ros21讲学习-订阅话题

Posted 2021-02-18 polipolu

代码：

/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/

/**
 * 该例程将订阅/turtle1/pose话题，消息类型turtlesim::Pose
 */
 
#include <ros/ros.h>
#include "turtlesim/Pose.h"//消息类型

// 接收到订阅的消息后，会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
    // 将接收到的消息打印出来
    ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}

int main(int argc, char **argv)
{
    // 初始化ROS节点
    ros::init(argc, argv, "pose_subscriber");

    // 创建节点句柄
    ros::NodeHandle n;

    // 创建一个Subscriber，订阅名为/turtle1/pose的topic，注册回调函数poseCallback，消息队列为10
    ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);

    // 循环等待回调函数
    ros::spin();

    return 0;
}

View Code

编译代码，包的cmakelist中写入

add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})

编译

cd ~/workspace/catkin_ws
catkin_make
source ~/workspace/catkin_ws/devel/setup.bash

执行：

终端1： roscore
终端2： rosrun turtlesim turtlesim_node
终端3： rosrun learning_topic velocity_publisher
终端4:  rosrun learning_topic pose_subscriber