请教大神ROS发布者Publisher的编程该怎样去实现呢

请教大神ROS发布者Publisher的编程该怎样去实现呢？

回帖（1）

h1654155275.5879

2022-2-14 15:26:06

C++
创建功能包
cd ~/catkin_workspace/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim
编写程序
nano ~/catkin_workspace/src/learning_topic/src/velocity_publisher.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布turtle1/cmd_vel话题，消息类型geometry_msgs::Twist
*/
#include
#include
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度10
ros::Publisher turtle_vel_pub = n.advertise("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
// 发布消息
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);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
配置CMakeLists.txt
nano ~/catkin_workspace/src/learning_topic/CMakeLists.txt
在Build内，Install前加入
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
设置需要编译的代码和生成的可执行文件；
设置链接库；

编译并运行发布者
cd ~/catkin_workspace
catkin_make
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graph

python
创建并编写脚本
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).       ###
########################################################################
# 该例程将发布turtle1/cmd_vel话题，消息类型geometry_msgs::Twist
import rospy
from geometry_msgs.msg import Twist
def velocity_publisher():
# ROS节点初始化
rospy.init_node('velocity_publisher', anonymous=True)
# 创建一个Publisher，发布名为/turtle1/cmd_vel的topic，消息类型为geometry_msgs::Twist，队列长度10
turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
#设置循环的频率
rate = rospy.Rate(10)
while not rospy.is_shutdown():
# 初始化geometry_msgs::Twist类型的消息
      vel_msg = Twist()
      vel_msg.linear.x = 0.5
      vel_msg.angular.z = 0.2
# 发布消息
      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)
# 按照循环频率延时
      rate.sleep()
if __name__ == '__main__':
try:
      velocity_publisher()
except rospy.ROSInterruptException:
      pass
运行
sudo chmod +x ~/catkin_workspace/src/learning_topic/scripts/velocity_publisher.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
roscore
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun turtlesim turtlesim_node
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rosrun learning_topic velocity_publisher.py
# 新建一个终端
source ~/catkin_workspace/devel/setup.bash
rqt_graph