目錄

• 如何實(shí)現(xiàn)一個(gè)訂閱者
• C++
• • 編寫(xiě)程序
  • 配置CMakeLists.txt
  • 編譯并運(yùn)行發(fā)布者
• python
• • 創(chuàng)建并編寫(xiě)腳本
  • 運(yùn)行

平臺(tái)：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(mén)21講 | 一學(xué)就會(huì)的ROS機(jī)器人入門(mén)教程 —— 古月居GYH P11 11.訂閱者Subscriber的編程實(shí)現(xiàn)

如何實(shí)現(xiàn)一個(gè)訂閱者

初始化ROS節(jié)點(diǎn)；

訂閱需要的話題；

循環(huán)等待話題消息，接收到消息后進(jìn)入回調(diào)函數(shù)；

在回調(diào)函數(shù)中完成消息處理。

C++

編寫(xiě)程序

nano ~/catkin_workspace/src/learning_topic/src/pose_subscriber.cpp /*********************************************************************** Copyright 2020 GuYueHome (www.guyuehome.com). ***********************************************************************//*** 該例程將訂閱/turtle1/pose話題，消息類(lèi)型turtlesim::Pose*/#include <ros/ros.h> #include "turtlesim/Pose.h"// 接收到訂閱的消息后，會(huì)進(jìn)入消息回調(diào)函數(shù) void poseCallback(const turtlesim::Pose::ConstPtr& msg) {// 將接收到的消息打印出來(lái)ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y); }int main(int argc, char **argv) {// 初始化ROS節(jié)點(diǎn)ros::init(argc, argv, "pose_subscriber");// 創(chuàng)建節(jié)點(diǎn)句柄ros::NodeHandle n;// 創(chuàng)建一個(gè)Subscriber，訂閱名為/turtle1/pose的topic，注冊(cè)回調(diào)函數(shù)poseCallbackros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);// 循環(huán)等待回調(diào)函數(shù)ros::spin();return 0; }

配置CMakeLists.txt

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

在Build內(nèi)，Install前加入

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

編譯并運(yùn)行發(fā)布者

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

python

創(chuàng)建并編寫(xiě)腳本

nano ~/catkin_workspace/src/learning_topic/scripts/pose_subscriber.py #!/usr/bin/env python # -*- coding: utf-8 -*-######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################### 該例程將訂閱/turtle1/pose話題，消息類(lèi)型turtlesim::Poseimport rospy from turtlesim.msg import Posedef poseCallback(msg):rospy.loginfo("Turtle pose: x:%0.6f, y:%0.6f", msg.x, msg.y)def pose_subscriber():# ROS節(jié)點(diǎn)初始化rospy.init_node('pose_subscriber', anonymous=True)# 創(chuàng)建一個(gè)Subscriber，訂閱名為/turtle1/pose的topic，注冊(cè)回調(diào)函數(shù)poseCallbackrospy.Subscriber("/turtle1/pose", Pose, poseCallback)# 循環(huán)等待回調(diào)函數(shù)rospy.spin()if __name__ == '__main__':pose_subscriber()

運(yùn)行

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

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