本文系统配置ubuntu20.04+ros1,是初学者按照ros官网初级教程学习记录,仅作个人学习记录,如有问题可联系本文作者。
附上ros1官网学习教程链接Documentation - ROS Wikihttps://wiki.ros.org/ros2官网学习教程链接Project Governance — ROS 2 Documentation: Rolling documentationhttps://docs.ros.org/en/rolling/The-ROS2-Project/Governance.html
一、编写发布者节点
“节点”是连接到ROS网络的可执行文件。在这里,我们将创建talker(发布者)节点,该节点将不断广播消息。
将当前目录切换到之前的教程中创建的beginner_tutorials包中:
$ roscd beginner_tutorials
如果出现如上结果,则
输入
$ cd ~/catkin_ws $ source devel/setup.bash $ roscd beginner_tutorials
1.1代码
首先让我们创建一个src目录来存放我们的源代码文件:
$ mkdir src $ cd src
在src目录下创建talker.cpp文件
$ gedit talker.cpp
并粘贴以下内容进去:
https://raw.github.com/ros/ros_tutorials/kinetic-devel/roscpp_tutorials/talker/talker.cpp
27 #include "ros/ros.h" 28 #include "std_msgs/String.h" 29 30 #include <sstream> 31 32 /** 33 * This tutorial demonstrates simple sending of messages over the ROS system. 34 */ 35 int main(int argc, char **argv) 36 { 37 /** 38 * The ros::init() function needs to see argc and argv so that it can perform 39 * any ROS arguments and name remapping that were provided at the command line. 40 * For programmatic remappings you can use a different version of init() which takes 41 * remappings directly, but for most command-line programs, passing argc and argv is 42 * the easiest way to do it. The third argument to init() is the name of the node. 43 * 44 * You must call one of the versions of ros::init() before using any other 45 * part of the ROS system. 46 */ 47 ros::init(argc, argv, "talker"); 48 49 /** 50 * NodeHandle is the main access point to communications with the ROS system. 51 * The first NodeHandle constructed will fully initialize this node, and the last 52 * NodeHandle destructed will close down the node. 53 */ 54 ros::NodeHandle n; 55 56 /** 57 * The advertise() function is how you tell ROS that you want to 58 * publish on a given topic name. This invokes a call to the ROS 59 * master node, which keeps a registry of who is publishing and who 60 * is subscribing. After this advertise() call is made, the master 61 * node will notify anyone who is trying to subscribe to this topic name, 62 * and they will in turn negotiate a peer-to-peer connection with this 63 * node. advertise() returns a Publisher object which allows you to 64 * publish messages on that topic through a call to publish(). Once 65 * all copies of the returned Publisher object are destroyed, the topic 66 * will be automatically unadvertised. 67 * 68 * The second parameter to advertise() is the size of the message queue 69 * used for publishing messages. If messages are published more quickly 70 * than we can send them, the number here specifies how many messages to 71 * buffer up before throwing some away. 72 */ 73 ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000); 74 75 ros::Rate loop_rate(10); 76 77 /** 78 * A count of how many messages we have sent. This is used to create 79 * a unique string for each message. 80 */ 81 int count = 0; 82 while (ros::ok()) 83 { 84 /** 85 * This is a message object. You stuff it with data, and then publish it. 86 */ 87 std_msgs::String msg; 88 89 std::stringstream ss; 90 ss << "hello world " << count; 91 msg.data = ss.str(); 92 93 ROS_INFO("%s", msg.data.c_str()); 94 95 /** 96 * The publish() function is how you send messages. The parameter 97 * is the message object. The type of this object must agree with the type 98 * given as a template parameter to the advertise<>() call, as was done 99 * in the constructor above. 100 */ 101 chatter_pub.publish(msg); 102 103 ros::spinOnce(); 104 105 loop_rate.sleep(); 106 ++count; 107 } 108 109 110 return 0; 111 }
1.2解释
现在,让我们把代码分解。
27 #include "ros/ros.h"
28
ros/ros.h是一个很便利的include,它包括了使用ROS系统中最常见的公共部分所需的全部头文件。
28 #include "std_msgs/String.h"
29
它引用了位于std_msgs包里的std_msgs/String消息。这是从std_msgs包里的String.msg文件中自动生成的头文件。有关消息定义的更多信息,请参见msg页面。
47 ros::init(argc, argv, "talker");
初始化ROS。这使得ROS可以通过命令行进行名称重映射——不过目前不重要。这也是我们给节点指定名称的地方。节点名在运行的系统中必须是唯一的。注意:名称必须是基本名称,例如不能包含任何斜杠/。
54 ros::NodeHandle n;
为这个进程的节点创建句柄。创建的第一个NodeHandle实际上将执行节点的初始化,而最后一个被销毁的NodeHandle将清除节点所使用的任何资源。
73 ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
告诉主节点我们将要在chatter话题上发布一个类型为std_msgs/String的消息。这会让主节点告诉任何正在监听chatter的节点,我们将在这一话题上发布数据。第二个参数是发布队列的大小。在本例中,如果我们发布得太快,它将最多缓存1000条消息,不然就会丢弃旧消息。
