ROS1入门教程3：自定义消息

一、新建项目

# 创建工作空间
mkdir -p demo3/src

# 创建功能包
catkin_create_pkg demo roscpp rosmsg message_generation

# 打开功能包
cd src/demo

二、创建自定义消息

# 创建消息目录
mkdir msg

# 打开消息目录
cd msg

# 创建消息文件
vim User.msg

# 定义消息字段
string name
int32 age

三、修改编译配置

1、修改package.xml文件

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

2、修改CMakeLists.txt文件

# 添加消息文件
add_message_files(
  FILES
  User.msg
)

# 生成消息
generate_messages(
  DEPENDENCIES
  std_msgs
)

# 添加源文件
add_executable(publisher src/publisher.cpp)
add_executable(subscriber src/subscriber.cpp)

# 添加依赖
add_dependencies(publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)

# 连接catkin库
target_link_libraries(publisher ${catkin_LIBRARIES})
target_link_libraries(subscriber ${catkin_LIBRARIES})

四、创建发布者

#include <iostream>

#include "ros/ros.h"
#include "demo/User.h"

int main(int argc, char* argv[]) {
    std::string nodeName = "Publisher";
    ros::init(argc, argv, nodeName);
    ros::NodeHandle nodeHandle;
    std::string topicName = "demo3";
    uint32_t queueSize = 1000;
    const ros::Publisher &publisher = nodeHandle.advertise<demo::User>(topicName, queueSize); // 创建订阅者，指定消息类型
    demo::User msg; // 创建自定义消息
    msg.name = "publisher";
    msg.age = 30;
    ros::Rate rate(1);
    uint32_t messageId = 0;
    while (ros::ok() == true) {
        publisher.publish(msg); // 发布自定义消息
        rate.sleep();
        ROS_INFO("Publish topic message %d", messageId);
        ++messageId;
    }

    return EXIT_SUCCESS;
}

运行效果：

五、创建订阅者

#include <iostream>

#include "ros/ros.h"
#include "demo/User.h"

void topicCallback(const demo::User::ConstPtr &message) {
    if (message.get() != nullptr) {
        const std::string &userName = message.get()->name;
        const uint32_t userAge = message.get()->age;
        ROS_INFO("Subscribe topic message success, name: %s, age: %d", userName.c_str(), userAge);
    }
}

int main(int argc, char* argv[]) {
    std::string nodeName = "subscriber";
    ros::init(argc, argv, nodeName);
    ros::NodeHandle nodeHandle;
    std::string topicName = "demo3";
    uint32_t queueSize = 1000;
    const ros::Subscriber &subscriber = nodeHandle.subscribe<demo::User>(topicName, queueSize, topicCallback);
    ros::spin();

    return EXIT_SUCCESS;
}

运行效果：

六、消息类型对照表