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c++ ros2節點如何通信

c++
小樊
133
2024-09-27 18:17:52
欄目: 編程語言

在ROS 2(Robot Operating System 2)中,節點之間的通信主要通過話題(Topics)、服務(Services)和動作(Actions)來實現。下面是一個簡單的C++ ROS 2節點通信示例,包括一個發布者(Publisher)和一個訂閱者(Subscriber)。

  1. 首先,確保你已經安裝了ROS 2和相應的開發工具。

  2. 創建一個新的ROS 2工作空間和包:

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
colcon build --symlink-install
source install/setup.bash
  1. package.xml文件中添加以下內容,以創建一個名為my_package的包,其中包含一個發布者(Publisher)和一個訂閱者(Subscriber):
<package name="my_package" version="0.0.0">
  <description>My ROS 2 package with publisher and subscriber</description>
  <license>Apache License 2.0</license>
  <authors>
    <author email="user@example.com">Your Name</author>
  </authors>
  <build_type>ament_cmake</build_type>
  <dependencies>
    <dependency>rclcpp</dependency>
    <dependency>std_msgs</dependency>
  </dependencies>
</package>
  1. 創建一個名為my_package/src的文件夾,并在其中創建兩個C++源文件:publisher.cppsubscriber.cpp。

  2. publisher.cpp文件中,編寫一個發布者節點,用于發布名為my_topic的話題:

#include <iostream>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class Publisher : public rclcpp::Node {
public:
    Publisher() : Node("publisher") {
        publisher_ = this->create_publisher<std_msgs::msg::String>("my_topic", 10);
        timer_ = this->create_wall_timer(1000ms, std::bind(&Publisher::publish_message, this));
    }

private:
    void publish_message() {
        auto message = std_msgs::msg::String();
        message.data = "Hello, ROS 2!";
        publisher_->publish(message);
        RCLCPP_INFO(this->get_logger(), "Published: '%s'", message.data.c_str());
    }

    std::shared_ptr<rclcpp::Publisher<std_msgs::msg::String>> publisher_;
    std::shared_ptr<rclcpp::TimerBase> timer_;
};

int main(int argc, char *argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<Publisher>());
    rclcpp::shutdown();
    return 0;
}
  1. subscriber.cpp文件中,編寫一個訂閱者節點,用于訂閱名為my_topic的話題:
#include <iostream>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

class Subscriber : public rclcpp::Node {
public:
    Subscriber() : Node("subscriber") {
        subscription_ = this->create_subscription<std_msgs::msg::String>("my_topic", 10, std::bind(&Subscriber::callback, this, std::placeholders::_1));
    }

private:
    void callback(const std_msgs::msg::String::SharedPtr msg) {
        RCLCPP_INFO(this->get_logger(), "Received: '%s'", msg->data.c_str());
    }

    std::shared_ptr<rclcpp::Subscription<std_msgs::msg::String>> subscription_;
};

int main(int argc, char *argv[]) {
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<Subscriber>());
    rclcpp::shutdown();
    return 0;
}
  1. my_package文件夾中創建一個名為CMakeLists.txt的文件,用于編譯源文件:
cmake_minimum_required(VERSION 3.5)
project(my_package)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

add_executable(publisher src/publisher.cpp)
add_executable(subscriber src/subscriber.cpp)

ament_target_dependencies(publisher rclcpp std_msgs)
ament_target_dependencies(subscriber rclcpp std_msgs)

install(TARGETS publisher subscriber LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
  1. 編譯并運行節點:
cd ~/ros2_ws
colcon build --symlink-install
source install/setup.bash

ros2 run my_package publisher
ros2 run my_package subscriber

現在,你應該能看到發布者在每隔1秒發布一條消息,而訂閱者則接收并打印這些消息。這就是一個簡單的C++ ROS 2節點通信示例。你可以根據需要擴展此示例,以實現更復雜的消息傳遞和處理邏輯。

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