Topics and Messages

In this exercise, we will explore the concept of ROS messages and topics.


The first type of ROS communication that we will explore is a one-way communication called messages which are sent over channels called topics. Typically one node publishes messages on a topic and another node subscribes to messages on that same topic. In this module we will create a subscriber node which subscribes to an existing publisher (topic/message).

Reference Example

Create a Subscriber

Scan-N-Plan Application: Problem Statement

We now have a base ROS node and we want to build on this node. Now we want to create a subscriber within our node.

Your goal is to create your first ROS subscriber:

  1. First you will want to find out the message structure.
  2. You also want to determine the topic name.
  3. Last you can write the c++ code which serves as the subscriber.

Scan-N-Plan Application: Guidance

Add the fake_ar_publisher Package as a Dependency

  1. Edit your package’s CMakeLists.txt file (~/catkin_ws/src/myworkcell_core/CMakeLists.txt). Make the following changes in the matching sections of the existing template file, by uncommenting and/or editing existing rules.

    1. Tell cmake to find the fake_ar_publisher package:

      ## Find catkin macros and libraries
      ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
      ## is used, also find other catkin packages
      find_package(catkin REQUIRED COMPONENTS 
    2. Add The catkin runtime dependency for publisher.

      ## The catkin_package macro generates cmake config files for your package
      ## Declare things to be passed to dependent projects
      ## LIBRARIES: libraries you create in this project that dependent projects also need
      ## CATKIN_DEPENDS: catkin_packages dependent projects also need
      ## DEPENDS: system dependencies of this project that dependent projects also need
       #  INCLUDE_DIRS include
       #  LIBRARIES myworkcell_core
      #  DEPENDS system_lib
    3. Uncomment/edit the add_dependencies line below your add_executable rule:

      add_dependencies(vision_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  2. add dependencies into your package’s package.xml:

  3. cd into your catkin workspace

    cd ~/catkin_ws
  4. Build your package and source the setup file to activate the changes in the current terminal.

    catkin build
    source ~/catkin_ws/devel/setup.bash
  5. In a terminal, enter rosmsg list. You will notice that, included in the list, is fake_ar_publisher/ARMarker. If you want to see only the messages in a package, type rosmsg package <package_name>

  6. Type rosmsg show fake_ar_publisher/ARMarker. The terminal will return the types and names of the fields in the message.

    Note that three fields under the header field are indented, indicating that these are members of the std_msgs/Header message type

Run a Publisher Node

  1. In a terminal, type rosrun fake_ar_publisher fake_ar_publisher_node. You should see the program start up and begin publishing messages.
  2. In another terminal, enter rostopic list. You should see /ar_pose_marker among the topics listed. Entering rostopic type /ar_pose_marker will return the type of the message.
  3. Enter rostopic echo /ar_pose_marker. The terminal will show the fields for each message as they come in, separated by a --- line. Press Ctrl+C to exit.
  4. Enter rqt_plot.
    1. Once the window opens, type /ar_pose_marker/pose/pose/position/x in the “Topic:” field and click the “+” button. You should see the X value be plotted.
    2. Type /ar_pose_marker/pose/pose/position/y in the topic field, and click on the add button. You will now see both the x and y values being graphed.
    3. Close the window
  5. Leave the publisher node running for the next task.

Create a Subscriber Node

  1. Edit the vision_node.cpp file.

  2. Include the message type as a header

    #include <fake_ar_publisher/ARMarker.h>
  3. Add the code that will be run when a message is received from the topic (the callback).

    class Localizer
      Localizer(ros::NodeHandle& nh)
          ar_sub_ = nh.subscribe<fake_ar_publisher::ARMarker>("ar_pose_marker", 1, 
          &Localizer::visionCallback, this);
      void visionCallback(const fake_ar_publisher::ARMarkerConstPtr& msg)
          last_msg_ = msg;
      ros::Subscriber ar_sub_;
      fake_ar_publisher::ARMarkerConstPtr last_msg_;
  4. Add the code that will connect the callback to the topic (within main())

    int main(int argc, char** argv)
      // The Localizer class provides this node's ROS interfaces
      Localizer localizer(nh);
      ROS_INFO("Vision node starting");
    • You can replace or leave the “Hello World” print… your choice!
    • These new lines must go below the NodeHandle declaration, so nh is actually defined.
    • Make sure to retain the ros::spin() call. It will typically be the last line in your main routine. Code after ros::spin() won’t run until the node is shutting down.
  5. Run catkin build, then rosrun myworkcell_core vision_node.

  6. You should see the positions display from the publisher.

  7. Press Ctrl+C on the publisher node. The subscriber will stop displaying information.

  8. Start the publisher node again. The subscriber will continue to print messages as the new program runs.

    • This is a key capability of ROS, to be able to restart individual nodes without affecting the overall system.
  9. In a new terminal, type rqt_graph. You should see a window similar to the one below:

  • The rectangles in the the window show the topics currently available on the system.
  • The ovals are ROS nodes.
  • Arrows leaving the node indicate the topics the node publishes, and arrows entering the node indicate the topics the node subscribes to.