文章目录
一、话题编程
1、创建一个工作区
工作区可以作为一个独立的项目进行编译，存放ROS程序的源文件、编译文件和执行文件。
1、建立工作区
打开ubuntu18.04的终端，依次输入以下3个命令创建我们的工作区
1）、创建名为ros的工作区
mkdir -p ~/ros/src
2)、进入创建工作区的src文件夹
cd ~/ros/src
3）、生成工作区
catkin_init_workspace
2、编译工作区
1)、进入工作区
cd ~/ros/
2）、编译
catkin_make
这时候，会在当前文件夹下生成devel，build这两个子文件夹，在devel文件夹下能看到几个setup.*sh文件
3、把工作区在bash中注册
1）、bash注册
source devel/setup.bash
2）、验证是否已经在bash中注册可以使用如下命令：
echo $ROS_PACKAGE_PATH
如果能看到自己工作区的文件路径就说明已经成功了。
以上的工作区我们就创建成功了
2、创建一个ROS工程包
在一个工作区内，可能会包含多个ROS工程包。而最基本ROS工程包中会包括CmakeLists.txt和Package.xml这两个文件，其中Package.xml中主要包含本项目信息和各种依赖（depends），而CmakeLists.txt中包含了如何编译和安装代码的信息。
1、切换到工作区
cd ~/ros/src
2、创建comm包
使用catkin_create_pkg命令去创建一个叫comm(通信)的包，这个包依靠std_msgs、roscpp、rospy。
catkin_create_pkg comm std_msgs rospy roscpp
3、区编译工程包
1)、进入工作区
cd ~/ros
2)、编译
catkin_make
经过以上步骤，我们的ROS工程包就建立好了
3、创建通信的发、收节点
节点（node）是连接到ROS网络中可执行的基本单元。我们在这创建一个发布者—“talker”节点，这个节点持续对外发布消息。
1、把目录切换到comm工程包中
cd ~/ros/src/comm
因为我们已经编译过这个工程包了，所以会在comm文件夹下看到CmakeList.txt、package.xml文件和include、src这两个目录。
2、进入src子目录
cd src
3、创建Publisher节点
在src目录中创建一个talker.cpp文件，写一个发布（Publisher）节点
1)、创建一个名为talker.cpp文件
touch talker.cpp
2)、打开talker.cpp，并且将里面的内容替换为如下：
打开talker.cpp文件：gedit talker.cpp
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "talker");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message queue
* used for publishing messages. If messages are published more quickly
* than we can send them, the number here specifies how many messages to
* buffer up before throwing some away.
*/
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
int count = 0;
while (ros::ok())
{
/**
* This is a message object. You stuff it with data, and then publish it.
*/
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_str());
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor above.
*/
chatter_pub.publish(msg);
ros::spinOnce();
loop_rate.sleep();
++count;
}
return 0;
}
4、创建Subscriber节点
在src目录中创建一个listener.cpp文件，写一个订阅（Subscriber）节点
1)、创建一个名为listener.cpp文件
touch listener.cpp
打开listener.cpp文件：gedit listener.cpp
2)、打开listener.cpp，并且将里面的内容替换为如下：
#include "ros/ros.h"
#include "std_msgs/String.h"
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "listener");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The subscribe() call is how you tell ROS that you want to receive messages
* on a given topic. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. Messages are passed to a callback function, here
* called chatterCallback. subscribe() returns a Subscriber object that you
* must hold on to until you want to unsubscribe. When all copies of the Subscriber
* object go out of scope, this callback will automatically be unsubscribed from
* this topic.
