创建ROS程序包
写个自己学习的笔记,方便回查
一个catkin程序包packages由什么组成?
一个程序包要想称为catkin程序包必须符合以下要求:
-
程序包必须包含
catkin compliant package.xml
文件- 这个
package.xml
文件提供有关程序包的元信息。
- 这个
-
程序包必须包含一个catkin 版本的
CMakeLists.txt
文件,而Catkin metapackages
中必须包含一个对CMakeList.txt
文件的引用。??? -
每个目录下只能有一个程序包。
- 这意味着在同一个目录下不能有嵌套的或者多个程序包存在。
最简单的程序包也许看起来就像这样:
my_package/
CMakeLists.txt
package.xml
在catkin工作空间中的程序包
开发catkin程序包的一个推荐方法是使用catkin工作空间,一个简单的工作空间结构看起来像这样:
workspace_folder/ -- WORKSPACE
src/ -- SOURCE SPACE
CMakeLists.txt -- 'Toplevel' CMake file, provided by catkin
package_1/
CMakeLists.txt -- CMakeLists.txt file for package_1
package.xml -- Package manifest for package_1
...
package_n/
CMakeLists.txt -- CMakeLists.txt file for package_n
package.xml -- Package manifest for package_n
创建一个catkin程序包
本部分教程将演示如何使用catkin_create_pkg命令来创建一个新的catkin程序包以及创建之后都能做些什么.
我为了方便学习, 先装一个tree命令好打印文件目录结构
sudo apt-get install tree
cd ~catkin_ws
tree
或者
tree -L N N 为子文件夹显示到第几层
可以看到整个工作空间的树状文件结构
首先切换到之前通过创建catkin工作空间教程创建的catkin工作空间中的src目录下:
cd ~/catkin_ws/src
现在使用catkin_create_pkg命令来创建一个名为'beginner_tutorials'的新程序包,这个程序包依赖于std_msgs、roscpp和rospy:
catkin_create_pkg beginner_tutorials std_msgs rospy roscpp
20.11.6 更新
我突然在jetson上會報錯:
catkin_create_pkg: error: argument --rosdistro is required
那麼改成:
catkin_create_pkg --rosdistro melodic beginner_tutorials std_msgs rospy roscpp
melodic 根據自己版本來決定, 18.04 就是 melodic
这将会创建一个名为beginner_tutorials的文件夹,这个文件夹里面包含一个package.xml文件和一个CMakeLists.txt文件,这两个文件都已经自动包含了部分你在执行catkin_create_pkg命令时提供的信息。 如图:
catkin_create_pkg命令会要求你输入package_name,如果有需要你还可以在后面添加一些需要依赖的其它程序包, 下面是命令的示例:
# 只是示范不要运行
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
程序包依赖关系
一级依赖
之前在使用catkin_create_pkg命令时提供了几个程序包作为依赖包,现在我们可以使用rospack命令工具来查看一级依赖包。
rospack depends1 beginner_tutorials
就像你看到的,rospack列出了在运行catkin_create_pkg命令时作为参数的依赖包,这些依赖包随后保存在 package.xml
文件中。 查看一下:
roscd beginner_tutorials
cat package.xml
间接依赖
在很多情况中,一个依赖包还会有它自己的依赖包,比如,rospy还有其它依赖包。
rospack depends1 rospy
一个程序包还可以有好几个间接的依赖包,幸运的是使用rospack可以递归检测出所有的依赖包。这里注意是depends
而非 depends1
了
rospack depends beginner_tutorials
自定义你的程序包
本部分教程将剖析catkin_create_pkg命令生成的每个文件并详细描述这些文件的组成部分以及如何自定义这些文件。
自定义 package.xml
自动生成的package.xml
文件应该在你的新程序包中。现在让我们一起来看看新生成的package.xml
文件以及每一个需要你注意的标签元素。
先查看一下xml文件
~/Desktop/catkin_ws/src/beginner_tutorials$ gedit package.xml
描述标签
首先更新描述标签:
<description>The beginner_tutorials package</description>
将描述信息修改为任何你喜欢的内容,但是按照约定第一句话应该简短一些,因为它覆盖了程序包的范围。如果用一句话难以描述完全那就需要换行了。
维护者标签
这是package.xml中要求填写的一个重要标签,因为它能够让其他人联系到程序包的相关人员。至少需要填写一个维护者名称,但如果有需要的话你可以添加多个。除了在标签里面填写维护者的名称外,还应该在标签的email属性中填写邮箱地址:
许可标签
你应该选择一种许可协议并将它填写到这里。一些常见的开源许可协议有BSD、MIT、Boost Software License、GPLv2、GPLv3、LGPLv2.1和LGPLv3。你可以在Open Source Initiative中阅读其中的若干个许可协议的相关信息。对于本教程我们将使用BSD协议,因为ROS核心组件的剩余部分已经使用了该协议.
