ROS Javacore 사용자 정의 message 생성

(이전 예제를 조금 더 응용한 것!)

# 기본 message type이 아닌, customized message를 생성하여, publish 하고 subscribe 하는 예제

1. main 문

public class Main { public static void main(String[] args) { String[] input1={"rosjava_test_yj.Listener"}; String[] input2={"rosjava_test_yj.Talker"}; try { org.ros.RosRun.main(input1); org.ros.RosRun.main(input2); } catch(RosRuntimeException e) { System.out.println("Interactions: ros runtime error"); } catch(Exception e) { System.out.println("Interactions: unknown error"); } } }

2. 인터페이스 형태로 Msgs라고 정의한 customized message 정의

public interface Msgs extends org.ros.internal.message.Message { static final java.lang.String _Type="rosjava_test_yj/Msgs"; static final java.lang.String _DEFINITION="int64 a \n string b"; long getA(); void setA(long value); String getB(); void setB(String value); }

3. 메시지 publish하는 Talker.java

public class Talker extends AbstractNodeMain { private String topic_name; public Talker() { topic_name = "chatter"; } public Talker(String topic) { topic_name = topic; } @Override public GraphName getDefaultNodeName() { return GraphName.of("rosjava_tutorial_pubsub/talker"); } @Override public void onStart(final ConnectedNode connectedNode) { final Publisher<Msgs> publisher = connectedNode.newPublisher(topic_name, Msgs._Type); connectedNode.executeCancellableLoop(new CancellableLoop() { private int sequenceNumber; @Override protected void setup() { sequenceNumber = 0; } @Override protected void loop() throws InterruptedException { NodeConfiguration nodeConfiguration = NodeConfiguration.newPrivate(); MessageFactory messageFactory = nodeConfiguration.getTopicMessageFactory(); Msgs msg=messageFactory.newFromType(Msgs._Type); msg.setA(10); msg.setB("hello"); publisher.publish(msg); Thread.sleep(1000); } }); } }

4. 메시지 subscribe하는 Listener.java

public class Listener extends AbstractNodeMain { @Override public GraphName getDefaultNodeName() { return GraphName.of("rosjava_tutorial_pubsub/listener"); } @Override public void onStart(ConnectedNode connectedNode) { final Log log = connectedNode.getLog(); Subscriber<Msgs> subscriber = connectedNode.newSubscriber("chatter", Msgs._Type); subscriber.addMessageListener(new MessageListener<Msgs>() { @Override public void onNewMessage(Msgs message) { log.info("I heard: \"" + message.getA() + ","+message.getB()); } }); } }