前言
上一篇我们实现了自定义msg和srv接口(.msg和.srv),并在具体实现代码(发布者/订阅者)中成功使用了自定义的接口。此篇将会学习关于自定义接口更多的方面。
理想状况下我们应该在专门的接口包中只声明定义接口,然后在其他的功能包中根据业务需要使用这些专门接口包中的接口(比如上一篇中的情况,我们创建了一个包,这里面纯粹定义了msg和srv,在另外一个包中我们调用了此包定义的msg和srv),这样就显得比较低耦合了嘛,各司其职。但是在实际的操作中,我们会比较习惯在同一个功能包中定义、创建并使用此包中的接口,讲究一个方便至上。
在之前的教程中,我们了解到接口貌似只能在支持CMake的功能包中定义,但是在支持CMake功能包中,可能同时存在python库和节点(使用ament_CMake_Python),因此我们可以在一个包中同时定义接口和python节点,为了简单描述(接口的定义和使用在同一个功能包中)此种情况,我们将以使用CMake(有CMakeLists.txt)的和C++实现节点(调用接口实现一些业务)举例(简单一句话,实现同一个功能包中集定义接口、实现节点(使用接口)于一体的情况),其中的接口仅举例msg,但是其他的接口类型流程也是一样的。
动动手
创建一个功能包
在工作空间的src路径下(ros2_ws/src),执行下面的命令创建一个功能包more_interfaces并在该包路径下新建msg文件夹:
$ros2 pkg create --build-type ament_cmake --license Apache-2.0 more_interfaces
$mkdir more_interfaces/msg
创建一个msg文件
在more_interfaces/msg文件夹下新建AddressBook.msg,内容如下:
uint8 PHONE_TYPE_HOME=0
uint8 PHONE_TYPE_WORK=1
uint8 PHONE_TYPE_MOBILE=2
string first_name
string last_name
string phone_number
uint8 phone_type
上面的内容大家可能会觉得有点陌生,才过了一天时间,怎么msg的定义我都看不懂了么?我简单解释一下(接口定义详细内容可以看官方原文)。
头三行,定义了3个常量(PHONE_TYPE_HOME/PHONE_TYPE_WORK/PHONE_TYPE_MOBILE,对于常量,接口中我们要用大写)并且进行了初始化赋值,最后四行大家应该都熟悉了,first_name、last_name、phone_number为string类型的变量,phone_type为uint8型变量,在后面使用中其指代的应该是头三行中的某一个常量。
构建msg文件
打开此包的package.xml文件,添加下面的内容:
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
这三行内容的解释在上一篇也提到了,此处不再多言。接着打开CMakeLists.txt,添加下面的内容:
#发现能从msg/srv文件生成代码的功能包
find_package(rosidl_default_generators REQUIRED)
#罗列出我们想要生成代码的msg
set(msg_files
"msg/AddressBook.msg"
)
#生成msg接口代码
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
)
#导出运行时依赖
ament_export_dependencies(rosidl_default_runtime)
先不构建这个msg包,留在后面。
设置多接口(扩展)
如果我们要使用多个msg和srv呢,我们可以在CMakeLists.txt中做如下调整:
set(msg_files
"msg/Message1.msg"
"msg/Message2.msg"
# etc
)
set(srv_files
"srv/Service1.srv"
"srv/Service2.srv"
# etc
)
...
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
)
在同个包中使用一个接口
下面我们就需要在more_interfaces/src路径下编写我们的调用msg程序了,写一个发布者节点,publish_address_book.cpp,内容如下:
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "more_interfaces/msg/address_book.hpp"//自定义msg的头文件(自动生成的)
using namespace std::chrono_literals;
class AddressBookPublisher : public rclcpp::Node
{
public:
AddressBookPublisher()
: Node("address_book_publisher")
{
//创建一个发布者节点名字为address_book
address_book_publisher_ =
this->create_publisher<more_interfaces::msg::AddressBook>("address_book", 10);
//发布者节点的回调函数
auto publish_msg = [this]() -> void {
//创建一个AddressBook类型的消息变量
auto message = more_interfaces::msg::AddressBook();
//给消息变量赋值
message.first_name = "John";
message.last_name = "Doe";
message.phone_number = "1234567890";
message.phone_type = message.PHONE_TYPE_MOBILE;
std::cout << "Publishing Contact\nFirst:" << message.first_name <<
" Last:" << message.last_name << std::endl;
//发布者节点发布消息
this->address_book_publisher_->publish(message);
};
//创建一个1s周期的定时器(绑定了回调函数publish_msg)
timer_ = this->create_wall_timer(1s, publish_msg);
}
private:
rclcpp::Publisher<more_interfaces::msg::AddressBook>::SharedPtr address_book_publisher_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<AddressBookPublisher>());
rclcpp::shutdown();
return 0;
}
解释见代码中的注释。
构建节点
CMakeLists.txt中增加如下内容(我们需要新增一个目标):
find_package(rclcpp REQUIRED)
add_executable(publish_address_book src/publish_address_book.cpp)
ament_target_dependencies(publish_address_book rclcpp)
install(TARGETS
publish_address_book
DESTINATION lib/${PROJECT_NAME})
支持使用同包msg
同样是在CMakeLists.txt中,我们添加如下内容,使得同包中的节点程序能够使用同包中定义的msg:
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(publish_address_book "${cpp_typesupport_target}")
如果像之前那样,调用的是其他包中的msg或srv,上面的内容是不需要添加的,上面内容只针对同一包中己定义了msg等接口又实现了节点(并使用其自定义的接口)情况。
最终的CMakeLists.txt
cmake_minimum_required(VERSION 3.8)
project(more_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
add_executable(publish_address_book src/publish_address_book.cpp)
ament_target_dependencies(publish_address_book rclcpp)
install(TARGETS
publish_address_book
DESTINATION lib/${PROJECT_NAME})
set(msg_files
"msg/AddressBook.msg"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
)
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(publish_address_book "${cpp_typesupport_target}")
