ROS 测试记录

Win环境测试

（1）打开ROS的prompt窗口，运行roscore；

（2）新ROS prompt，

mkdir catkin_ws\src
cd catkin_ws
catkin_make
cd src
catkin_create_pkg beginner_tutorials std_msgs roscpp
cd ..
catkin_make

# beginner_tutorials下新增talker.cpp、listener.cpp，并修改eginner_tutorials的CmakeLists.txt
cd catkin_ws
catkin_make
devel\setup.bash  #每次修改都要重新设置环境变量

# 再新开两个窗口，分别
cd catkin_ws
devel\setup.bash

# 然后，分别对应执行
rosrun beginner_tutorials talker
rosrun beginner_tutorials listener

talker.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

int main(int argc, char **argv) {
  ros::init(argc, argv, "talker");
  ros::NodeHandle n;
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
  ros::Rate loop_rate(10);

  while (ros::ok()) {
    std_msgs::String msg;
    std::stringstream ss;
    ss << "Hello World " << ros::Time::now();
    msg.data = ss.str();

    ROS_INFO("%s", msg.data.c_str());
    chatter_pub.publish(msg);

    ros::spinOnce();
    loop_rate.sleep();
  }

  return 0;
}

listener.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"

void chatterCallback(const std_msgs::String::ConstPtr& msg) {
  ROS_INFO("I heard: [%s]", msg->data.c_str());
}

int main(int argc, char **argv) {
  ros::init(argc, argv, "listener");
  ros::NodeHandle n;
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
  ros::spin();

  return 0;
}

# beginner_tutorials 的CMakeLists.txt
cmake_minimum_required(VERSION 3.0.2)
project(beginner_tutorials)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  CATKIN_DEPENDS roscpp std_msgs
)

###########
## Build ##
###########

## Specify additional locations of header files
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ executable for talker and listener nodes
add_executable(talker src/talker.cpp)
add_executable(listener src/listener.cpp)

## Add cmake target dependencies of the executables
add_dependencies(talker ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
add_dependencies(listener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(talker ${catkin_LIBRARIES})
target_link_libraries(listener ${catkin_LIBRARIES})

#############
## Install ##
#############

## Install executables
install(TARGETS talker listener
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)