【手把手做ROS2机器人系统开发七】扩展ROS2软件包的接口

扩展ROS2软件包的接口

        回顾上一章节，讲解了如何创建用户自定义msg和srv文件对应的软件包。这章节延续上一节的内容，扩展ROS2软件包的接口。将消息msg直接定义节点软件包中，扩展软件包的功能。废话不多说，我们进入正题中去。

一、程序编写

1、创建软件包

ros2 pkg create --build-type ament_cmake more_interfaces

 2、创建消息文件夹

mkdir more_interfaces/msg

3、软件包添加新消息

src/more_interfaces/msg/AddressBook.msg

bool FEMALE=true
bool MALE=false

string first_name
string last_name
bool gender
uint8 age
string address

4、修改软件包设置

src/more_interfaces/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>more interfaces</description>
  <maintainer email="motion_gui@126.com">gmotion</maintainer>
  <license>Apache License 2.0</license>

  <buildtool_depend>ament_cmake</buildtool_depend>

  <build_depend>rosidl_default_generators</build_depend>
  <exec_depend>rosidl_default_runtime</exec_depend>
  <member_of_group>rosidl_interface_packages</member_of_group>


  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

5、修改编译选项

src/more_interfaces/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 dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

#添加ros节点包
find_package(rclcpp REQUIRED)

#添加消息生成器软件包
find_package(rosidl_default_generators REQUIRED)

#添加自定义的消息文件
set(msg_files
  "msg/AddressBook.msg"
  )


#添加消息接口
rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
  )

#添加运行依赖
ament_export_dependencies(rosidl_default_runtime)

#添加执行路径
add_executable(publish_address_book 
  src/publish_address_book.cpp
  )

ament_target_dependencies(publish_address_book
  "rclcpp"
  )


#针对接口内部连接
rosidl_target_interfaces(publish_address_book
${PROJECT_NAME} "rosidl_typesupport_cpp")

#软件包生成安装包
install(TARGETS publish_address_book
DESTINATION lib/${PROJECT_NAME}
)



if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

6、编写发布者程序

/**
 * @file publish_address_book.cpp
 * @author gmotion (motion_gui@126.com)
 * @brief 带接口的发布者程序
 * @version 0.1
 * @date 2022-06-11
 * @copyright gmotion Copyright (c) 2022
 */

#include <iostream>     //系统标准接口
#include <chrono>       //处理时间类
#include <functional>   //函数对象
#include <memory>       //内存管理
#include <string>       //字符串

#include <rclcpp/rclcpp.hpp>
#include <more_interfaces/msg/address_book.hpp>

using namespace std::chrono_literals;

class AddressBookPublisher : public rclcpp::Node
{
public:
    //构造函数
    AddressBookPublisher() : Node("address_book_publisher")
    {
        //初始化发布者
        publisher_ = this->create_publisher<more_interfaces::msg::AddressBook>("address_book",10);
        //创建回调函数
        auto publish_msg=[this]()->void{
            auto messgae=more_interfaces::msg::AddressBook();
            messgae.first_name="gui";
            messgae.last_name="zhiwei";
            messgae.age=32;
            messgae.gender = messgae.MALE;
            messgae.address="unknow";

            std::cout << "Publishing Contact\n Name : " << messgae.first_name << messgae.last_name
                <<std::endl;

            this->publisher_->publish(messgae);
        };
        //初始化时钟
        timer_ = this->create_wall_timer(1s,publish_msg);
    }
    //析构函数
    ~AddressBookPublisher()
    {

    }
private:
    //发布者
    rclcpp::Publisher<more_interfaces::msg::AddressBook>::SharedPtr publisher_;
    //时间节点控制
    rclcpp::TimerBase::SharedPtr timer_;
};

int main(int argc,char * argv[])
{
    rclcpp::init(argc,argv);
    rclcpp::spin(std::make_shared<AddressBookPublisher>());
    rclcpp::shutdown();
}

7、编程细节部分

#include <more_interfaces/msg/address_book.hpp>

头文件找不到，因为程序未进行编译操作。

可以提前预先编译

colcon build --packages-up-to more_interfaces

8、补充说明多个消息文件和多个服务文件-编译选项规则

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})

二、程序测试

1、编译软件包

colcon build --packages-up-to more_interfaces

 2、测试运行

 . install/setup.bash 
ros2 run more_interfaces publish_address_book

 3、话题订阅测试

. install/setup.bash 
ros2 topic list
os2 run more_interfaces publish_address_book 

         自定义话题准确发出，通过测试，可以正常在系统订阅消息。达到本章节内容指示点，有问题可以发邮件和留言。有不足之处,请多多指教。谢谢大家的阅读，下一章节，我们再会。