目录
一、工作空间的创建
首先创建一个工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
然后进行工作空间的编译
cd ~/catkin_ws
catkin_make
设置环境变量
source devel/setup.bash
进行环境变量的检查
echo $ROS_PACKAGE_PATH
若打印的路径中包括当前工作空间的路径,则说明环境变量设置成功
如果想要设置的环境变量对所有的终端都生效
sudo gedit ~/.bashrc
//在文件末尾添加
source /home/用户名/catkin_ws/devel/setup.bash
//使配置好的环境变量对所有终端都生效
source ~/.bashrc
再次使用echo命令进行环境变量的检查即可
二、创建功能包
命令格式:
catkin_create_pkg <package_name> [depend1] [depend2] [depend3]
同一个工作空间下,不允许存在同名功能包
不同工作空间下,允许存在同名功能包
在catkin_ws/src路径下创建功能包,并设置依赖包
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
编译工作空间
cd ~/catkin_ws
catkin_make
三、话题编程
ros的通信机制是分布式通信机制
话题编程的流程:
——创建发布者
——创建订阅者
——添加编译选项
——运行可执行程序
创建发布者
发布者的实现流程:
——初始化ros节点
——向ros master注册节点信息,包括发布的话题名与话题的消息类型
——按照一定的频率循环发布消息
1、在 ~/catkin_ws/src/learning_communicaiton/src下创建talker.cpp文件
cd ~/catkin_ws/src/learning_communication/src
gedit talker
在文件中写入以下代码
#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;
//创建一个Publisher,发布名为chatter的topic,消息类型为std_msgs::String
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())
{
//初始化std_msgs::String类型的消息
std_msgs::String msg;
std::stringstream ss;
ss<<"hello world"<<count;
msg.data = ss.str();
//发布消息
ROS_INFO("%s", msg.data.c_str());
chatter_pub.publish(msg);
//循环等待回调函数
ros::spinOnce();
//接受循环频率延时
loop_rate.sleep();
++count;
}
return 0;
}
创建订阅者
订阅者的实现流程
——初始化ros节点
——订阅所需要的话题
——循环等待话题消息。接受后进入回调函数
——在回调函数中完成消息处理
在 ~/catkin_ws/src/learning_communicaiton/src下创建listener.cpp文件
vi listener.cpp
写入以下代码
#include "ros/ros.h"
#include "std_msgs/String.h"
//接收到订阅的消息,会进入消息的回调函数
void chatterCallback(const std_mmsgs::String::ConstPtr& msg)
{
//将接收到的消息打印处理
ROS_INFO("I heard: [%s]",msg->data.c_str());
}
int main(int argc, char **argv)
{
//初始化ROS节点
ros::init(argc, argv, "listener");
//创建节点句柄
ros::NodeHandle n;
//创建一个Subscriber,订阅名为chatter的topic,注册回调函数chatterCallback
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
//循环等待回调函数
ros::spin();
return 0;
}
进行代码的编译
1.编译配置文件CMakeLists.txt
cd ~/catkinx_ws/src/learning_communicaiton
ls -a
//此时会看到显示出来的CMakeLists.txt文件
gedit CMakeLists.txt
在配置文件中加入以下代码
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
然后进行工作空间的编译
cd ~/catkin_ws
catkin_make
编译完成并且正确会看到以下提示信息
运行可执行文件
roscore
然后分别新建两个终端,依次输入
rosrun learning_communication talker
rosrun learning_communication listener
运行话题发布者端口
运行话题订阅者端口
此时说明操作成功,已经成功实现了话题编程
自定义话题编程
1、创建一个msg文件夹
mkdir ~/catkin_ws/src/learning_communication/msg
cd ~/catkin_ws/src/learning_communication/msg
sudo vi Person.msg
在其中写入以下代码
string name
uint8 sex
uint8 age
uint8 unknown=0
uint8 male=1
uint8 female=2
然后返回到learning_communication目录下,进行package.xml文件的编辑
在其中添加以下功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
注意:部分ros版本中exec_depend需要修改为run_depend
gedit CMakeLists.txt
在CMakeListis.txt文件中添加
find_package(catkin REQUIRED COMPONENTS
std_msgs
roscpp
message_generation
)
catkin_package(
CATKIN_DEPENDS std_msgs roscpp message_runtime
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
my_Mecanum_speed.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
然后编译即可
cd ~/catkin_ws
catkin_make
然后在现有终端直接输入命令查看自定义消息即可
rosmsg show Person
四、服务编程
服务编程的流程:
——创建服务器server
——创建客户端client
——添加编译选项
——运行可执行程序
1、创建srv文件
mkdir ~/catkin_ws/src/learning_communication/srv
cd ~/catkin_ws/src/learning_communication/srv
sudo vi AddTwoInts.srv
写入以下代码
int64 a
int64 b
---
int64 sum
2、添加功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
3、编辑CMakeLists.txt文件
添加以下代码即可(已经实现了前两步并且添加过功能包依赖的话只需要再添加以下一节语句)
add_service_files(FILES AddTwoInts.srv)
4、创建服务器与客户端
在~catkin_ws/src/learning_communication/src路径下创建server.cpp文件并写入以下代码
#include<ros/ros.h>
#include"learning_communication/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;
}
同样路径下创建client.cpp文件写入以下代码
#include<cstdlib>
#include<ros/ros.h>
#include"learning_communication/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;
}
设置配置文件
在CMakelist.txt文件中添加以下依赖
add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server ${PROJECT_NAME}_gencpp)
add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client ${PROJECT_NAME}_gencpp)
然后进行编译
cd ~/catkin_ws
catkin_make
看到以下信息提示即为编译成功
然后跟话题编程执行过程相同
roscore
rosrun learning_communication server
rosrun learning_communication client 15 26
直接执行即可。
五、动作编程
创建一个action文件
mkdir ~/catkin_ws/src/learning_communication/action
cd ~/catkin_ws/src/learning_communication/action
gedit DoDishes.action
然后在其中写入以下内容
#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
返回learning_communication 路径下进行package.xml文件的配置
添加以下依赖
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
然后配置CMakeLists.txt文件
添加以下内容
find_package(catkin REQUIRED actionlib_msgs actionlib)
add_action_files(DIRECTORY action FILES DoDishes.action)
generate_messages(DEPENDENCIES actionlib_msgs)
然后创建服务器和客户端
cd src
进入src路径下创建DoDishes_server.cpp
#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "learning_communication/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;
}
和
DoDishes_client.cpp
#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "learning_communication/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;
}
然后再编辑CMakeLists.txt文件添加编译所需依赖
add_executable(DoDishes_server src/DoDishes_server.cpp)
target_link_libraries(DoDishes_server ${catkin_LIBRARIES})
add_dependencies(DoDishes_server ${${PROJECT_NAME}_EXPORTED_TARGETS})
add_executable(DoDishes_client src/DoDishes_client.cpp)
target_link_libraries(DoDishes_client ${catkin_LIBRARIES})
add_dependencies(DoDishes_client ${${PROJECT_NAME}_EXPORTED_TARGETS})
然后进行工作空间的编译
cd ~/catkin_ws
catkin_make
然后进行正常执行即可
roscore
rosrun learning_communication DoDishes_client
rosrun learning_communication DoDishes_server