ROS通信模式编程

一、话题、服务模式的ROS程序设计，以及实践

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。

打开ubuntu16.04的终端，依次输入以下3个命令创建我们的工作区

• 创建名为ros的工作区

	mkdir -p ~/catkin_ws/src#创建文件夹
	

• 进入创建工作区的src文件夹

cd ~/catkin_ws/src#进入目录
	

• 生成工作区

catkin_init_workspace#初始化，使其成为ROS的工作空间

2.编译工作空间

cd ..
catkin_make

打开对应文件可以看到有如下三个文件夹

3.设置环境变量

source /home/wen/catkin_ws/devel/setup.bash#该环境变量设置只对当前终端有效，wen是用户名
#将上面命令放置到~/.bashrc文件中，让其对所有终端都有效
sudo nano ~/.bashrc

4.检查环境变量

echo $ROS_PACKAGE_PATH

5.创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
#catkin_create_pkg 功能包名字 依赖
#std_msgs：定义的标准的数据结构
#rospy：提供python编程接口 
#roscpp：提供c++编程接口

6.编译功能包

cd ~/catkin_ws
catkin_make

7.创建talker.cpp

#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;
}

8.创建listener.cpp

#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_msgs::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;
}

9.编译

catkin_make

10.运行

roscore
rosrun learning_communication server
rosrun learning_communication client 整数1 整数2

二、ROS的动作编程

1.新建文件 turtleMove.cpp

/*
此程序通过通过动作编程实现由 client 发布一个目标位置
然后控制 Turtle 运动到目标位置的过程
*/
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "comm/turtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<comm::turtleMoveAction> Server;
struct Myturtle
{
float x;
float y;
float theta;
}turtle_original_pose,turtle_target_pose;
ros::Publisher turtle_vel;
void posecallback(const turtlesim::PoseConstPtr& msg)
{
ROS_INFO("turtle1_position:(%f,%f,%f)",msg->x,msg->y,msg->theta);
turtle_original_pose.x=msg->x;
turtle_original_pose.y=msg->y;
turtle_original_pose.theta=msg->theta;
}
// 收到 action 的 goal 后调用该回调函数
void execute(const comm::turtleMoveGoalConstPtr& goal, Server* as)
{
comm::turtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
turtle_target_pose.x=goal->turtle_target_x;
- 3 -
turtle_target_pose.y=goal->turtle_target_y;
turtle_target_pose.theta=goal->turtle_target_theta;
geometry_msgs::Twist vel_msgs;
float break_flag;
while(1)
{
ros::Rate r(10);
vel_msgs.angular.z = 4.0 *
(atan2(turtle_target_pose.y-turtle_original_pose.y,
turtle_target_pose.x-turtle_original_pose.x)-turtle_original_pose.theta);
vel_msgs.linear.x = 0.5 *
sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
pow(turtle_target_pose.y-turtle_original_pose.y, 2));
break_flag=sqrt(pow(turtle_target_pose.x-turtle_original_pose.x, 2) +
pow(turtle_target_pose.y-turtle_original_pose.y, 2));
turtle_vel.publish(vel_msgs);
feedback.present_turtle_x=turtle_original_pose.x;
feedback.present_turtle_y=turtle_original_pose.y;
feedback.present_turtle_theta=turtle_original_pose.theta;
as->publishFeedback(feedback);
ROS_INFO("break_flag=%f",break_flag);
if(break_flag<0.1) break;
r.sleep();
}
// 当 action 完成后，向客户端返回结果
ROS_INFO("TurtleMove is finished.");
as->setSucceeded();
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtleMove");
ros::NodeHandle n,turtle_node;
ros::Subscriber sub =
turtle_node.subscribe("turtle1/pose",10,&posecallback); //订阅小乌龟的位置
信息
turtle_vel =
turtle_node.advertise<geometry_msgs::Twist>("turtle1/cmd_vel",10);//发布控
制小乌龟运动的速度
// 定义一个服务器
- 4 -
Server server(n, "turtleMove", boost::bind(&execute, _1,
&server), false);
// 服务器开始运行
server.start();
ROS_INFO("server has started.");
ros::spin();
return 0;
}

2.新建“发布目标位置文件”turtleMoveClient.cpp

#include <actionlib/client/simple_action_client.h>
#include "comm/turtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionClient<comm::turtleMoveAction>
Client;
struct Myturtle
{
float x;
float y;
float theta;
}turtle_present_pose;
// 当 action 完成后会调用该回调函数一次
void doneCb(const actionlib::SimpleClientGoalState& state,
const comm::turtleMoveResultConstPtr& result)
{
- 5 -
ROS_INFO("Yay! The turtleMove is finished!");
ros::shutdown();
}
// 当 action 激活后会调用该回调函数一次
void activeCb()
{
ROS_INFO("Goal just went active");
}
// 收到 feedback 后调用该回调函数
void feedbackCb(const comm::turtleMoveFeedbackConstPtr& feedback)
{
ROS_INFO(" present_pose : %f %f %f",
feedback->present_turtle_x,
feedback->present_turtle_y,feedback->present_turtle_theta);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtleMoveClient");
// 定义一个客户端
Client client("turtleMove", 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
comm::turtleMoveGoal goal;
goal.turtle_target_x = 1;
goal.turtle_target_y = 1;
goal.turtle_target_theta = 0;
// 发送 action 的 goal 给服务器端，并且设置回调函数
client.sendGoal(goal, &doneCb, &activeCb, &feedbackCb);
ros::spin();
return 0;
}

3.在功能包目录下创建 action 文件夹

写入代码：

# Define the goal
float64 turtle_target_x # Specify Turtle's target position
float64 turtle_target_y
float64 turtle_target_theta
---
# Define the result
float64 turtle_final_x
float64 turtle_final_y
float64 turtle_final_theta
---
# Define a feedback message
- 7 -
float64 present_turtle_x
float64 present_turtle_y
float64 present_turtle_theta

4.修改Cmake文件

在CMakeLists.txt文件末尾添加如下代码：

add_executable(turtleMoveClient src/turtleMoveClient.cpp)
target_link_libraries(turtleMoveClient ${catkin_LIBRARIES})
add_dependencies(turtleMoveClient ${PROJECT_NAME}_gencpp)
add_executable(turtleMove src/turtleMove.cpp)
target_link_libraries(turtleMove ${catkin_LIBRARIES})
add_dependencies(turtleMove ${PROJECT_NAME}_gencpp)

5.修改package.xml文件

将文件中build_depend一栏、替换为如下代码：

<buildtool_depend>catkin</buildtool_depend>
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>actionlib</build_depend>
  <build_depend>actionlib_msgs</build_depend>
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

6.运行程序

catkin_make
source ./devel/setup.bash

新建一个终端，命令为终端2，启动ros

再新建一个终端，命名为终端3，运行我们的小海龟，出现小海龟窗口。

在新建一个终端，命名为终端4，运行我们的目标位置程序代码：

source ./devel/setup.bash
rosrun comm turtleMoveClient
rosrun comm turtleMove

三、总结

ros的动作编程要通过代码，文件，编译各个步骤来完成，通过这一次的实验，我更加细致的了解的各个步骤的具体做法，对于编程得心应手了许多。