目录
一.话题、服务模式的ROS程序设计
1.创建工作空间
mkdir -p ~/comm_ws/src
cd ~/comm_ws/src
catkin_init_workspace
编译工作空间
cd ..
catkin_make
设置环境变量
创建功能包
catkin_create_pkg learning_communication std_msgs rospy roscpp
编译功能包
cd ..
catkin_make
source ~/comm_ws/devel/setup.bash
2.在功能包中创建动作编程需要的文件
1.创建小乌龟移动的“服务文件”turtleMove.cpp
进入工程包下的src文件。使用命令:cd ~/catkin_ws/src/ros_communication/src
/*
本程序是为了实现一个为ROS的动作编程,通过本程序是实现client发布一个位置信息给控制海龟移动的turtlel程序,使海龟移动到目标位置
*/
#include<ros/ros.h>
#include<actionlib/server/simple_action_server.h>
#include"learning_communication/turtleMoveAction.h"
#include<turtlesim/Pose.h>
#include<turtlesim/Spawn.h>
#include<geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<learning_communication::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 learning_communication::turtleMoveGoalConstPtr &goal, Server* as)
{
learning_communication::turtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
turtle_target_pose.x=goal->turtle_target_x;
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
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.创建小乌龟“发布目标位置文件”turtleMoveClient.cpp
在同一目录下
#include <actionlib/client/simple_action_client.h>
#include "learning_communication/turtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionClient<learning_communication::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 learning_communication::turtleMoveResultConstPtr &result)
{
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 learning_communication::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
learning_communication::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
创建turtleMove.action
# 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
float64 present_turtle_x
float64 present_turtle_y
float64 present_turtle_theta
3.修改CMakeLists.txt的内容
cd ~comm_ws/learn_communication
sudo gedit CMakelists.txt
在文件末尾添加
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)
在该文件中找到 find_package 函数方法,修改为如下
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
actionlib_msgs
actionlib
)
找到 add_action_files 函数一项
add_action_files(
FILES
turtleMove.action
)
找到 generate_messages 函数一项
generate_messages(
DEPENDENCIES
std_msgs
actionlib_msgs
)
找到 catkin_package 函数一项
# INCLUDE_DIRS include
# LIBRARIES comm
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
CATKIN_DEPENDS roscpp rospy std_msgs
message_runtime
4.修改package.xml中内容
将文件中 build_depend 一栏,exec_depend 一栏改为
<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>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
5.运行
打开第一个终端,进入工作空间并编译
cd ~/comm_ws
catkin_make
source ./devel/setup.bash
rosrun learning_communication turtleMove
第二个终端,启动ros roscore
打三个终端,运行小海龟 rosrun turtlesim turtlesim_node
第四个终端,
cd ~/catkin_ws
source ./devel/setup.bash
rosrun learning_communitcation turtleMoveClient
二.ROS分布式通信
1.查看ip地址和主机名称
ifconfig #查看ip地址
hostname #查看主机名
2.修改 hosts 文件,在该文件中加入对方的IP地址和计算机名:
cd /etc
sudo gedit hosts
3.配置主机IP
添加环境变量 cd ~/.banshrc
export ROS_MASTER_URI=http://192.168.136.131:11311 //主机ip或名称
export ROS_HOSTNAME=192.168.136.131
4.配置从机IP
export ROS_MASTER_URI=http://192.168.136.131:11311 //主机ip或名称
export ROS_HOSTNAME=192.168.136.130 //从机ip或名称
5.控制小海龟
主机上运行小乌龟的仿真器
roscore
rosrun turtlesim turtlesim_node
从机上控制小乌龟运动
rosrun turtlesim turtle_teleop_key