7.14总结

7.14总结

1. 运行第一个ROS小海龟程序

2. ROS基础概念

2.1 ROS的系统架构

2.1.1 文件系统级

功能包（package）：是ROS中软件组织的基本形式，一个功能包具有最小的结构和最少的内容，用于创建ROS程序；指的是一种特定的文件结构和文件夹组合

功能包清单：manifests.xml 通过这个文件实现对功能包的管理；

功能包集（stack）：将几个具有某些功能的功能包组织在一起，如导航功能包集；

功能包集清单：stack.xml

消息类型：消息类型的说明存储在 my_package/msg/MyMessageType.msg 中

服务类型：对服务类型的描述说明文件在ROS中定义了服务的请求和响应的数据结构，存储在 mypackage/MyserviceType.srv 中；

2.1.2 计算图级

ROS会创建一个连接到所有进程的网络，在系统中的任何节点都可以访问此网络，并通过该网络与其他节点交互，获取其他节点发布的信息，并将自身数据发布到网络上

• 节点（node）

节点是最主要的计算执行进程，最好让每一个节点具有特定的单一的功能

• 主题（topic）

主题是由ROS网络对消息进行路由和消息管理的数据总线，保证了消息的发布者和订阅者之间相互解耦，完全无需知晓对方的存在，发布到主题上的消息必须与ROS的消息类型相匹配

• 服务（service）

在发布主题时，正在发送的数据能够以多对多的方式交互，当你需要从某个节点获得一个请求或应答时，就不能通过主题来实现了。服务能够允许我们直接与某个节点进行交互

服务关联在一个以功能包中 .srv 文件名称来命名的服务类型

• 消息（message）

节点通过消息完成彼此的沟通

• 消息记录包（bag）

是一种保存和回放ROS消息数据的文件格式

• 节点管理器（master）

没有节点管理器，就不会有节点、服务、消息之间的通信；你可以在某一台计算机上运行节点管理器，在其他计算机上运行该节点管理器管理的节点；

节点管理器的作用是使ROS节点之间能够相互查找，一旦这些节点找到了彼此，就能够建立一种点对点的通信方式；

节点管理器通常使用roscore命令运行

• 参数服务器（parameter server）

参数服务器能够使数据通过关键词存储在系统的核心位置，通过使用参数，能够在运行时配置节点或改变节点的工作任务

2.1.3 开源社区级

ROS wiki：

http://wiki.ros.org/cn

http://wiki.ros.org/

3. 动手写第一个ROS程序

3.1 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。建立工作区的方法如下

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace

虽然这时候工作区是空的，但是我们依然可以进行编译：

$ cd ~/catkin_ws/
$ catkin_make

这时候，会在当前文件夹下生成devel，build这两个字文件夹，在devel文件夹下能看到几个setup.*sh文件

接下来把工作区在bash中注册

$ source devel/setup.bash

要验证是否已经在bash中注册可以使用如下命令：

$ echo $ROS_PACKAGE_PATH
/home/zhm/catkin_ws/src:/opt/ros/kinetic/share

如果能看到自己工作区的文件路径就说明已经成功了。

3.2 创建一个ROS工程包（package）

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。

首先切换到工作区：

$ cd ~/catkin_ws/src

现在可以使用catkin_create_pkg命令去创建一个叫beginner_tutorials的包，这个包依靠std_msgs、roscpp、rospy。

$ catkin_create_pkg beginner_tutorials std_msgs rospy roscpp

接下来在工作区编译这个工程包。

$ cd ~/catkin_ws
$ catkin_make

3.3 一个简单的发布（Publisher）、订阅（Subscriber）程序

• 写一个发布（Publisher）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。

首先我们要把目录切换到我们的beginner_tutorials工程包中

$ cd ~/catkin_ws/src/beginner_tutorials

因为我们已经编译过这个工程包了，所以会在beginner_tutorials文件夹下看到CmakeList.txt、package.xml文件和include、src这两个目录。接下来进入src子目录

$ cd src

在src目录中创建一个talker.cpp文件，里面的内容如下：

#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;
}

• 写一个订阅（Subscriber）节点

还是在src目录下，创建一个listener.cpp文件。内容如下：

#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;
}

• 编译创建的节点

在编译我们创建的节点之前，我们还需要编辑Cmakelist.txt文件（注意：是beginner_tutorials项目包下的CMakelist文件），告诉编辑器我们需要编辑什么文件，需要什么依赖。

$ gedit CMakeLists.txt

在文件末尾添加如下语句：

include_directories(include ${catkin_INCLUDE_DIRS})

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker beginner_tutorials_generate_messages_cpp)

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener beginner_tutorials_generate_messages_cpp)

将目录切换到工作区目录，并执行catkin_make运行命令：

$ cd ~/catkin_ws
$ catkin_make

不出意外的话，会出现如下界面：

至此，程序已经创建完成，而接下来我们要检查一下我们创建的程序是否正确。

3.4 测试程序的正确性

首先，我们得要启动ROS核心程序roscore。

$ roscore

在使用我们的程序之前，需要先把程序注册

$ cd ~/catkin_ws
$ source ./devel/setup.bash

运行talker节点：

$ rosrun beginner_tutorials talker 

这时候会看到如下信息：

这就表示发布（Publisher）节点已经正确的运行了。

接下来运行listener节点：

$ source ./devel/setup.bash
$ rosrun beginner_tutorials listener

这说明订阅节点（listener）已经成功的接收到了发布节点（talker）发布的信息。至此，整个程序结束！

4. 改写第一个ROS程序

在发布节点（talker）和订阅节点（listener）之间加入一个report节点，report节点接收talker节点发布的消息并同步加上固定字符发布出去，listener节点接收report发布的消息并显示。

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;
}

report.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>

void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ros::NodeHandle n;
  
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("reChatter", 1000);

  std::stringstream ss;

  std_msgs::String reportMsg;

  ss << "reporter: " << msg->data.c_str();

  ROS_INFO("I heard: [%s]", msg->data.c_str());

  reportMsg.data = ss.str();

  ROS_INFO("%s", reportMsg.data.c_str());

  chatter_pub.publish(reportMsg);

  ros::spin();

}

int main(int argc, char **argv)
{

  ros::init(argc, argv, "reporter");

  ros::NodeHandle n;

  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);

  ros::spin();

  return 0;
}

listener.cpp

#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)
{

  ros::init(argc, argv, "listener");

  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("reChatter", 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;
}

运行结果如下图：

左上角是talker节点

下面是reporter节点，它负责接收talker节点发出的消息然后转发出去

右上角是listener节点，它负责接收从reporter节点发出的信息，然后显示出来