[学习笔记]Rosserial实现Windows-ROS交互操作

1. 安装

sudo apt-get install ros-indigo-rosserial-windows
sudo apt-get install ros-indigo-rosserial-server

2. 编译

rosrun rosserial_windows make_libraries.py my_library

运行后会产生一个my_library文件夹，在my_library这个文件夹下会生成ros_lib文件夹

3. Windows下创建代码工程

• 复制ubuntu下my_library的ros_lib文件夹至windows系统
• Windows系统下安装VisualStudio 2013
• 创建C++工程（rosserial_hello_world)，选项中不要选择预编译

4. 添加ros_lib至工程文件夹

   
   
5. VS2013工程配置

• 将ros_lib文件夹下没有子文件夹的所有文件复制一份至工程目录下

  
  

• 在VS2013属性中配置附加包含目录

  
  
• 代码

#include "stdafx.h"
#include <string>
#include <stdio.h>
#include "ros.h"
#include <geometry_msgs/Twist.h>
#include <windows.h>
using std::string;
int _tmain (int argc, _TCHAR * argv[])
{
  ros::NodeHandle nh;
  char *ros_master = "1.2.3.4";  //ROS的IP地址
  printf ("Connecting to server at %s\n", ros_master);
  nh.initNode (ros_master);

  printf ("Advertising cmd_vel message\n");
  geometry_msgs::Twist twist_msg;
  ros::Publisher cmd_vel_pub ("cmd_vel", &twist_msg);
  nh.advertise (cmd_vel_pub);

  printf ("Go robot go!\n");
  while (1)
  {
    twist_msg.linear.x = 5.1;
    twist_msg.linear.y = 0;
    twist_msg.linear.z = 0;
    twist_msg.angular.x = 0;
    twist_msg.angular.y = 0;
    twist_msg.angular.z = -1.8;
    cmd_vel_pub.publish (&twist_msg);

    nh.spinOnce ();
    Sleep (100);
  }

  printf ("All done!\n");
  return 0;
}

6. ROS端启动服务

$roscore

$rosrun rosserial_server socket_node

rostopic echo /cmd_vel

7. 启动客户端

   
   

参考

• rosserial_windows/Tutorials/Hello World