自定义话题消息

系统管理员 2023-06-26 10:57 14阅读 0赞

*  **定义msg文件**  
    在`工作空间/src/功能包/msg/`文件下面。  
    在msg中创建一个`Person.msg`的文件，命令行为`nano Person.msg`,内容如下：  
    ![在这里插入图片描述][20200107160034468.png]

**Person.msg**

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

*  **在package.xml中添加功能包**  
    在`功能包`的目录下，有一个`package.xml`文件，在`package.xml`文件中添加编译依赖和执行依赖如下代码行：

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

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70]

*  **在CMakeLists.txt添加编译选项**  
    在`功能包`的目录下，有一个`CMakeLists.txt`文件，向里面添加代码如下
    
     *  find\_package(… `message_generation`)  
        ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 1]
     *  add\_message\_files(FILES Person.msg)  
        generate\_messages(DEPENDENCIES std\_msgs)  
        ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 2]
     *  catkin\_package(… message\_runtime)  
        ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 3]
 *  **编译生成语言相关文件**  
    退到主工作目录下，进行编译,命令如下：`catkin_make`  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 4]  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 5]  
    ![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 6]

编译成功后，你会在`工作空间/devel/include/功能包名/`下，会看到有一个`Person.h`文件。  
![在这里插入图片描述][20200107162810589.png]  
在src文件夹中的`CMakeLists.txt`中添加几行代码如下：  
![在这里插入图片描述][20200107165915722.png]  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 7]

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)

然后在工作目录下编译：代码如下`catkin_make`,  
编译成功界面如下  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 8]

最后看一下运行效果：  
新打开一个终端，首先运行`roscore`,运行界面如下：  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 9]  
再新建一个终端，输入命令如下：`rosrun learning_topic person_publisher`。运行一个publisher  
运行界面如下：  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 10]  
再新建一个终端，输入命令如下：`rosrun learning_topic person_subscriber`。运行一个publisher  
运行界面如下：  
![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 11]

[20200107160034468.png]: https://img-blog.csdnimg.cn/20200107160034468.png
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[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA_size_16_color_FFFFFF_t_70 5]: https://img-blog.csdnimg.cn/2020010716230727.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9kcXdhbmcuYmxvZy5jc2RuLm5ldA==,size_16,color_FFFFFF,t_70
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[20200107162810589.png]: https://img-blog.csdnimg.cn/20200107162810589.png
[20200107165915722.png]: https://img-blog.csdnimg.cn/20200107165915722.png
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