以Listener和Talker为例ROS1和ROS2代码对比

flyfish

环境
Ubuntu 18.04
ROS 1 Melodic
ROS 2 Bouncy

使用命令创建包

ros2 pkg create mypkg --cpp-node-name my_node

自动创建文件
package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2"><name>mypkg</name><version>0.0.0</version><description>TODO: Package description</description><maintainer email="pumpkin@todo.todo">pumpkin</maintainer><license>TODO: License declaration</license><buildtool_depend>ament_cmake</buildtool_depend><test_depend>ament_lint_auto</test_depend><test_depend>ament_lint_common</test_depend><export><build_type>ament_cmake</build_type></export>
</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(mypkg)# Default to C99
if(NOT CMAKE_C_STANDARD)set(CMAKE_C_STANDARD 99)
endif()# 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 dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)add_executable(my_node src/my_node.cpp)
target_include_directories(my_node PUBLIC$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>$<INSTALL_INTERFACE:include>)install(TARGETS my_nodeEXPORT export_${PROJECT_NAME}DESTINATION lib/${PROJECT_NAME})if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# remove the line when a copyright and license is present in all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# remove the line when this package is a git reposet(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()ament_package()

代码
代码来自《ROS机器人开发实践》胡春旭

ros2_talker.cpp

#include <iostream>
#include <memory>#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"int main(int argc, char * argv[])
{//ros::init(argc, argv, "talker");rclcpp::init(argc, argv);//ros::NodeHandle n;auto node = rclcpp::Node::make_shared("talker");// 配置质量服务原则，ROS2针对以下几种应用提供了默认的配置：// publishers and subscriptions (rmw_qos_profile_default).// Services (rmw_qos_profile_services_default).// Sensor data (rmw_qos_profile_sensor_data).rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;// 配置QoS中历史数据的缓存深度custom_qos_profile.depth = 7;//ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", custom_qos_profile);//ros::Rate loop_rate(10);rclcpp::WallRate loop_rate(2);auto msg = std::make_shared<std_msgs::msg::String>();auto i = 1;//while (ros::ok())while (rclcpp::ok()) {msg->data = "Hello World: " + std::to_string(i++);std::cout << "Publishing: '" << msg->data << "'" << std::endl;//chatter_pub.publish(msg);chatter_pub->publish(msg);//ros::spinOnce();rclcpp::spin_some(node);//loop_rate.sleep();loop_rate.sleep();}return 0;
}

ros2_listerner.cpp

#include <iostream>
#include <memory>#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"//void chatterCallback(const std_msgs::String::ConstPtr& msg)
void chatterCallback(const std_msgs::msg::String::SharedPtr msg)
{std::cout << "I heard: [" << msg->data << "]" << std::endl;
}int main(int argc, char * argv[])
{//ros::init(argc, argv, "listener");rclcpp::init(argc, argv);//ros::NodeHandle n;auto node = rclcpp::Node::make_shared("listener");//ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);auto sub = node->create_subscription<std_msgs::msg::String>("chatter", chatterCallback, rmw_qos_profile_default);//ros::spin();rclcpp::spin(node);return 0;
}

更改CMakeLists.txt 文件

cmake_minimum_required(VERSION 3.5)
project(mypkg)# Default to C99
if(NOT CMAKE_C_STANDARD)set(CMAKE_C_STANDARD 99)
endif()# 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 dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)add_executable(my_node src/my_node.cpp)
target_include_directories(my_node PUBLIC$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>$<INSTALL_INTERFACE:include>)add_executable(ros2_talker src/ros2_talker.cpp)
ament_target_dependencies(ros2_talker rclcpp std_msgs)add_executable(ros2_listerner src/ros2_listerner.cpp)
ament_target_dependencies(ros2_listerner rclcpp std_msgs)install(TARGETS my_noderos2_talkerros2_listernerEXPORT export_${PROJECT_NAME}DESTINATION lib/${PROJECT_NAME})if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)# the following line skips the linter which checks for copyrights# remove the line when a copyright and license is present in all source filesset(ament_cmake_copyright_FOUND TRUE)# the following line skips cpplint (only works in a git repo)# remove the line when this package is a git reposet(ament_cmake_cpplint_FOUND TRUE)ament_lint_auto_find_test_dependencies()
endif()ament_package()

编译

$ colcon build
Starting >>> mypkg
Finished <<< mypkg [3.35s]                       Summary: 1 package finished [3.53s]

启动执行命令

$ source ~/ros2_ws/src/install/setup.bash
$ ros2 run mypkg ros2_talker
Publishing: 'Hello World: 1'
Publishing: 'Hello World: 2'
Publishing: 'Hello World: 3'$ ros2 run mypkg ros2_listerner
I heard: [Hello World: 1]
I heard: [Hello World: 2]
I heard: [Hello World: 3]
I heard: [Hello World: 4]

遇到的问题

package not found 的原因是
没有执行source install/setup.bash

ros2: command not found
二进制的安装：source /opt/ros/bouncy/setup.bash
源码安装：source ~/ros2_ws/src/install/setup.bash

fatal error: rclcpp/rclcpp.hpp: No such file or directory
#include “rclcpp/rclcpp.hpp”
CMakeLists.txt 文件没有添加 find_package(rclcpp REQUIRED)

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