ROS1迁移至ROS2教程记录

本文最后更新于：2022年2月14日

最近频繁把包迁移至ROS2，借此机会记录下。

照着官方例程改的这3个文件就可以了。

package.xml

重点在catkin修改为ament_cmake，roscpp修改为rclcpp，将run_depend部分改为export部分

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<!-- <package> -->
<package format="2">
  <name>talker</name>
  <version>0.0.0</version>
  <description>talker</description>
  <maintainer email="gerkey@osrfoundation.org">Brian Gerkey</maintainer>
  <license>Apache License 2.0</license>
<!--  <buildtool_depend>catkin</buildtool_depend> -->
  <buildtool_depend>ament_cmake</buildtool_depend>
<!--  <build_depend>roscpp</build_depend> -->
<!--  <run_depend>roscpp</run_depend> -->
<!--  <run_depend>std_msgs</run_depend> -->
  <depend>rclcpp</depend>
  <depend>std_msgs</depend>
  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

CMakeLists.txt

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#cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(talker)
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_package(catkin REQUIRED COMPONENTS roscpp std_msgs)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
#catkin_package()
#include_directories(${catkin_INCLUDE_DIRS})
include_directories(include)
add_executable(talker talker.cpp)
#target_link_libraries(talker ${catkin_LIBRARIES})
ament_target_dependencies(talker
  rclcpp
  std_msgs)
#install(TARGETS talker
#  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS talker
  DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY include/
  DESTINATION include)
ament_export_include_directories(include)
ament_export_dependencies(std_msgs)
ament_package()

scr

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#include <sstream>
// #include "ros/ros.h"
#include "rclcpp/rclcpp.hpp"
// #include "std_msgs/String.h"
#include "std_msgs/msg/string.hpp"
int main(int argc, char **argv)
{
//  ros::init(argc, argv, "talker");
//  ros::NodeHandle n;
  rclcpp::init(argc, argv);
  auto node = rclcpp::Node::make_shared("talker");
//  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
//  ros::Rate loop_rate(10);
  auto chatter_pub = node->create_publisher<std_msgs::msg::String>("chatter", 1000);
  rclcpp::Rate loop_rate(10);
  int count = 0;
//  std_msgs::String msg;
  std_msgs::msg::String msg;
//  while (ros::ok())
  while (rclcpp::ok())
  {
    std::stringstream ss;
    ss << "hello world " << count++;
    msg.data = ss.str();
//    ROS_INFO("%s", msg.data.c_str());
    RCLCPP_INFO(node->get_logger(), "%s\n", msg.data.c_str());
    chatter_pub->publish(msg);
//    ros::spinOnce();
    rclcpp::spin_some(node);
    loop_rate.sleep();
  }
  return 0;
}

参考资料

  1. https://docs.ros.org/en/foxy/Contributing/Migration-Guide.html ↩
  2. https://blog.csdn.net/s9426224/article/details/120291634 ↩