Robot Operating System——初探可执行文件、动态库运行模式

不管是在Windows还是在Linux操作系统中，可运行的逻辑不是存在于可执行程序中，就是存在于动态库中。如果我们的逻辑比较简单，不会频繁修改，可以直接在可执行文件中保存所有逻辑。如果我们的逻辑比较复杂，需要做模块化运行或发布，则我们可以将独立的功能放在动态库中，按需加载和运行。
ROS2也是存在这两种模式。我们将使用案例逐个讲解和分析：

可执行文件

这个案例来源于intra_process_demo/src/two_node_pipeline/two_node_pipeline.cpp，但是做了一些修改。我们新增了xyz_print函数，并且用extern "C"申明，这样编译器就会直接用函数名作为符号名，而不会去做转码，以方便后续我们确认编译结果。

// Copyright 2015 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <chrono>
#include <cinttypes>
#include <cstdio>
#include <memory>
#include <string>
#include <utility>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/int32.hpp"

using namespace std::chrono_literals;

extern "C" {
  void xyz_print(bool check) {
    if (check) {
      printf("xyz_print: true\n");
    } else {
      printf("xyz_print: false\n");
    }
  }
}

// Node that produces messages.
struct Producer : public rclcpp::Node
{
  Producer(const std::string & name, const std::string & output)
  : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
  {
    xyz_print(get_node_options().use_intra_process_comms());
    // Create a publisher on the output topic.
    pub_ = this->create_publisher<std_msgs::msg::Int32>(output, 10);
    std::weak_ptr<std::remove_pointer<decltype(pub_.get())>::type> captured_pub = pub_;
    // Create a timer which publishes on the output topic at ~1Hz.
    auto callback = [captured_pub]() -> void {
        auto pub_ptr = captured_pub.lock();
        if (!pub_ptr) {
          return;
        }
        static int32_t count = 0;
        std_msgs::msg::Int32::UniquePtr msg(new std_msgs::msg::Int32());
        msg->data = count++;
        printf(
          "Published message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
          reinterpret_cast<std::uintptr_t>(msg.get()));
        pub_ptr->publish(std::move(msg));
      };
    timer_ = this->create_wall_timer(1s, callback);
  }

  rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr pub_;
  rclcpp::TimerBase::SharedPtr timer_;
};

// Node that consumes messages.
struct Consumer : public rclcpp::Node
{
  Consumer(const std::string & name, const std::string & input)
  : Node(name, rclcpp::NodeOptions().use_intra_process_comms(true))
  {
    xyz_print(get_node_options().use_intra_process_comms());
    // Create a subscription on the input topic which prints on receipt of new messages.
    sub_ = this->create_subscription<std_msgs::msg::Int32>(
      input,
      10,
      [](std_msgs::msg::Int32::UniquePtr msg) {
        printf(
          " Received message with value: %d, and address: 0x%" PRIXPTR "\n", msg->data,
          reinterpret_cast<std::uintptr_t>(msg.get()));
      });
  }

  rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub_;
};

int main(int argc, char * argv[])
{
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);
  rclcpp::init(argc, argv);
  rclcpp::executors::SingleThreadedExecutor executor;

  auto producer = std::make_shared<Producer>("producer", "number");
  auto consumer = std::make_shared<Consumer>("consumer", "number");

  executor.add_node(producer);
  executor.add_node(consumer);
  executor.spin();

  rclcpp::shutdown();

  return 0;
}

我们在这个文件中，实现了继承于rclcpp::Node的两个类：Consumer和Producer。然后在main函数中创建了这两个类的对象，并加以使用。

在CMakeLists.txt中，相关指令如下

add_executable(two_node_pipeline
  src/two_node_pipeline/two_node_pipeline.cpp)
target_link_libraries(two_node_pipeline
  rclcpp::rclcpp
  ${std_msgs_TARGETS})

最终这两个类的源码被编译到可执行文件中。我们可以使用objdump，通过xyz_print这样的标记，来确认这一点。

动态库

这个例子我们参考composition/src/manual_composition.cpp和composition/src/talker_component.cpp。

talker_component

我们也对这个代码做了修改，新增了xyz_print函数的实现和调用。

// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include "composition/talker_component.hpp"

#include <chrono>
#include <iostream>
#include <memory>
#include <utility>

#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.hpp"

using namespace std::chrono_literals;

extern "C" {
  void xyz_print(bool check) {
    if (check) {
      printf("xyz_print: true\n");
    } else {
      printf("xyz_print: false\n");
    }
  }
}
namespace composition
{

// Create a Talker "component" that subclasses the generic rclcpp::Node base class.
// Components get built into shared libraries and as such do not write their own main functions.
// The process using the component's shared library will instantiate the class as a ROS node.
Talker::Talker(const rclcpp::NodeOptions & options)
: Node("talker", options), count_(0)
{
  xyz_print(get_node_options().use_intra_process_comms());
  // Create a publisher of "std_mgs/String" messages on the "chatter" topic.
  pub_ = create_publisher<std_msgs::msg::String>("chatter", 10);

  // Use a timer to schedule periodic message publishing.
  timer_ = create_wall_timer(1s, [this]() {return this->on_timer();});
}

void Talker::on_timer()
{
  auto msg = std::make_unique<std_msgs::msg::String>();
  msg->data = "Hello World: " + std::to_string(++count_);
  RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", msg->data.c_str());
  std::flush(std::cout);

  // Put the message into a queue to be processed by the middleware.
  // This call is non-blocking.
  pub_->publish(std::move(msg));
}

}  // namespace composition

#include "rclcpp_components/register_node_macro.hpp"

