ROS2与C++入门教程-进程内(intra_process)话题发布和订阅演示2

系列文章目录

ROS2与C++入门教程-目录
ROS2与C++入门教程-新建ros2工作空间
ROS2与C++入门教程-新建ros2包
ROS2与C++入门教程-编写订阅和发布
ROS2与C++入门教程-编写服务端和客户端
ROS2与C++入门教程-创建消息（msg）文件
ROS2与C++入门教程-创建服务（srv）文件
ROS2与C++入门教程-创建ros2接口
ROS2与C++入门教程-使用参数
ROS2与C++入门教程-创建和使用插件
ROS2与C++入门教程-编写动作服务器
ROS2与C++入门教程-编写动作客户端
ROS2与C++入门教程-Topic Statistics查看话题
ROS2与C++入门教程-增加头文件
ROS2与C++入门教程-在C++包里增加python支持
ROS2与C++入门教程-增加命名空间
ROS2与C++入门教程-多线程演示
ROS2与C++入门教程-单线程演示
ROS2与C++入门教程-话题组件演示
ROS2与C++入门教程-话题组件增加launch启动演示
ROS2与C++入门教程-服务组件演示
ROS2与C++入门教程-服务组件增加launch启动演示
ROS2与C++入门教程-进程内(intra_process)话题发布和订阅演示
ROS2与C++入门教程-进程内(intra_process)话题发布和订阅演示2
ROS2与C++入门教程-进程内(intra_process)图像处理演示
ROS2与C++入门教程-生命周期节点演示

说明:

介绍ros2下实现进程内(intra_process)话题发布和订阅
在同一进程内的不同节点,可以通过共享指针方式实现内容读取,减少消息的拷贝开销
对于图像之类数据量比较大的节点间处理的效率和性能将大大提高
本演示实现两个话题循环处理

步骤:

新建一个包cpp_intra_process_topic2

cd ~/dev_ws/src
ros2 pkg create --build-type ament_cmake cpp_intra_process_topic2

进入src目录，新建文件cyclic_pipeline.cpp

cd ~/dev_ws/src/cpp_intra_process_topic2/src
touch cyclic_pipeline.cpp

内容如下:

#include <chrono>
#include <cinttypes>
#include <cstdio>
#include <memory>
#include <string>
#include <utility>#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"using namespace std::chrono_literals;// This node receives an Int32, waits 1 second, then increments and sends it.
struct IncrementerPipe : public rclcpp::Node
{IncrementerPipe(const std::string & name, const std::string & in, const std::string & out): Node(name, rclcpp::NodeOptions().use_intra_process_comms(true)){// Create a publisher on the output topic.pub = this->create_publisher<std_msgs::msg::Int32>(out, 10);std::weak_ptr<std::remove_pointer<decltype(pub.get())>::type> captured_pub = pub;// Create a subscription on the input topic.sub = this->create_subscription<std_msgs::msg::Int32>(in,10,[captured_pub](std_msgs::msg::Int32::UniquePtr msg) {auto pub_ptr = captured_pub.lock();if (!pub_ptr) {return;}printf("Received message with value:         %d, and address: 0x%" PRIXPTR "\n", msg->data,reinterpret_cast<std::uintptr_t>(msg.get()));printf("  sleeping for 1 second...\n");if (!rclcpp::sleep_for(1s)) {return;    // Return if the sleep failed (e.g. on ctrl-c).}printf("  done.\n");msg->data++;    // Increment the message's data.printf("Incrementing and sending with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,reinterpret_cast<std::uintptr_t>(msg.get()));pub_ptr->publish(std::move(msg));    // Send the message along to the output topic.});}rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub;rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub;
};int main(int argc, char * argv[])
{setvbuf(stdout, NULL, _IONBF, BUFSIZ);rclcpp::init(argc, argv);rclcpp::executors::SingleThreadedExecutor executor;// Create a simple loop by connecting the in and out topics of two IncrementerPipe's.// The expectation is that the address of the message being passed between them never changes.auto pipe1 = std::make_shared<IncrementerPipe>("pipe1", "topic1", "topic2");auto pipe2 = std::make_shared<IncrementerPipe>("pipe2", "topic2", "topic1");rclcpp::sleep_for(1s);  // Wait for subscriptions to be established to avoid race conditions.// Publish the first message (kicking off the cycle).std::unique_ptr<std_msgs::msg::Int32> msg(new std_msgs::msg::Int32());msg->data = 42;printf("Published first message with value:  %d, and address: 0x%" PRIXPTR "\n", msg->data,reinterpret_cast<std::uintptr_t>(msg.get()));pipe1->pub->publish(std::move(msg));executor.add_node(pipe1);executor.add_node(pipe2);executor.spin();rclcpp::shutdown();return 0;
}

编译package.xml
在<buildtool_depend>ament_cmake</buildtool_depend>后增加

<build_depend>rclcpp</build_depend>
<build_depend>std_msgs</build_depend>

编译CMakelist.txt
在find_package(ament_cmake REQUIRED)后增加

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

生成执行文件

include_directories(include)add_executable(cyclic_pipelinesrc/cyclic_pipeline.cpp)
target_link_libraries(cyclic_pipelinerclcpp::rclcpp${std_msgs_TARGETS})

安装相关库文件和执行文件

install(TARGETScyclic_pipelineDESTINATION lib/${PROJECT_NAME})

编译包

colcon build --symlink-install --packages-select cpp_intra_process_topic2

加载工作空间

. install/setup.bash

测试:

ros2 run cpp_intra_process_topic2 cyclic_pipeline

效果如下：

$ ros2 run cpp_intra_process_topic2 cyclic_pipeline
Published first message with value:  42, and address: 0x55DBCB77E6F0
Received message with value:         42, and address: 0x55DBCB77E6F0sleeping for 1 second...done.
Incrementing and sending with value: 43, and address: 0x55DBCB77E6F0
Received message with value:         43, and address: 0x55DBCB77E6F0sleeping for 1 second...done.
Incrementing and sending with value: 44, and address: 0x55DBCB77E6F0
Received message with value:         44, and address: 0x55DBCB77E6F0sleeping for 1 second...done.
Incrementing and sending with value: 45, and address: 0x55DBCB77E6F0
Received message with value:         45, and address: 0x55DBCB77E6F0sleeping for 1 second...done.

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