１.首先創建msg文件

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在cd?~/testROS_ws/src/topic_publisher/src新建person.msg

string name uint8 age uint8 sexuint8 unknown = 0 uint8 male = 1 uint8 female = 2

修改package.xml

添加這兩句

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

修改cmake

find_package(catkin REQUIRED COMPONENTSgeometry_msgsroscpprospystd_msgsturtlesimmessage_generation ##查找依賴包 )＃＃生成消息 add_message_files(FILESPerson.msg )generate_messages(DEPENDENCIESstd_msgs )＃＃添加依賴包 catkin_package( # INCLUDE_DIRS include # LIBRARIES learning_topicCATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs turtlesim message_runtime # DEPENDS system_lib )

編譯

catkin_make

會在/devel/include/<package_name>/person.h文件

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２.創建發布者和訂閱程序

person_publisher.cpp

/*** 該例程將發布/person_info話題，自定義消息類型learning_topic::Person*/#include <ros/ros.h> #include "learning_topic/Person.h"int main(int argc, char **argv) {// ROS節點初始化ros::init(argc, argv, "person_publisher");// 創建節點句柄ros::NodeHandle n;// 創建一個Publisher，發布名為/person_info的topic，消息類型為learning_topic::Person，隊列長度10ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);// 設置循環的頻率ros::Rate loop_rate(1);int count = 0;while (ros::ok()){// 初始化learning_topic::Person類型的消息learning_topic::Person person_msg;person_msg.name = "Tom";person_msg.age = 18;person_msg.sex = learning_topic::Person::male;// 發布消息person_info_pub.publish(person_msg);ROS_INFO("Publish Person Info: name:%s age:%d sex:%d", person_msg.name.c_str(), person_msg.age, person_msg.sex);// 按照循環頻率延時loop_rate.sleep();}return 0; }

person_subscriber.cpp

/*** 該例程將訂閱/person_info話題，自定義消息類型learning_topic::Person*/#include <ros/ros.h> #include "learning_topic/Person.h"// 接收到訂閱的消息后，會進入消息回調函數 void personInfoCallback(const learning_topic::Person::ConstPtr& msg) {// 將接收到的消息打印出來ROS_INFO("Subcribe Person Info: name:%s age:%d sex:%d", msg->name.c_str(), msg->age, msg->sex); }int main(int argc, char **argv) {// 初始化ROS節點ros::init(argc, argv, "person_subscriber");// 創建節點句柄ros::NodeHandle n;// 創建一個Subscriber，訂閱名為/person_info的topic，注冊回調函數personInfoCallbackros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);// 循環等待回調函數ros::spin();return 0; }

修改

cmake

add_executable(person_publisher src/person_publisher.cpp) target_link_libraries(person_publisher ${catkin_LIBRARIES}) add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)add_executable(person_subscriber src/person_subscriber.cpp) target_link_libraries(person_subscriber ${catkin_LIBRARIES}) add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)

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編譯

catkin_make

運行

roscore

rosrun?topic_publisher?person_publisher

rosrun?topic_publisher?person_subscriber

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