ROS2-C++之消息的发布与订阅
参考博客:ROS 2 话题:使用C++进行发布与订阅
新建ROS包:testcpp
ros2 pkg create testcpp --build-type ament_cmake --dependencies rclcpp
如下:

发布
// 发布 ros2 run testcpp publisher_node
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
using namespace std::chrono_literals;
class PublisherNode : public rclcpp::Node {
public:
PublisherNode() : Node("publisher_node"), count_(0) {
publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&PublisherNode::timer_callback, this));
}
private:
void timer_callback() {
auto message = std_msgs::msg::String();
message.data = "Hello, ROS 2: " + std::to_string(count_++);
RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
publisher_->publish(message);
}
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
rclcpp::TimerBase::SharedPtr timer_;
size_t count_;
};
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<PublisherNode>());
rclcpp::shutdown();
return 0;
}
订阅
// 订阅 ros2 run testcpp subscriber_node
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"
class SubscriberNode : public rclcpp::Node {
public:
SubscriberNode() : Node("subscriber_node") {
subscription_ = this->create_subscription<std_msgs::msg::String>(
"topic", 10, std::bind(&SubscriberNode::topic_callback, this, std::placeholders::_1));
}
private:
void topic_callback(const std_msgs::msg::String::SharedPtr msg) const {
RCLCPP_INFO(this->get_logger(), "I heard: '%s'", msg->data.c_str());
}
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription_;
};
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<SubscriberNode>());
rclcpp::shutdown();
return 0;
}
修改CMakeLists.txt
添加如下内容:
find_package(std_msgs REQUIRED)
add_executable(publisher_node src/publisher_node.cpp)
ament_target_dependencies(publisher_node rclcpp std_msgs)
add_executable(subscriber_node src/subscriber_node.cpp)
ament_target_dependencies(subscriber_node rclcpp std_msgs)
install(TARGETS
publisher_node
subscriber_node
DESTINATION lib/${PROJECT_NAME})
如下:
