ROS消息, 服务, 主题, 订阅 4
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发布者跟订阅者都ok了, 现在要建立节点:
cmake_minimum_required(VERSION 2.8.3) project(beginner_tutorials) ## Find catkin and any catkin packages find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg) ## Declare ROS messages and services add_message_files(DIRECTORY msg FILES Num.msg) add_service_files(DIRECTORY srv FILES AddTwoInts.srv) ## Generate added messages and services generate_messages(DEPENDENCIES std_msgs) ## Declare a catkin package catkin_package()
修改CMakeLists.txt
尾部增加这个:
add_executable(talker src/talker.cpp) target_link_libraries(talker ${catkin_LIBRARIES}) add_dependencies(talker beginner_tutorials_generate_messages_cpp) add_executable(listener src/listener.cpp) target_link_libraries(listener ${catkin_LIBRARIES}) add_dependencies(listener beginner_tutorials_generate_messages_cpp)
catkin_make一下吧.
开始运行吧:
$ cd ~/catkin_ws $ source ./devel/setup.bash
首先talker:
$ rosrun beginner_tutorials talker
然后另一个窗口
$ rosrun beginner_tutorials listener
通过rosrun rqt_graph rqt_graph看看topic的中转吧:
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