Topic Pub & Sub Xml Cmake Cpp 예제

<package format="2">
  <name>ros_tutorials_topic</name>
  <version>0.0.0</version>
  <description>The ros_tutorial_topic package</description>
  <maintainer email="hyeok@todo.todo">hyeok</maintainer>
  <license>TODO</license>
  <author email="jane.doe@example.com">Jane Doe</author>
 
  <buildtool_depend>catkin</buildtool_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>std_msgs</build_depend>
 
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>
  <build_export_depend>message_generation</build_export_depend>
 
  <exec_depend>roscpp</exec_depend>
  <exec_depend>std_msgs</exec_depend>
  <exec_depend>message_generation</exec_depend>
  <exec_depend>message_runtime</exec_depend>
 
 
  <export>
 
  </export>
</package>
 

cmake_minimum_required(VERSION 2.8.3)
project(ros_tutorials_topic)
 
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
 
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  message_generation
  roscpp
  std_msgs
)
 
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
 
 
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
 
################################################
## Declare ROS messages, services and actions ##
################################################
 
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   MsgTutorial.msg
 )
 
## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )
 
## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )
 
## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs
 )
 
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
 
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed
 
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )
 
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ros_tutorial_topic
  CATKIN_DEPENDS message_generation roscpp std_msgs message_runtime
  DEPENDS system_lib
)
 
###########
## Build ##
###########
 
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
 include
 ${catkin_INCLUDE_DIRS}
)
 
## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/ros_tutorial_topic.cpp
# )
 
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
 
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
 add_executable(topic_publisher src/topic_publisher.cpp)
 add_dependencies(topic_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(topic_publisher
   ${catkin_LIBRARIES}
 )
 
 
 add_executable(topic_subscriber src/topic_subscriber.cpp)
 add_dependencies(topic_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(topic_subscriber
   ${catkin_LIBRARIES}
 )
 
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
 
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
## Specify libraries to link a library or executable target against
 
#############
## Install ##
#############
 
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
 
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
 
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
 
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )
 
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
 
#############
## Testing ##
#############
 
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ros_tutorial_topic.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
 
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
 

#include "ros/ros.h"
// ROS 기본 헤더파일
#include "ros_tutorials_topic/MsgTutorial.h"// MsgTutorial 메시지 파일 헤더(빌드 후 자동 생성됨)
int main(int argc, char **argv)
{
ros::init(argc, argv, "topic_publisher");
ros::NodeHandle nh;
// 노드 메인 함수
// 노드명 초기화
// ROS 시스템과 통신을 위한 노드 핸들 선언
 
// 퍼블리셔 선언, ros_tutorials_topic 패키지의 MsgTutorial 메시지 파일을 이용한
// 퍼블리셔 ros_tutorial_pub 를 작성한다. 토픽명은 "ros_tutorial_msg" 이며,
// 퍼블리셔 큐(queue) 사이즈를 100개로 설정한다는 것이다
ros::Publisher ros_tutorial_pub = nh.advertise<ros_tutorials_topic::MsgTutorial>("ros_tutorial_msg", 100);
// 루프 주기를 설정한다. "10" 이라는 것은 10Hz를 말하는 것으로 0.1초 간격으로 반복된다
ros::Rate loop_rate(10);
// MsgTutorial 메시지 파일 형식으로 msg 라는 메시지를 선언
ros_tutorials_topic::MsgTutorial msg;
// 메시지에 사용될 변수 선언
int count = 0;
 
while (ros::ok())
{
msg.stamp = ros::Time::now();
msg.data = count;
// 현재 시간을 msg의 하위 stamp 메시지에 담는다
// count라는 변수 값을 msg의 하위 data 메시지에 담는다
ROS_INFO("send msg = %d", msg.stamp.sec);
ROS_INFO("send msg = %d", msg.stamp.nsec);
ROS_INFO("send msg = %d", msg.data); // stamp.sec 메시지를 표시한다
// stamp.nsec 메시지를 표시한다
// data 메시지를 표시한다
ros_tutorial_pub.publish(msg); // 메시지를 발행한다
loop_rate.sleep(); // 위에서 정한 루프 주기에 따라 슬립에 들어간다
++count; // count 변수 1씩 증가
}
return 0;
}


#include "ros/ros.h"
// ROS 기본 헤더파일
#include "ros_tutorials_topic/MsgTutorial.h"
// MsgTutorial 메시지 파일 헤더 (빌드 후 자동 생성됨)
// 메시지 콜백 함수로써, 밑에서 설정한 ros_tutorial_msg라는 이름의 토픽
// 메시지를 수신하였을 때 동작하는 함수이다
// 입력 메시지로는 ros_tutorials_topic 패키지의 MsgTutorial 메시지를 받도록 되어있다
void msgCallback(const ros_tutorials_topic::MsgTutorial::ConstPtr& msg)
{
ROS_INFO("recieve msg = %d", msg->stamp.sec);
// stamp.sec 메시지를 표시한다
ROS_INFO("recieve msg = %d", msg->stamp.nsec);
// stamp.nsec 메시지를 표시한다
ROS_INFO("recieve msg = %d", msg->data);
// data 메시지를 표시한다
}
 
int main(int argc, char **argv)
{
ros::init(argc, argv, "topic_subscriber");
ros::NodeHandle nh;
// 노드 메인 함수
// 노드명 초기화
// ROS 시스템과 통신을 위한 노드 핸들 선언
// 서브스크라이버 선언, ros_tutorials_topic 패키지의 MsgTutorial 메시지 파일을 이용한
// 서브스크라이버 ros_tutorial_sub 를 작성한다. 토픽명은 "ros_tutorial_msg" 이며,
// 서브스크라이버 큐(queue) 사이즈를 100개로 설정한다는 것이다
ros::Subscriber ros_tutorial_sub = nh.subscribe("ros_tutorial_msg", 100, msgCallback);
// 콜백함수 호출을 위한 함수로써, 메시지가 수신되기를 대기,
// 수신되었을 경우 콜백함수를 실행한다
ros::spin();
return 0;
}
 
 

launch

<launch>
<node pkg="ros_tutorials_topic" type="topic_publisher" name="topic_publisher1"/>
<node pkg="ros_tutorials_topic" type="topic_subscriber" name="topic_subscriber1"/>
<node pkg="ros_tutorials_topic" type="topic_publisher" name="topic_publisher2"/>
<node pkg="ros_tutorials_topic" type="topic_subscriber" name="topic_subscriber2"/>
</launch>
 

주의 : 그룹으로 묶게 되면 노드의 이름과 토픽명이 /<group name>/<node name> 으로 바뀐다..!

<launch>
<group ns="ns1">
<node pkg="ros_tutorials_topic" type="topic_publisher" name="topic_publisher"/>
<node pkg="ros_tutorials_topic" type="topic_subscriber" name="topic_subscriber"/>
</group>
<group ns="ns2">
<node pkg="ros_tutorials_topic" type="topic_publisher" name="topic_publisher"/>
<node pkg="ros_tutorials_topic" type="topic_subscriber" name="topic_subscriber"/>
</group>
</launch>