依赖项标签
除了catkin中默认提供的buildtool_depend,所有我们列出的依赖包都已经被添加到build_depend标签中。在本例中,因为在编译和运行时我们需要用到所有指定的依赖包,因此还需要将每一个依赖包分别添加到exec_depend标签中
最后完成简单清爽的package.xml
自定义 CMakeLists.txt
编译ROS程序包
老规矩, 记得事先source你的环境配置(setup)文件,在Ubuntu中的操作指令如下:
source /opt/ros/melodic/setup.bash
使用 catkin_make
以下代码皆无效因为只做讲解
catkin_make 是一个命令行工具,它简化了catkin的标准工作流程。你可以认为catkin_make是在CMake标准工作流程中依次调用了cmake 和 make。
# 在catkin工作空间下
catkin_make [make_targets] [-DCMAKE_VARIABLES=...]
CMake标准工作流程主要可以分为以下几个步骤:
# 在一个CMake项目里
mkdir build
cd build
cmake ..
make
make install # (可选)
每个CMake工程在编译时都会执行这个操作过程。相反,多个catkin项目可以放在工作空间中一起编译,工作流程如下:
# In a catkin workspace
catkin_make
catkin_make install # (可选)
上述命令会编译src文件夹下的所有catkin工程。想更深入了解请参考REP128。 如果你的源代码不在默认工作空间中(~/catkin_ws/src),比如说存放在了my_src中,那么你可以这样来使用catkin_make:
# In a catkin workspace
catkin_make --source my_src
catkin_make install --source my_src # (optionally)
对于catkin_make更高级的使用方法,请参考catkin/commands/catkin_make
开始编译你的程序包
按照之前的创建一个ROS程序包教程,你应该已经创建好了一个catkin 工作空间 和一个名为beginner_tutorials的catkin 程序包。现在切换到catkin workspace 并查看src文件夹:
cd ~/catkin_ws/
ls src
你可以看到一个名为beginner_tutorials的文件夹,这就是你在之前的catkin_create_pkg 教程里创建的。现在我们可以使用catkin_make来编译它了:
catkin_make
报错:
'ascii' codec can't encode characters in position 0-2: ordinal not in range(128)
把 之前修改的package.xml
文件中的中文(只用标签中的就好,注释的无所谓) 改成英文再编译
catkin_make
编译成功.
catkin_make首先输出它所使用到的每个空间所在的路径。更多关于空间的信息,请参考REP128和catkin/workspaces。需要注意的是由于这些空间存在默认配置的原因,有几个文件夹已经在catkin工作空间自动生成了,使用ls查看:
ls
build
目录是build space
的默认所在位置,同时cmake 和 make也是在这里被调用来配置并编译你的程序包。devel
目录是devel space
的默认所在位置, 同时也是在你安装程序包之前存放可执行文件
和库文件
的地方。
一份完整的常用package.xml 和 Cmakelist 例子(復制粘貼用)
這個是我後面自己寫項目的時候不想每次再寫了用來復制粘貼的和上面的教程無關哈。
xml:
<?xml version="1.0"?>
<package format="2">
<name>lane_detector</name>
<version>0.0.0</version>
<description>The lane_detector package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="foia@todo.todo">nvidia</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/lane_detector</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>message_generation</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>sensor_msgs</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>python-numpy</build_depend>
<build_depend>message_runtime</build_depend>
<build_export_depend>python-numpy</build_export_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>sensor_msgs</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<build_export_depend>message_runtime</build_export_depend>
<exec_depend>python-numpy</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>
cmakelist
cmake_minimum_required(VERSION 3.0.2)
project(lane_detector)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## 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
roscpp
rospy
std_msgs
sensor_msgs
message_generation
message_runtime
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
lanes.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## 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
catkin_package(
INCLUDE_DIRS include
# LIBRARIES lane_detector
CATKIN_DEPENDS roscpp rospy message_runtime std_msgs sensor_msgs
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/lane_detector.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/lane_detector_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_lane_detector.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)