ROS學習筆記--消息發佈器和訂閱器

簡化了教程中的示例（主要是CMakeLists.txt）

• 首先，中文教程裏有一處翻譯錯誤：
  http://wiki.ros.org/cn/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
  
  http://wiki.ros.org/ROS/Tutorials/WritingPublisherSubscriber%28c%2B%2B%29
  

示例

• 建立工作空間，創建軟件包

pi@raspberrypi:~ $ mkdir -p catkin_ws/src
pi@raspberrypi:~ $ cd catkin_ws/src/
pi@raspberrypi:~/catkin_ws/src $ catkin_init_workspace 
pi@raspberrypi:~/catkin_ws/src $ catkin_create_pkg hello roscpp 
pi@raspberrypi:~/catkin_ws/src $ cd hello/
pi@raspberrypi:~/catkin_ws/src/hello $ ls
CMakeLists.txt  include  package.xml  src

• 將talker.cpp、 listener.cpp 放入src目錄(可從官網複製)

pi@raspberrypi:~/catkin_ws/src/hello/src $ ls
listener.cpp  talker.cpp

• 修改CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(hello) 

find_package(catkin REQUIRED COMPONENTS roscpp)

catkin_package()

include_directories( ${catkin_INCLUDE_DIRS})

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

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

• 返回catkin_ws目錄進行編譯

pi@raspberrypi:~/catkin_ws $ catkin_make

• 運行程序
  [1] 首先運行roscore節點
  
  [2] 打開新終端，運行talker
  
  [3] 打開新終端，運行listener