目录
一、ROS通信工程
1.话题编程
1.1创建工作空间
catkin_init_workspace
1.2工程编译
catkin_make
使install空间出现
catkin_make install
1.3 创建功能包
catkin_create_pkg test_pkg roscpp rospy std_mags 
1.4 设置环境变量
source devel/setup.bash
echo $ROS_PACKAGE_PATH 
1.5 代码撰写
publisher.cpp
#include <sstream>
#include "ros/ros.h"
#include "std_msgs/String.h"
int main(int argc, char **argv){
//ROS节点初始化
ros::init(argc, argv, "talker");
//创建节点句柄
ros::NodeHandle n;
//创建publisher
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
//设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while(ros::ok()){
std_msgs::String msg;
std::stringstream ss;
ss << "hello world "<< count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
//循环等待回调函数
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
server.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
//接受到订阅的消息后，会进入消息回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg){
//将接受到的消息打印出来
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv){
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
ros::spin();
return 0;
}
1.6 运行结果
2.服务编程
2.1定义srv文件
mkdir ~/second_topic_ws/src/test_pkg/srv
sudo nano AddTwoInts.srv
AddTwoInts.srv
int64 a
int64 b
---
int64 sum
2.2 修改package.xml和CMakeLists.txt
package.xml
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
在CMakeLists.txt添加编译选项
使用find_package（）查找包catkin的所有依赖项。
添加运行时的依赖message_runtime
添加自定义的文件
2.3 代码撰写
client.cpp
#include<cstdlib>
#include<ros/ros.h>
#include"test_pkg/AddTwoInts.h"
int main(int argc,char **argv)
{
//ROS节点初始化
ros::init(argc,argv,"add_two_ints_client");
//从终端命令行获取两个加数
if(argc!=3)
{
ROS_INFO("usage:add_two_ints_client X Y");
return 1;
}
//创建节点句柄
ros::NodeHandle n;
//创建一个client，请求add_two_ints_service
//service消息类型是learning_communication::AddTwoInts
ros::ServiceClient client=n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
//创建learning_communication::AddTwoInts类型的service消息
learning_communication::AddTwoInts srv;
srv.request.a=atoll(argv[1]);
srv.request.b=atoll(argv[2]);
//发布service请求，等待加法运算的应答请求
if(client.call(srv))
{
ROS_INFO("sum: %1d",(long int)srv.response.sum);
}
else
{
ROS_INFO("Failed to call service add_two_ints");
return 1;
}
return 0;
}
server.cpp
#include<ros/ros.h>
#include"test_pkg/AddTwoInts.h"
//service回调函数，输入参数req，输出参数res
bool add(learning_communication::AddTwoInts::Request &req,learning_communication::AddTwoInts::Response &res)
{
//将输入的参数中的请求数据相加，结果放到应答变量中
res.sum=req.a+req.b;
ROS_INFO("request: x=%1d,y=%1d",(long int)req.a,(long int)req.b);
ROS_INFO("sending back response:[%1d]",(long int)res.sum);
return true;
}
int main(int argc,char **argv)
{
//ROS节点初始化
ros::init(argc,argv,"add_two_ints_server");
//创建节点句柄
ros::NodeHandle n;
//创建一个名为add_two_ints的server,注册回调函数add()
ros::ServiceServer service=n.advertiseService("add_two_ints",add);
//循环等待回调函数
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
2.4 设置CMakeLists.txt文件
2.5 运行结果
3.动作编程
3.1 自定义动作消息
定义action文件
mkdir ~/second_topic_ws/src/tset_pkg/action
sudo nano DoDishes.action
DoDishes.action
#定义目标信息
uint32 dishwasher_id
---
#定义结果信息
uint32 total_dishes_cleaned
---
#定义周期反馈的消息
float32 percent_complete
3.2 在package.xml中添加功能包依赖
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
3.3 在CMakeLists.txt中添加编译选项
3.4 代码撰写
DoDishes_server.cpp
#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "test_pkg/DoDishesAction.h"
typedef actionlib::SimpleActionServer<learning_communication::DoDishesAction> Server;
// 收到action的goal后调用该回调函数
void execute(const learning_communication::DoDishesGoalConstPtr &goal, Server *as)
{
ros::Rate r(1);
learning_communication::DoDishesFeedback feedback;
ROS_INFO("Dishwasher %d is working.", goal->dishwasher_id);
// 假设洗盘子的进度，并且按照1Hz的频率发布进度feedback
for(int i = 1; i <= 10; i++)
{
feedback.percent_complete = i * 10;
as->publishFeedback(feedback);
r.sleep();
}
// 当action完成后，向客户端返回结果
ROS_INFO("Dishwasher %d finish working.", goal->dishwasher_id);
as->setSucceeded();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "do_dishes_server");
ros::NodeHandle hNode;
// 定义一个服务器
