ROS中使用protoBuf通信

ROS自身话题也挺好的，不过暂时还不知道如何判断网络，因此，还是想换回tcp/udp通信。

但是发现通信时数据比较多，调查一下，发现ROS支持google的protoBuf。

先建立一个ROS的项目，方便后面我们测试。然后建立两个包，一个用作tcp发送数据，一个用作接收。然后在解析protoBuf的内容，看看是否一致。

目录结构如下：

proto目录下只有一个文件，test.proto，名字可以随意起，但是后缀不能错。

文件内容如下：

syntax = "proto3";
package Ott;message  Oddometry{double p_x = 1;double p_y = 2;double p_z = 3;double o_x = 4;double o_y = 5;double o_z = 6;double o_w = 7;int32 flag = 8;
}

src目录下有一个CMakeLists.txt，内容如下：


# toplevel CMakeLists.txt for a catkin workspace
# catkin/cmake/toplevel.cmakecmake_minimum_required(VERSION 3.0.2)
project(testRosPB VERSION 0.0.1.1118)set(CATKIN_TOPLEVEL TRUE)# search for catkin within the workspace
set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
execute_process(COMMAND ${_cmd}RESULT_VARIABLE _resOUTPUT_VARIABLE _outERROR_VARIABLE _errOUTPUT_STRIP_TRAILING_WHITESPACEERROR_STRIP_TRAILING_WHITESPACE
)
if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)# searching fot catkin resulted in an errorstring(REPLACE ";" " " _cmd_str "${_cmd}")message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
endif()# include catkin from workspace or via find_package()
if(_res EQUAL 0)set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")# include all.cmake without add_subdirectory to let it operate in same scopeinclude(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)add_subdirectory("${_out}")
else()# use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument# or CMAKE_PREFIX_PATH from the environmentif(NOT DEFINED CMAKE_PREFIX_PATH)if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")if(NOT WIN32)string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})else()set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})endif()endif()endif()# list of catkin workspacesset(catkin_search_path "")foreach(path ${CMAKE_PREFIX_PATH})if(EXISTS "${path}/.catkin")list(FIND catkin_search_path ${path} _index)if(_index EQUAL -1)list(APPEND catkin_search_path ${path})endif()endif()endforeach()# search for catkin in all workspacesset(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)find_package(catkin QUIETNO_POLICY_SCOPEPATHS ${catkin_search_path}NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)unset(CATKIN_TOPLEVEL_FIND_PACKAGE)if(NOT catkin_FOUND)message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")endif()
endif()---------------------------------------------要去掉此行，下面是加入protobuf的支持--------------------------------------------
# use protobuf
include(FindProtobuf)
find_package(Protobuf REQUIRED COMPONENTS roscpp)
set(proto_dir ${PROJECT_SOURCE_DIR}/proto)
file(GLOB proto_files "${proto_dir}/*.proto")
catkin_destinations()
set(proto_gen_dir ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}/${PROJECT_NAME})
set(proto_gen_cpp_dir ${proto_gen_dir})
file(MAKE_DIRECTORY ${proto_gen_dir})
file(MAKE_DIRECTORY ${proto_gen_cpp_dir})
set(protogen_include_dirs ${proto_gen_cpp_dir}/../ ${proto_gen_python_dir})
# Create lists of files to be generated
set(proto_gen_cpp_files "")
foreach(proto_file ${proto_files})get_filename_component(proto_name ${proto_file} NAME_WE)list(APPEND proto_gen_cpp_files${proto_gen_cpp_dir}/${proto_name}.pb.h${proto_gen_cpp_dir}/${proto_name}.pb.cc)
endforeach(proto_file ${proto_files})# Run protoc and generate language-specific headers.
add_custom_command(OUTPUT ${proto_gen_cpp_files}COMMAND ${PROTOBUF_PROTOC_EXECUTABLE} --proto_path=${proto_dir} --cpp_out=${proto_gen_cpp_dir} ${proto_files}DEPENDS ${PROTOBUF_PROTOC_EXECUTABLE} ${proto_files}WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
)
set_source_files_properties(${proto_gen_cpp_files} PROPERTIES GENERATED TRUE)add_custom_target(${PROJECT_NAME}_generate_headersDEPENDS ${proto_gen_cpp_files}
)
# Create proto library for lining.
include_directories(${PROTOBUF_INCLUDE_DIR} ${PROTOBUF_INCLUDE_DIR}/../../)
add_library(${PROJECT_NAME}_proto ${proto_gen_cpp_files})
target_link_libraries(${PROJECT_NAME}_proto ${PROTOBUF_LIBRARY})
add_dependencies(${PROJECT_NAME}_proto ${PROJECT_NAME}_generate_headers)
---------------------------------------------要去掉此行，上面是加入protobuf的支持--------------------------------------------include_directories(include${catkin_INCLUDE_DIRS}${CATKIN_DEVEL_PREFIX}   #忘记是不是新加的了
)
catkin_workspace()

