目錄

• 如何實現一個發布者
• C++
• • 創建功能包
  • 編寫程序
  • 配置CMakeLists.txt
  • 編譯并運行發布者
• python
• • 創建并編寫腳本
  • 運行

平臺：華碩 Thinker Edge R 瑞芯微 RK3399Pro
固件版本：Tinker_Edge_R-Debian-Stretch-V1.0.4-20200615

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記錄自【古月居】古月·ROS入門21講 | 一學就會的ROS機器人入門教程 —— 古月居GYH P10 10.發布者Publisher的編程實現

如何實現一個發布者

初始化ROS節點；

向ROS Master注冊節點信息，包括發布的話題名和話題中的消息類型；

創建消息數據；

按照一定頻率循環發布消息。

C++

創建功能包

cd ~/catkin_workspace/src catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim

編寫程序

nano ~/catkin_workspace/src/learning_topic/src/velocity_publisher.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將發布turtle1/cmd_vel話題，消息類型geometry_msgs::Twist*/#include <ros/ros.h> #include <geometry_msgs/Twist.h>int main(int argc, char **argv) {// ROS節點初始化ros::init(argc, argv, "velocity_publisher");// 創建節點句柄ros::NodeHandle n;// 創建一個Publisher，發布名為/turtle1/cmd_vel的topic，消息類型為geometry_msgs::Twist，隊列長度10ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);// 設置循環的頻率ros::Rate loop_rate(10);int count = 0;while (ros::ok()){// 初始化geometry_msgs::Twist類型的消息geometry_msgs::Twist vel_msg;vel_msg.linear.x = 0.5;vel_msg.angular.z = 0.2;// 發布消息turtle_vel_pub.publish(vel_msg);ROS_INFO("Publish turtle velocity command[%0.2f m/s, %0.2f rad/s]", vel_msg.linear.x, vel_msg.angular.z);// 按照循環頻率延時loop_rate.sleep();}return 0; }

配置CMakeLists.txt

nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt

在Build內，Install前加入

add_executable(velocity_publisher src/velocity_publisher.cpp) target_link_libraries(velocity_publisher ${catkin_LIBRARIES})

設置需要編譯的代碼和生成的可執行文件；
設置鏈接庫；

編譯并運行發布者

cd ~/catkin_workspace catkin_make# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

python

創建并編寫腳本

cd ~/catkin_workspace/src/learning_topic mkdir scripts cd ~/catkin_workspace/src/learning_topic/scripts nano velocity_publisher.py #!/usr/bin/env python # -*- coding: utf-8 -*-######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################### 該例程將發布turtle1/cmd_vel話題，消息類型geometry_msgs::Twistimport rospy from geometry_msgs.msg import Twistdef velocity_publisher():# ROS節點初始化rospy.init_node('velocity_publisher', anonymous=True)# 創建一個Publisher，發布名為/turtle1/cmd_vel的topic，消息類型為geometry_msgs::Twist，隊列長度10turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)#設置循環的頻率rate = rospy.Rate(10) while not rospy.is_shutdown():# 初始化geometry_msgs::Twist類型的消息vel_msg = Twist()vel_msg.linear.x = 0.5vel_msg.angular.z = 0.2# 發布消息turtle_vel_pub.publish(vel_msg)rospy.loginfo("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]", vel_msg.linear.x, vel_msg.angular.z)# 按照循環頻率延時rate.sleep()if __name__ == '__main__':try:velocity_publisher()except rospy.ROSInterruptException:pass

運行

sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/velocity_publisher.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一個終端 source ~/catkin_workspace/devel/setup.bash rosrun learning_topic velocity_publisher.py# 新建一個終端 source ~/catkin_workspace/devel/setup.bash rqt_graph

總結

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