Server server(hNode, "do_dishes", boost::bind(&execute, _1, &server), false);
// 服务器开始运行
server.start();
ros::spin();
return 0;
}
DoDishes_client.cpp
#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "test_pkg/DoDishesAction.h"
typedef actionlib::SimpleActionClient<learning_communication::DoDishesAction> Client;
// 当action完成后会调用该回调函数一次
void doneCallback(const actionlib::SimpleClientGoalState &state
, const learning_communication::DoDishesResultConstPtr &result)
{
ROS_INFO("Yay! The dishes are now clean");
ros::shutdown();
}
// 当action激活后会调用该回调函数一次
void activeCallback()
{
ROS_INFO("Goal just went active");
}
// 收到feedback后调用该回调函数
void feedbackCallback(const learning_communication::DoDishesFeedbackConstPtr &feedback)
{
ROS_INFO("percent_complete : %f", feedback->percent_complete);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "do_dishes_client");
// 定义一个客户端
Client client("do_dishes", true);
// 等待服务器端
ROS_INFO("Waiting for action server to start.");
client.waitForServer();
ROS_INFO("Action server started, sending goal.");
// 创建一个 action 的 goal
learning_communication::DoDishesGoal goal;
goal.dishwasher_id = 1;
// 发送action的goal给服务端，并且设置回调函数
client.sendGoal(goal, &doneCallback, &activeCallback, &feedbackCallback);
ros::spin();
return 0;
}
3.5 运行
设置CMakeLists.txt文件
结果：
二、Opencv
1.编写一个打开图片进行特效显示的代码
代码
#include <opencv2/highgui.hpp>
#include <opencv2/opencv.hpp>
using namespace cv;
using namespace std;
int main(int argc, char** argv)
{
CvPoint center;
double scale = -3;
IplImage* image = cvLoadImage("test.jpg");
argc == 2? cvLoadImage(argv[1]) : 0;
cvShowImage("Image", image);
if (!image) return -1; center = cvPoint(image->width / 2, image->height / 2);
for (int i = 0;i<image->height;i++)
for (int j = 0;j<image->width;j++) {
double dx = (double)(j - center.x) / center.x;
double dy = (double)(i - center.y) / center.y;
double weight = exp((dx*dx + dy*dy)*scale);
uchar* ptr = &CV_IMAGE_ELEM(image, uchar, i, j * 3);
ptr[0] = cvRound(ptr[0] * weight);
ptr[1] = cvRound(ptr[1] * weight);
ptr[2] = cvRound(ptr[2] * weight);
}
Mat src;Mat dst;
src = cvarrToMat(image);
cv::imwrite("test.png", src);
cvNamedWindow("test",1); imshow("test", src);
cvWaitKey();
return 0;
}
编译：
gcc test1.cpp -o test1 `pkg-config --cflags --libs opencv`
结果：
2.编写打开视频的程序
代码编写：
#include <opencv2/opencv.hpp>
using namespace cv;
int main()
{
//从摄像头读取视频
VideoCapture capture("sgqt.mp4");
//循环显示每一帧
while(1){
Mat frame;//定义一个Mat变量，用于存储每一帧的图像
capture >> frame;//读取当前帧
if(frame.empty())//播放完毕，退出
break;
imshow("读取视频帧",frame);//显示当前帧
waitKey(30);//掩饰30ms
}
system("pause");
return 0;
}编译：
g++ test2.cpp -o test2 `pkg-config --cflags --libs opencv`
运行结果：
3.编写打开摄像头录制的程序
代码撰写
/*********************************************************************
打开电脑摄像头，空格控制视频录制，ESC退出并保存视频RecordVideo.avi
*********************************************************************/
#include<iostream>
#include <opencv2/opencv.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
using namespace cv;
using namespace std;
int main()
{
//打开电脑摄像头
VideoCapture cap(0);
if (!cap.isOpened())
{
cout << "error" << endl;
waitKey(0);
return 0;
}
//获得cap的分辨率
int w = static_cast<int>(cap.get(CV_CAP_PROP_FRAME_WIDTH));
int h = static_cast<int>(cap.get(CV_CAP_PROP_FRAME_HEIGHT));
Size videoSize(w, h);
VideoWriter writer("RecordVideo.avi", CV_FOURCC('M', 'J', 'P', 'G'), 25, videoSize);
Mat frame;
int key;//记录键盘按键
char startOrStop = 1;//0 开始录制视频； 1 结束录制视频
char flag = 0;//正在录制标志 0-不在录制； 1-正在录制
while (1)
{
cap >> frame;
key = waitKey(100);
if (key == 32)//按下空格开始录制、暂停录制 可以来回切换
{
startOrStop = 1 - startOrStop;
if (startOrStop == 0)
{
flag = 1;
}
}
if (key == 27)//按下ESC退出整个程序，保存视频文件到磁盘
{
break;
}
if (startOrStop == 0 && flag==1)
{
writer << frame;
cout << "recording" << endl;
}
else if (startOrStop == 1)
{
flag = 0;
cout << "end recording" << endl;
}
imshow("picture", frame);
}
cap.release();
writer.release();
destroyAllWindows();
return 0;
}
编译：
g++ test3.cpp -o test3 `pkg-config --cflags --libs opencv`
结果：
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