ament_export_dependencies(rosidl_default_runtime)
ament_package()
最终的package.xml
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>more_interfaces</name>
<version>0.0.0</version>
<description>learn interfaces</description>
<maintainer email="mike@qq.com">mike</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
测试
我们进入到工作空间的根路径,开始构建我们的more_interfaces包:
$cd ~/ros2_ws
$colcon build --packages-up-to more_interfaces
source一下环境变量然后启动一下发布者节点:
$source install/local_setup.bash
$ros2 run more_interfaces publish_address_book
我们有两种方式可以验证看看发布者节点发布的内容,ros2 topic echo <topic_name>,
$source install/setup.bash
$ros2 topic echo /address_book
还可以生成一个订阅者节点直接打印出来(这个可以自己尝试一下,正好练练手,熟悉一下)。
使用一个存在着的接口定义(扩展)
举例解释一下标题的意思,在ROS 2中有另外一个独立的包(比如rosidl_tutotial_msgs),其中有定义Contact.msg消息文件,内容与我们上面自定义的AddressBook.msg一样,我们在发布者节点中不再使用我们自定义的AddressBook,而是使用这Contact消息,针对这种情况,我们需要对package.xml和CMakeLists.txt作出修改。
package.xml
<build_depend>rosidl_tutorials_msgs</build_depend>
<exec_depend>rosidl_tutorials_msgs</exec_depend>
CMakeLists.txt
find_package(rosidl_tutorials_msgs REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
DEPENDENCIES rosidl_tutorials_msgs
)
publish_address_book.cpp
#include "rosidl_tutorials_msgs/msg/contact.hpp"
回调函数
#下面回调函数内容是针对消息数组来赋值的,使用创建了两次Contact赋值了两次
#rosidl_tutorials_msgs/Contact[] address_book
auto publish_msg = [this]() -> void {
auto msg = std::make_shared<more_interfaces::msg::AddressBook>();
{
rosidl_tutorials_msgs::msg::Contact contact;
contact.first_name = "John";
contact.last_name = "Doe";
contact.phone_number = "1234567890";
contact.phone_type = message.PHONE_TYPE_MOBILE;
msg->address_book.push_back(contact);
}
{
rosidl_tutorials_msgs::msg::Contact contact;
contact.first_name = "Jane";
contact.last_name = "Doe";
contact.phone_number = "4254242424";
contact.phone_type = message.PHONE_TYPE_HOME;
msg->address_book.push_back(contact);
}
std::cout << "Publishing address book:" << std::endl;
for (auto contact : msg->address_book) {
std::cout << "First:" << contact.first_name << " Last:" << contact.last_name <<
std::endl;
}
address_book_publisher_->publish(*msg);//注意参数为指针
};
本篇完。
--------------------------------------------------------------------------------------------------------------------------------
附录
最后贴出下订阅者节点代码及CMakeLists.txt:
subscrib_address_book.cpp
/* subscrib_address_book.cpp */
#include <chrono>
#include <memory>
#include "rclcpp/rclcpp.hpp"
#include "more_interfaces/msg/address_book.hpp"
using std::placeholders::_1;
class AddressBookSubscriber : public rclcpp::Node
{
public:
AddressBookSubscriber()
: Node("address_book_subscriber")
{
address_book_subscriber_ =
this->create_subscription<more_interfaces::msg::AddressBook>(
"address_book", 10, std::bind(&AddressBookSubscriber::topic_callback, this, _1));
}
private:
void topic_callback(const more_interfaces::msg::AddressBook & msg) const
{
RCLCPP_INFO_STREAM(this->get_logger(), "I read: '" << msg.first_name << msg.last_name <<"'");
RCLCPP_INFO_STREAM(this->get_logger(), "I read: '" << msg.phone_number << msg.phone_type <<"'");
}
rclcpp::Subscription<more_interfaces::msg::AddressBook>::SharedPtr address_book_subscriber_;
};
int main(int argc, char * argv[])
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<AddressBookSubscriber>());
rclcpp::shutdown();
return 0;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.8)
project(more_interfaces)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
add_executable(publish_address_book src/publish_address_book.cpp)
ament_target_dependencies(publish_address_book rclcpp)
add_executable(subscrib_address_book src/subscrib_address_book.cpp)
ament_target_dependencies(subscrib_address_book rclcpp)
install(TARGETS
publish_address_book
subscrib_address_book
DESTINATION lib/${PROJECT_NAME})
set(msg_files
"msg/AddressBook.msg"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
)
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(publish_address_book "${cpp_typesupport_target}")
target_link_libraries(subscrib_address_book "${cpp_typesupport_target}")
ament_export_dependencies(rosidl_default_runtime)
ament_package()
package.xml无需修改。
效果如下: