系列文章目录
第二章基于ROS实现HelloWorld过程记录
前言
ROS环境已经在Ubuntu16.04中搭建好,接下来就是基于ROS怎么实现一个最经典的HelloWorld程序了。
一、catkin是什么?
catkin是ros官方指定的编译与打包系统,提供有丰富的工具,与CMake类似。
二、创建工程
ROS中的工程结构是这样的:workspace---package,其中workspace即工作空间,由4个子空间构成:src代码空间、build编译空间、devel开发空间、install安装空间。所有参与编译的源码放在【代码空间】中,编译期间生成的一些中间文件存放在【编译空间】中,编译最终生成的可执行文件、库、脚本存放在【开发空间】中,执行make install后,文件被安装到【安装空间】中。
1.创建工作空间
刚开始,工作空间只是表现为一个工作目录,这个目录下必须有一个命名为src的子文件夹,如下:
mkdir catkin_ws
cd catkin_ws
mkdir src
接着,在刚刚创建的src目录下,使用catkin_init_workspace命令来初始化工作空间,如下:
cd src/
catkin_init_workspace
工作空间初始化完成后,会在src目录下生成一个top-level的CMakeLists.txt,到此时,工作空间中目录结构如图下所示:
2.创建功能包
(1)初始化功能包
使用catkin_create_pkg命令创建需要的功能包,举个例子,创建一个say_hello包,则在src目录下执行以下命令:
catkin_create_pkg say_hello
最终会自动生成say_hello功能包中必备的文件,包括包描述文件package.xml与catkin版本的cmake编译脚本CMakeLists.txt文件,如下图:
(2)添加源码文件
在上面一步中创建say_hello包时,CMakeList.txt中默认指定的源码文件为src/say_hello_node.cpp,指定的头文件路径为include,因此,我们为了避免麻烦,沿用这个规范命名,创建一个对应的源码文件,如下:
say_hello_node.cpp文件源码如下:
//lys-20211109 say_hello_node.cpp
#include <iostream>
int main(int argc, char *argv[])
{
printf("hello world!\n");
return 1;
}
3.编译功能包
至此,我们已经完成了大部分的工作,接下来,需要修改功能包中的CMakeLists.txt文件,使得能最终将say_hello_node.cpp文件编译为一个可执行程序。
(1)修改功能包中CMakeLists.txt
取消第5行、115行、116行、132行、138行、142行、145~147行,CMakeLists.txt文件修改如下所示:
cmake_minimum_required(VERSION 3.0.2)
project(say_hello)
## 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)
## 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
# Message1.msg
# Message2.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 # Or other packages containing 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 say_hello
# CATKIN_DEPENDS other_catkin_pkg
# 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/${PROJECT_NAME}/say_hello.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${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/say_hello_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_say_hello.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)
(2)编译生成目标文件
以上修改完成后,使用catkin_make命令编译工作空间中所有的功能包,最终生成对应的目标文件,在工作空间的根目录中执行以下命令:
编译成功的输出信息大概如下图所示:
编译结束后,工作空间中的目录结构大致如下图所示:
4.演示
从上面的say_hello_node.cpp代码可以看出,这个say_hello功能包的目的就是运行后在命令窗口中打印出输出“hello world!”。
在工作空间的根目录中,需要导入ros的一些必要环境变量,之后ros中才的命令工具才能找到我们的say_hello功能包,之后才能使用rosrun指令运行say_hello功能包中的可执行程序,命令如下所示:
source devel/setup.bash
rosrun say_hello node
操作以及效果如下图所示:
总结
以上就是在ROS中实现HelloWorld的过程,涉及到catkin基本工程创建、编译、效果演示。