这样就可以把protobuf封装成一个动态库，后面的包都能利用上。

新建的两个包目录下都各只有一个cpp文件，先看main_sub.cpp，一看名字大家就都知道，这是订阅示例改的。不多说，先看代码。

#include "ros/ros.h"
#include "std_msgs/String.h"#include <stdio.h>
#include <string.h>
#include <iostream>
using namespace std;   //用string带来后果，在pub中编译带来了问题。#include<sys/types.h>
#include<stdlib.h>
#include<winsock2.h>
#pragma comment(lib,"ws2_32.lib")#include "include/testRosPB/test.pb.h"   //注意，protobuf编译test.proto
，生成的文件int main(int argc, char **argv)
{if(argc != 3){printf("Usage:%s [ip] [port]\n",argv[0]);//return 0;   //简单测试不要了。}WSADATA ws;WSAStartup(MAKEWORD(2,2),&ws);//创建一个用来通讯的socketint sock = socket(AF_INET,SOCK_STREAM, 0);if(sock < 0){perror("socket");return 1;}//需要connect的是对端的地址，因此这里定义服务器端的地址结构体struct sockaddr_in server;server.sin_family = AF_INET;server.sin_port = htons(atoi("9962"));server.sin_addr.s_addr = inet_addr("127.0.0.1");   //本机测试int len = sizeof(struct sockaddr_in);if(connect(sock, (struct sockaddr*)&server, len) < 0 ){perror("connect");return 2;}//连接成功进行收数据
//开始准备，发送pb数据
char buf[80];Ott::Oddometry  ommm;
ommm.set_p_x(111);
ommm.set_p_y(222);
ommm.set_p_z(333);ommm.set_o_x(1);
ommm.set_o_y(2);
ommm.set_o_z(3);
ommm.set_o_w(4);
ommm.set_flag(5);//while(1)   //不用循环发送了，发一次就好。{string data;
ommm.SerializeToString(&data);
char *bts = new char[data.length()];
printf("data:  \n");
for(int i = 0; i < data.length(); i++)
{printf("%d ",data[i]);
}
printf("\n%d  %s",sizeof(Ott::Oddometry), data);
printf("\n%f  %f", ommm.p_x(), ommm.p_y());
strcpy(bts, data.c_str());int _s = send(sock, data.c_str(), sizeof(Ott::Oddometry ), 0);   //发送数据出去
printf("\nsend###");Ott::Oddometry  aa;
aa.ParseFromString(data);printf("\n%d  %s",sizeof(Ott::Oddometry), data);
printf("\n%f  %f\n", aa.p_x(), aa.p_y());}closesocket(sock);;return 0;
}

仅有cpp还不行，还要修改main_sub目录下的CMakeLists.txt文件

cmake_minimum_required(VERSION 3.0.2)
project(main_sub VERSION 0.0.1.1118)## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp)## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES main_sub
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include${catkin_INCLUDE_DIRS}${CATKIN_DEVEL_PREFIX}                  #新加内容
)## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/main_sub.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/main_sub_node.cpp)
add_executable(${PROJECT_NAME} main_sub.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PROTOBUF_LIBRARY} testRosPB_proto)
#链接库，新加内容，${PROTOBUF_LIBRARY} testRosPB_proto#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_main_sub.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

