标签：nts class lis packages pen sts directory 运行 message
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:
标签：nts class lis packages pen sts directory 运行 message
原文地址：http://www.cnblogs.com/Montauk/p/6866413.html
