使用Protobuf来定义ROS消息格式[C++/Python]

本文主要是介绍使用Protobuf来定义ROS消息格式[C++/Python]，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

一般我们自定义ROS消息使用ros_msgs来定义的，但是考虑到proto在传输消息优于ros自定义的消息格式，我们这里使用proto来定义ros消息
问题来源：之前看apollo的代码，就发现里面的消息使用proto来传输的，那我们我们自己用如何定义和使用呢，主要参考代码https://github.com/ApolloAuto/apollo-platform仓库里面的ros下面的pb_msgs里面的代码
下面的内容也都是里面的代码粘贴复制，感兴趣的直接看源代码就可以

1.生成自定义的proto_msg

https://github.com/ApolloAuto/apollo-platform/blob/master/ros/pb_msgs

1.1 代码结构

代码结构

1.2 代码

1.2.1 msg

__init__.py

 import pkgutil __path__ = pkgutil.extend_path(__path__, "modules")
for importer, modname, ispkg in pkgutil.walk_packages(path=__path__, prefix=__name__+'.'):if modname.endswith("pb2"):try:exec("from %s import *" % modname)except:pass

1.2.2 proto

time.proto

syntax = "proto2";package pb_msgs;message Time {required int64 sec = 1;required int64 nsec = 2;
}

1.2.3 src/pb_msgs

__init__.py

#空

1.2.4 CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(pb_msgs)find_package(catkin REQUIRED COMPONENTS genmsg gencpp genpy)# catkin_python_setup()add_proto_files(DIRECTORY protoFILEStime.proto
)
generate_messages()catkin_package(
#   INCLUDE_DIRS includeLIBRARIES pb_msgs_proto
#  CATKIN_DEPENDS other_catkin_pkgDEPENDS genmsg gencpp genpy
)if(NOT EXISTS msg)file(MAKE_DIRECTORY msg)
endif()install(DIRECTORY proto msgDESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

1.2.4 package.xml

<package>
<name>pb_msgs</name><version>1.0.0</version><description>Protobuf messages for adu common proto.</description><maintainer email="info@apollo.auto">Apollo Authors</maintainer><license>BSD</license><buildtool_depend>catkin</buildtool_depend><build_depend>roscpp</build_depend><build_depend>gencpp</build_depend><build_depend>genmsg</build_depend><build_depend>genpy</build_depend><run_depend>roscpp</run_depend><run_depend>gencpp</run_depend><run_depend>genmsg</run_depend><run_depend>genpy</run_depend></package>

1.2.5 setup.py

#!/usr/bin/env pythonfrom distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setupd = generate_distutils_setup(packages=['pb_msgs'],package_dir={'': 'src'},
)setup(**d)