１.首先创建msg文件

 

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

添加这两句

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

修改cmake

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

编译

catkin_make

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

 

２.创建发布者和订阅程序

person_publisher.cpp

/*** 该例程将发布/person_info话题，自定义消息类型learning_topic::Person*/#include <ros/ros.h>
#include "learning_topic/Person.h"int main(int argc, char **argv)
{// ROS节点初始化ros::init(argc, argv, "person_publisher");// 创建节点句柄ros::NodeHandle n;// 创建一个Publisher，发布名为/person_info的topic，消息类型为learning_topic::Person，队列长度10ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);// 设置循环的频率ros::Rate loop_rate(1);int count = 0;while (ros::ok()){// 初始化learning_topic::Person类型的消息learning_topic::Person person_msg;person_msg.name = "Tom";person_msg.age  = 18;person_msg.sex  = learning_topic::Person::male;// 发布消息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);// 按照循环频率延时loop_rate.sleep();}return 0;
}

person_subscriber.cpp

/*** 该例程将订阅/person_info话题，自定义消息类型learning_topic::Person*/#include <ros/ros.h>
#include "learning_topic/Person.h"// 接收到订阅的消息后，会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{// 将接收到的消息打印出来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节点ros::init(argc, argv, "person_subscriber");// 创建节点句柄ros::NodeHandle n;// 创建一个Subscriber，订阅名为/person_info的topic，注册回调函数personInfoCallbackros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);// 循环等待回调函数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)

 

编译

catkin_make

运行

roscore

rosrun topic_publisher person_publisher

rosrun topic_publisher person_subscriber