以Listener和Talker为例ROS1和ROS2代码对比

flyfish

环境
Ubuntu 18.04
ROS 1 Melodic
ROS 2 Bouncy

使用命令创建包

ros2 pkg create mypkg --cpp-node-name my_node

自动创建文件
package.xml

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="2">
  <name>mypkg</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="[email protected]">pumpkin</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(mypkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

add_executable(my_node src/my_node.cpp)
target_include_directories(my_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)

install(TARGETS my_node
  EXPORT export_${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # remove the line when a copyright and license is present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # remove the line when this package is a git repo
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

代码
代码来自《ROS机器人开发实践》胡春旭

ros2_talker.cpp

#include <iostream>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

int main(int argc, char * argv[])
{
    //ros::init(argc, argv, "talker");
    rclcpp::init(argc, argv);

    //ros::NodeHandle n;
    auto node = rclcpp::Node::make_shared("talker");

    // 配置质量服务原则，ROS2针对以下几种应用提供了默认的配置：
    // publishers and subscriptions (rmw_qos_profile_default).
    // Services (rmw_qos_profile_services_default).
    // Sensor data (rmw_qos_profile_sensor_data).
    rmw_qos_profile_t custom_qos_profile = rmw_qos_profile_default;
    // 配置QoS中历史数据的缓存深度
    custom_qos_profile.depth = 7;

    //ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
    auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", custom_qos_profile);

    //ros::Rate loop_rate(10);
    rclcpp::WallRate loop_rate(2);

    auto msg = std::make_shared<std_msgs::msg::String>();
    auto i = 1;

    //while (ros::ok())
    while (rclcpp::ok()) 
    {
        msg->data = "Hello World: " + std::to_string(i++);
        std::cout << "Publishing: '" << msg->data << "'" << std::endl;

        //chatter_pub.publish(msg);
        chatter_pub->publish(msg);

        //ros::spinOnce();
        rclcpp::spin_some(node);

        //loop_rate.sleep();
        loop_rate.sleep();
    }

    return 0;
}

ros2_listerner.cpp

#include <iostream>
#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

//void chatterCallback(const std_msgs::String::ConstPtr& msg)
void chatterCallback(const std_msgs::msg::String::SharedPtr msg)
{
    std::cout << "I heard: [" << msg->data << "]" << std::endl;
}

int main(int argc, char * argv[])
{
    //ros::init(argc, argv, "listener");
    rclcpp::init(argc, argv);

    //ros::NodeHandle n;
    auto node = rclcpp::Node::make_shared("listener");

    //ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
    auto sub = node->create_subscription<std_msgs::msg::String>(
    "chatter", chatterCallback, rmw_qos_profile_default);

    //ros::spin();
    rclcpp::spin(node);

    return 0;
}

更改CMakeLists.txt 文件

cmake_minimum_required(VERSION 3.5)
project(mypkg)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)


add_executable(my_node src/my_node.cpp)
target_include_directories(my_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)


add_executable(ros2_talker src/ros2_talker.cpp)
ament_target_dependencies(ros2_talker rclcpp std_msgs)

add_executable(ros2_listerner src/ros2_listerner.cpp)
ament_target_dependencies(ros2_listerner rclcpp std_msgs)



install(TARGETS my_node
  ros2_talker
  ros2_listerner
  EXPORT export_${PROJECT_NAME}
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # remove the line when a copyright and license is present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # remove the line when this package is a git repo
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

编译

$ colcon build
Starting >>> mypkg   
Finished <<< mypkg [3.35s]                       

Summary: 1 package finished [3.53s]

启动执行命令

$ source ~/ros2_ws/src/install/setup.bash
$ ros2 run mypkg ros2_talker
Publishing: 'Hello World: 1'
Publishing: 'Hello World: 2'
Publishing: 'Hello World: 3'


$ ros2 run mypkg ros2_listerner
I heard: [Hello World: 1]
I heard: [Hello World: 2]
I heard: [Hello World: 3]
I heard: [Hello World: 4]

遇到的问题

package not found 的原因是
没有执行source install/setup.bash

ros2: command not found
二进制的安装：source /opt/ros/bouncy/setup.bash
源码安装：source ~/ros2_ws/src/install/setup.bash

fatal error: rclcpp/rclcpp.hpp: No such file or directory
#include “rclcpp/rclcpp.hpp”
CMakeLists.txt 文件没有添加 find_package(rclcpp REQUIRED)

以Listener和Talker为例ROS1和ROS2代码对比

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