文件修改内容都标出来了

再看main_pub.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_msgs/Bool.h"
#include "include/testRosPB/test.pb.h"    //前面编译的#include <winsock2.h>
#include <windows.h>
#pragma comment(lib,"ws2_32.lib")#include <string.h>
#include <iostream>
//using namespace std;int startup(int _port,const char* _ip)
{WSADATA ws;WSAStartup(MAKEWORD(2,2),&ws);int sock = socket(AF_INET, SOCK_STREAM, 0);if(sock < 0){perror("socket");exit(1);}struct sockaddr_in local;local.sin_family = AF_INET;local.sin_port = htons( _port);local.sin_addr.s_addr = inet_addr(_ip);int len = sizeof(local);if(bind(sock,(struct sockaddr*)&local , len) < 0){perror("bind");exit(2);}if(listen(sock, 5) < 0) //允许连接的最大数量为5{perror("listen");exit(3);}return sock;
}int main(int argc, char **argv)
{int listen_sock = startup(atoi("9962"),"127.0.0.1");//初始化
//用来接收客户端的socket地址结构体struct sockaddr_in remote;int len = sizeof(struct sockaddr_in);while(1){int sock = accept(listen_sock, (struct sockaddr*)&remote, &len);if(sock < 0){perror("accept");continue;}printf("get a client, ip:%s, port:%d\n",inet_ntoa(remote.sin_addr),ntohs(remote.sin_port));char buf[81];while(1){int _s = recv(sock, buf, sizeof(buf)-1,0);if(_s > 0){buf[_s] = 0;
//                printf("client:%s\n",buf);
printf("data:  %d\n", _s);
for(int i = 0; i < _s; i++)
{printf("%d ",buf[i]);
}buf[_s] = '\0';
printf("\n");
std::string data(buf, _s);
Ott::Oddometry  ommm;
ommm.ParseFromString(data);printf("\n%d  %s",sizeof(Ott::Oddometry), data);
printf("\n%f  %f\n", ommm.p_x(), ommm.p_y());}else{printf("client is quit!\n");break;}}}// 设置编码setlocale(LC_ALL,"");ros::init(argc, argv, "topic_pub_cpp");ros::NodeHandle n;// chatter 是我们要发布到的话题，也就是交换数据的缓冲池//ros::Publisher pubA = n.advertise<Ott::Oddometry>("aaaa", 1000);ros::Publisher pub = n.advertise<std_msgs::String>("chatter", 1000);std::string content = "Hello World!";std_msgs::String msgs;ros::Rate loop_rate(0.5);   // 0.5s执行一次循环int count = 0;while (ros::ok()){count ++;msgs.data = content + std::to_string(count);// ROS_INFO("Publish Topic [chatter]: %s", msgs.data.c_str());pub.publish(msgs);loop_rate.sleep();ros::spinOnce();        // 一个好习惯}return 0;
}

同样也要修改CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(main_pub VERSION 0.0.1.1118)## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp)include(FindProtobuf)           #新加内容
find_package(Protobuf REQUIRED)  #新加内容## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()################################################
## Declare ROS messages, services and actions ##
################################################## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   std_msgs  # Or other packages containing msgs
# )################################################
## Declare ROS dynamic reconfigure parameters ##
################################################## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES main_pub
#  CATKIN_DEPENDS other_catkin_pkg
#  DEPENDS system_lib
)###########
## Build ##
############# Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include${catkin_INCLUDE_DIRS}${PROTOBUF_INCLUDE_DIR}   #新加内容${CATKIN_DEVEL_PREFIX}    #新加内容
)## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/main_pub.cpp
# )## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/main_pub_node.cpp)
add_executable(${PROJECT_NAME} main_pub.cpp)## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${PROTOBUF_LIBRARIES} testRosPB_proto)
#新加内容   ${PROTOBUF_LIBRARIES} testRosPB_proto
#############
## Install ##
############## all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )#############
## Testing ##
############### Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_main_pub.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

都处理好之后，回到主目录下，执行cakin_make

成功后就可以测试了

注意生成了动态库 testRosPB_proto.dll 如果不想用roslaunch的方式启动，可以把它拷贝到exe文件的同级目录下，然后再运行exe

参考文献：

1 https://www.pudn.com/news/628f8317bf399b7f351e69d3.html

2 ros中使用protobuf的组织形式_heroacool的博客-CSDN博客

3 Ubuntu18下ROS使用Protobuf 共享内存实现节点通信 - 知乎

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