*
* The second parameter to the subscribe() function is the size of the message
* queue. If messages are arriving faster than they are being processed, this
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
/**
* ros::spin() will enter a loop, pumping callbacks. With this version, all
* callbacks will be called from within this thread (the main one). ros::spin()
* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
*/
ros::spin();
return 0;
}
5、编辑Cmakelist.txt文件
（注意：是comm项目包下的CMakelist文件）
打开这个文件，在文件末尾添加如下代码：
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker comm_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener comm_generate_messages_cpp)
6、执行catkin_make运行命令
将目录切换到工作区目录，并执行catkin_make运行命令
cd ~/ros
catkin_make
4、测试程序的正确性
1、新开一个终端，启动ROS核心程序roscore。
roscore
2、在开始运行我们的程序之前，在原来的终端、把程序注册
1）、切换为工作区
cd ~/ros
2）、程序注册
source ./devel/setup.bash
3、运行talker节点：
1）、在刚刚的终端输入以下命令：
rosrun comm talker
4、运行listener节点：
再新建一个终端，现在我们有三个终端了哦！输入以下命令：
1）、回到工作区
cd ~/ros
2）、程序注册
source ./devel/setup.bash
3）、运行listener节点
rosrun comm listener
5、开始测试，在最开始的终端开始回车，切换到我们最后建立的终端，也开始回车！
在上面两部开始后，我们可以看到如下图的显示，
ROS话题与服务编程：控制小乌龟画圆
二、控制小乌龟画圆
1、进入工程包，创建小乌龟画圆发送程序
1、新建一个终端，命名为终端1，然后进入我们的工程文件包
cd ~/ros/src/comm/src
2、新建画圆程序名为yuan.cpp
touch yuan.cpp
3、打开文件将如下代码写入yuan.cpp中：
1）、打开文件如下命令
gedit yuan.cpp
2）、写入文件中的代码如下命令：
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<geometry_msgs/Twist.h> //运动速度结构体类型 geometry_msgs::Twist的定义文件
int main(int argc, char *argv[])
{
ros::init(argc, argv, "vel_ctrl"); //对该节点进行初始化操作
ros::NodeHandle n; //申明一个NodeHandle对象n，并用n生成一个广播对象vel_pub
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
//vel_pub会在主题"/turtle1/cmd_vel"(机器人速度控制主题)里广播geometry_msgs::Twist类型的数据
//ros::Rate loopRate(2);
ROS_INFO("draw_circle start...");//输出显示信息
while(ros::ok())
{
geometry_msgs::Twist vel_cmd; //声明一个geometry_msgs::Twist 类型的对象vel_cmd，并将速度的值赋值到这个对象里面
vel_cmd.linear.x = 2.0;//前后（+-） m/s
vel_cmd.linear.y = 0.0; //左右（+-） m/s
vel_cmd.linear.z = 0.0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 1.8; //机器人的自转速度，+左转，-右转，单位是rad/s
vel_pub.publish(vel_cmd); //赋值完毕后，发送到主题"/turtle1/cmd_vel"。机器人的核心节点会从这个主题接受发送过去的速度值，并转发到硬件体上去执行
std_msgs::String msg;
std::stringstream ss;//定义输出流对象
ss <<vel_cmd;
msg.data = ss.str();
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor above.
*/
chatter_pub.publish(msg);
ros::spinOnce();//调用此函数给其他回调函数得以执行(比例程未使用回调函数)
//loopRate.sleep();
}
return 0;
}
2、创建小乌龟画圆接收程序，用于实时更新位置信息
1、当前目录不改变，新建小乌龟画圆接收程序，用于实时更新位置信息
touch callBackYuan.cpp
2、打开callBackYuan.cpp文件，输入如下代码：
1）、打开callBackYuan.cpp文件
gedit callBackYuan.cpp
2)、将文件内容填入以下c++代码：
#include "ros/ros.h"
#include "std_msgs/String.h"
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("it is location: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "yuan");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The subscribe() call is how you tell ROS that you want to receive messages
* on a given topic. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. Messages are passed to a callback function, here
* called chatterCallback. subscribe() returns a Subscriber object that you
* must hold on to until you want to unsubscribe. When all copies of the Subscriber
* object go out of scope, this callback will automatically be unsubscribed from
* this topic.
*
* The second parameter to the subscribe() function is the size of the message
* queue. If messages are arriving faster than they are being processed, this
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
/**
* ros::spin() will enter a loop, pumping callbacks. With this version, all
* callbacks will be called from within this thread (the main one). ros::spin()
* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
*/
ros::spin();
return 0;
}
3、修改CMakeLists.txt
1、进入工程包comm文件夹
cd ~/ros/src/comm
2、打开CMakeLists.txt文件
gedit CMakeLists.txt
3、在CMakeLists.txt文件末尾添加如下代码：
add_executable(yuan src/yuan.cpp)
target_link_libraries(yuan ${catkin_LIBRARIES})
#add_dependencies(yuan comm_generate_messages_cpp)
add_executable(callBackYuan src/callBackYuan.cpp)
target_link_libraries(callBackYuan ${catkin_LIBRARIES})
4、编译程序
1、进入工作空间ros
cd ~/ros
2、编译程序
catkin_make
5、运行程序
1、程序注册
1）、回到我们的工作空间
cd ~/ros
2)、程序注册
source ./devel/setup.bash
2、新建一个终端，运行ros
roscore
3、在新建一个终端，进入我们的工作空间、运行我们的接收服务程序，我们命名为终端3
1）、进入工作空间
cd ~/ros
2)、程序注册
source ./devel/setup.bash
3）、运行我们的接受实时位置的服务程序
rosrun comm callBackYuan
4、再新建一个终端，启动我们的小海龟，海龟的窗口我们命名为窗口4
rosrun turtlesim turtlesim_node
5、在终端1运行我们的小海龟画圆程序，也就是我们最开始的终端！
记住，我们新建的终端一个都不要关闭
1)、终端1运行画圆程序
rosrun comm yuan
小乌龟开始画圈，终端3—实时位置接收程序callBackYuan.cpp开始接收终端1–位置发送程序yuan.cpp发送的位置信息，出现该结果，表示程序运行成功，本次实验成功
三、总结
通过此次的作业，我了解到了ROS的话题、服务和动作编程，并且通过练习使用这些知识，让我对ROS有更深入的了解
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