs/String.h"#include <sstream>
#include <string>    /*** 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.*/ros::init(argc, argv, "talker");/*** 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 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.*/ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);ros::Rate loop_rate(10);/*** A count of how many messages we have sent. This is used to create* a unique string for each message.*/int count = 1;while (ros::ok()){/*** This is a message object. You stuff it with data, and then publish it.*/std_msgs::String msg;std::stringstream ss;ss << "hello world from talker" << count;msg.data = ss.str();ROS_INFO("%s", msg.data.c_str());/*** 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.*/chatter_pub.publish(msg);ros::spinOnce();  //监听一次消息 ，可不加loop_rate.sleep();++count;}return 0;
}

#include "ros/ros.h"
#include "std_msgs/String.h"/*** This tutorial demonstrates simple receipt of messages over the ROS system.*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{ROS_INFO("I heard: [%s]", msg->data.c_str());
}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.*/ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);/*** 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.*/ros::spin();  //阻塞监听return 0;
}

程序包（~/catkin_ws/src/beginner_tutorials）的 CMakeLists.txt文件，修改如下（最后两行，要不要都行）

返回工作空间编译

catkin_make

编译之后测试，首先开启ROS系统，同样在工作空间分别开启两个控制台分别启动talker 和 listener

source ./devel/setup.bashrosrun beginner_tutorials talker

source ./devel/setup.bashrosrun beginner_tutorials listener

测试效果如下图，

特殊说明：

1. listener会丢失前面两次或者三次talker数据，具体原因未知，如果我系统性学习了ROS再来更新。使用ROS subscribe激光数据,丢失一丢丢貌似问题也不大。

2.ROS publish之后的数据，如果没有及时被subscribe走，会直接丢失，ROS应该无缓存。

3.代码部分看本文英文注释即可，没有注释的是特定框架。如果需了解更多，参考下面网ROS入门教程-目录 - 创客智造

ROS基础命令学习：

roscore :启动rosmaster
rosrun:启动节点
rosnode list:节点列表
rosnode info :查看具体节点信息
rostopic list:话题信息
rostopic info :查看具体话题信息
rostopic echo :监听话题信息
rpt_graph:可视化计算图
rqt_plot:可视化数据绘图

~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

ROS编程入门教程（全过程示例代码）相关推荐

【一学就会的ROS基础入门教程】03-1 ROS基础编程：ROS工作空间的创建、话题topic的发布与接收、以及话题消息的自定义使用
[一学就会的ROS基础入门教程 ]03-1 ROS基础编程:ROS工作空间的创建.话题topic的发布与接收.以及话题消息的自定义使用文前白话 1.创建工作空间与功能包关于工作空间的介绍创建开发 ...
Flash：Flash动画设计软件界面的简介、Flash AS 3.0代码编程入门教程之详细攻略
Flash:Flash动画设计软件界面的简介.Flash AS 3.0代码编程入门教程之详细攻略目录 Flash动画设计软件界面的简介快捷键菜单栏下边工具栏右边工具栏工具箱 Flash A ...
ROS入门21讲 | ROS机器人入门教程【简明笔记】
古月·ROS入门21讲 | 一学就会的ROS机器人入门教程文章目录 ROS核心概念 ROS命令行工作空间与功能包订阅与发布发布者 Publisher 订阅者 Subscriber 话题消息的自 ...
TZC Python编程入门教程 ————题解
本博客原文地址:Python编程入门教程(以在线评测平台为载体) - 暴力都不会的蒟蒻 - 博客园,原文体验更佳如果你是一名浙江2020级及以后的高中生要学习Python,抑或是一位科学工作者要学习 ...
JAVA入门Hwork,HBase Java编程入门教程
一款优秀的数据库除了会提供客户端,还会提供编程语言接口,HBase 也不例外.HBase 除了支持使用 Shell 客户端来操作(请看<HBase Shell及其常用命令>),还提供了多种 ...
python快速编程入门教程-终于懂得python快速编程入门教程
为了提高模块加载的速度,每个模块都会在__pycache__文件夹中放置该模块的预编译模块,命名为module.version.pyc,version是模块的预编译版本编码,一般都包含Python的版 ...
《Delphi XE6 android 编程入门教程》推荐
近5.6年已经没有看见关于delphi的新技术的书出来了(看来在国内delphi的使用量确实很低了), 高勇同学最近出了一本<Delphi XE6 android 编程入门教程>,上周刚拿 ...
怎么查看电脑有没有python_python人工智能爬虫系列:怎么查看python版本_电脑计算机编程入门教程自学...
本文由简码编程原创,保留所有版权,转载请注明出处. 本python人工智能爬虫系列教程基于Python3.0版本, 将python结合windows桌面开发工具aardio一起做可视化的开发, 用py ...
cala开发编程入门Hello World示例
Scala开发编程入门Hello World示例 1.下载Scala http://www.scala-lang.org/downloads Windows scala-2.9.1.final.zip ...

ROS编程入门教程（全过程示例代码）

ROS编程入门教程（全过程示例代码）相关推荐

最新文章

热门文章