c++ ros publisher
To create a ROS publisher in C++, you can follow these steps:
Step 1: Include the necessary header files The first step is to include the necessary header files for ROS and the specific message type you want to publish. For example, if you want to publish a standard String message, you would include the following headers:
#include <ros/ros.h>
#include <std_msgs/String.h>
Step 2: Initialize the ROS node
Next, you need to initialize the ROS node by calling the ros::init
function with the appropriate arguments. This function initializes the ROS communication system.
int main(int argc, char argv) {
ros::init(argc, argv, "publisher_node");
ros::NodeHandle nh;
// Rest of the code
return 0;
}
Step 3: Create a publisher object
After initializing the ROS node, you can create a publisher object using the ros::NodeHandle
class. The publisher object allows you to publish messages on a specific topic.
int main(int argc, char argv) {
ros::init(argc, argv, "publisher_node");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<std_msgs::String>("topic_name", 10);
// Rest of the code
return 0;
}
In this example, the publisher is created with the topic name "topic_name" and a queue size of 10. You can replace std_msgs::String
with the appropriate message type you want to publish.
Step 4: Create a message object and publish it
To publish a message, you need to create an object of the message type and populate its fields with the desired data. Then, you can call the publish
function on the publisher object to publish the message.
int main(int argc, char argv) {
ros::init(argc, argv, "publisher_node");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<std_msgs::String>("topic_name", 10);
std_msgs::String msg;
msg.data = "Hello, world!";
pub.publish(msg);
// Rest of the code
return 0;
}
In this example, a String message object is created and assigned the value "Hello, world!". Then, the message is published using the publish
function.
Step 5: Spin the ROS node
Finally, you need to call the ros::spin
function to start the ROS event loop. This function keeps the ROS node alive and handles the message callbacks.
int main(int argc, char argv) {
ros::init(argc, argv, "publisher_node");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<std_msgs::String>("topic_name", 10);
std_msgs::String msg;
msg.data = "Hello, world!";
pub.publish(msg);
ros::spin();
return 0;
}
These are the basic steps to create a ROS publisher in C++. By following these steps, you can publish messages on a specific topic using the ROS communication system.