// Register the component with class_loader.
// This acts as a sort of entry point, allowing the component to be discoverable when its library
// is being loaded into a running process.
RCLCPP_COMPONENTS_REGISTER_NODE(composition::Talker)

这个文件包含了作为消息发送者的主要逻辑。它会被编译成动态链接库。

add_library(talker_component SHARED
  src/talker_component.cpp)
target_compile_definitions(talker_component
  PRIVATE "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(talker_component
  "rclcpp"
  "rclcpp_components"
  "std_msgs")
rclcpp_components_register_nodes(talker_component "composition::Talker")
set(node_plugins "${node_plugins}composition::Talker;$<TARGET_FILE:talker_component>\n")

manual_composition

manual_composition.cpp在内部构造了包含Talker在内的4个类的对象，然后加以使用。它会被编译成可执行文件。

// Copyright 2016 Open Source Robotics Foundation, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <memory>

#include "composition/client_component.hpp"
#include "composition/listener_component.hpp"
#include "composition/talker_component.hpp"
#include "composition/server_component.hpp"
#include "rclcpp/rclcpp.hpp"

int main(int argc, char * argv[])
{
  // Force flush of the stdout buffer.
  setvbuf(stdout, NULL, _IONBF, BUFSIZ);

  // Initialize any global resources needed by the middleware and the client library.
  // This will also parse command line arguments one day (as of Beta 1 they are not used).
  // You must call this before using any other part of the ROS system.
  // This should be called once per process.
  rclcpp::init(argc, argv);

  // Create an executor that will be responsible for execution of callbacks for a set of nodes.
  // With this version, all callbacks will be called from within this thread (the main one).
  rclcpp::executors::SingleThreadedExecutor exec;
  rclcpp::NodeOptions options;

  // Add some nodes to the executor which provide work for the executor during its "spin" function.
  // An example of available work is executing a subscription callback, or a timer callback.
  auto talker = std::make_shared<composition::Talker>(options);
  exec.add_node(talker);
  auto listener = std::make_shared<composition::Listener>(options);
  exec.add_node(listener);
  auto server = std::make_shared<composition::Server>(options);
  exec.add_node(server);
  auto client = std::make_shared<composition::Client>(options);
  exec.add_node(client);

  // spin will block until work comes in, execute work as it becomes available, and keep blocking.
  // It will only be interrupted by Ctrl-C.
  exec.spin();

  rclcpp::shutdown();

  return 0;
}

我们粗略看这个文件，好像Talker、Listener、Server和Client这四个类的实现被编译到可执行文件中，但是实际并不如此。
我们通过objdump指令查看反汇编逻辑是否包含我们安插到Talker类中的xyz_print函数。实际情况是一无所获。这说明Talker这些类的实现并没有被编译到可执行文件中。

我们看其CMakeLists.txt

add_executable(manual_composition
  src/manual_composition.cpp)
target_link_libraries(manual_composition
  talker_component
  listener_component
  server_component
  client_component)
ament_target_dependencies(manual_composition
  "rclcpp")

可以看到的是上述四个类所在的动态库是在链接可执行文件时，被隐式加载的。
（见composition/build/composition/CMakeFiles/manual_composition.dir/link.txt）

/usr/bin/c++ CMakeFiles/manual_composition.dir/src/manual_composition.cpp.o -o manual_composition  -Wl,-rpath,/home/fangliang/github/ros2/demos/composition/build/composition:/opt/ros/jazzy/lib: libtalker_component.so liblistener_component.so libserver_component.so libclient_component.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_generator_py.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libstd_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/libcomponent_manager.so /opt/ros/jazzy/lib/librclcpp.so /opt/ros/jazzy/lib/liblibstatistics_collector.so /opt/ros/jazzy/lib/librcl.so /opt/ros/jazzy/lib/librmw_implementation.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_generator_py.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libtype_description_interfaces__rosidl_generator_c.so /opt/ros/jazzy/lib/librcl_yaml_param_parser.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_generator_py.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/librosgraph_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_generator_py.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libstatistics_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/libtracetools.so -llttng-ust -llttng-ust-common -rdynamic -ldl /opt/ros/jazzy/lib/librcl_logging_interface.so /opt/ros/jazzy/lib/libclass_loader.so /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_generator_py.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_generator_py.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_typesupport_c.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libcomposition_interfaces__rosidl_generator_c.so /opt/ros/jazzy/lib/librcl_interfaces__rosidl_generator_c.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_generator_py.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libexample_interfaces__rosidl_generator_c.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libaction_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/librosidl_typesupport_fastrtps_c.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/librosidl_typesupport_fastrtps_cpp.so /opt/ros/jazzy/lib/librmw.so /opt/ros/jazzy/lib/librosidl_dynamic_typesupport.so /opt/ros/jazzy/lib/libfastcdr.so.2.2.2 /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/librosidl_typesupport_introspection_cpp.so /opt/ros/jazzy/lib/librosidl_typesupport_introspection_c.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_cpp.so /opt/ros/jazzy/lib/librosidl_typesupport_cpp.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_generator_py.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libservice_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/libbuiltin_interfaces__rosidl_generator_c.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_typesupport_c.so /opt/ros/jazzy/lib/libunique_identifier_msgs__rosidl_generator_c.so /opt/ros/jazzy/lib/librosidl_typesupport_c.so /opt/ros/jazzy/lib/librcpputils.so /opt/ros/jazzy/lib/librosidl_runtime_c.so /opt/ros/jazzy/lib/librcutils.so -ldl -Wl,-rpath-link,/opt/ros/jazzy/lib 

至于动态链接库的更多加载方式，后面我们会做分析，本文只是抛砖引玉。