NodeHandle::advertise()返回一个ros::Publisher对象,它有2个目的:其一,它包含一个publish()方法,可以将消息发布到创建它的话题上;其二,当超出范围时,它将自动取消这一宣告操作。
75 ros::Rate loop_rate(10);
ros::Rate对象能让你指定循环的频率。它会记录从上次调用Rate::sleep()到现在已经有多长时间,并休眠正确的时间。在本例中,我们告诉它希望以10Hz运行。
81 int count = 0;
82 while (ros::ok())
83 {
默认情况下,roscpp将安装一个SIGINT处理程序,它能够处理Ctrl+C操作,让ros::ok()返回false。
ros::ok()在以下情况会返回false:
- 收到SIGINT信号(Ctrl+C)
- 被另一个同名的节点踢出了网络
-
ros::shutdown()被程序的另一部分调用
-
所有的ros::NodeHandles都已被销毁
一旦ros::ok()返回false, 所有的ROS调用都会失败。
87 std_msgs::String msg;
88
89 std::stringstream ss;
90 ss << "hello world " << count;
91 msg.data = ss.str();
我们使用一种消息自适应的类在ROS上广播消息,该类通常由msg文件生成。更复杂的数据类型也可以,不过我们现在将使用标准的String消息,它有一个成员:data。
101 chatter_pub.publish(msg);
现在,我们实际上把这个信息广播给了任何已连接的节点。
93 ROS_INFO("%s", msg.data.c_str());
ROS_INFO和它的朋友们可用来取代printf/cout。参见rosconsole文档获取更多信息。
103 ros::spinOnce();
此处调用ros::spinOnce()对于这个简单程序来说没啥必要,因为我们没有接收任何回调。然而,如果要在这个程序中添加订阅,但此处没有ros::spinOnce()的话,回调函数将永远不会被调用。所以还是加上吧。
105 loop_rate.sleep();
现在我们使用ros::Rate在剩下的时间内睡眠,以让我们达到10Hz的发布速率。
对上边的内容进行一下总结:
- 初始化ROS系统
-
向主节点宣告我们将要在chatter话题上发布std_msgs/String类型的消息
-
以每秒10次的速率向chatter循环发布消息
接下来我们要编写一个节点来接收消息。
二、编写订阅者节点
2.1代码
在src目录下创建listener.cpp文件
$ gedit listener.cpp
并粘贴以下内容进去:
https://raw.github.com/ros/ros_tutorials/kinetic-devel/roscpp_tutorials/listener/listener.cpp
28 #include "ros/ros.h" 29 #include "std_msgs/String.h" 30 31 /** 32 * This tutorial demonstrates simple receipt of messages over the ROS system. 33 */ 34 void chatterCallback(const std_msgs::String::ConstPtr& msg) 35 { 36 ROS_INFO("I heard: [%s]", msg->data.c_str()); 37 } 38 39 int main(int argc, char **argv) 40 { 41 /** 42 * The ros::init() function needs to see argc and argv so that it can perform 43 * any ROS arguments and name remapping that were provided at the command line. 44 * For programmatic remappings you can use a different version of init() which takes 45 * remappings directly, but for most command-line programs, passing argc and argv is 46 * the easiest way to do it. The third argument to init() is the name of the node. 47 * 48 * You must call one of the versions of ros::init() before using any other 49 * part of the ROS system. 50 */ 51 ros::init(argc, argv, "listener"); 52 53 /** 54 * NodeHandle is the main access point to communications with the ROS system. 55 * The first NodeHandle constructed will fully initialize this node, and the last 56 * NodeHandle destructed will close down the node. 57 */ 58 ros::NodeHandle n; 59 60 /** 61 * The subscribe() call is how you tell ROS that you want to receive messages 62 * on a given topic. This invokes a call to the ROS 63 * master node, which keeps a registry of who is publishing and who 64 * is subscribing. Messages are passed to a callback function, here 65 * called chatterCallback. subscribe() returns a Subscriber object that you 66 * must hold on to until you want to unsubscribe. When all copies of the Subscriber 67 * object go out of scope, this callback will automatically be unsubscribed from 68 * this topic. 69 * 70 * The second parameter to the subscribe() function is the size of the message 71 * queue. If messages are arriving faster than they are being processed, this 72 * is the number of messages that will be buffered up before beginning to throw 73 * away the oldest ones. 74 */ 75 ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback); 76 77 /** 78 * ros::spin() will enter a loop, pumping callbacks. With this version, all 79 * callbacks will be called from within this thread (the main one). ros::spin() 80 * will exit when Ctrl-C is pressed, or the node is shutdown by the master. 81 */ 82 ros::spin(); 83 84 return 0; 85 }
2.2解释
下面我们将逐条解释代码,之前说过的代码就不再赘述了。
34 void chatterCallback(const std_msgs::String::ConstPtr& msg)
35 {
36 ROS_INFO("I heard: [%s]", msg->data.c_str());
37 }
这是一个回调函数,当有新消息到达chatter话题时它就会被调用。该消息是用boost shared_ptr智能指针传递的,这意味着你可以根据需要存储它,即不用担心它在下面被删除,又不必复制底层(underlying)数据。
75 ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
通过主节点订阅chatter话题。每当有新消息到达时,ROS将调用chatterCallback()函数。第二个参数是队列大小,以防我们处理消息的速度不够快。在本例中,如果队列达到1000条,再有新消息到达时旧消息会被丢弃。
NodeHandle::subscribe()返回一个ros::Subscriber对象,你必须保持它,除非想取消订阅。当Subscriber对象被析构,它将自动从chatter话题取消订阅。
还有另一些版本的NodeHandle::subscribe()函数,可以让你指定为类的成员函数,甚至是可以被Boost.Function对象调用的任何函数。请参见roscpp概览。
82 ros::spin();
ros::spin()启动了一个自循环,它会尽可能快地调用消息回调函数。不过不要担心,如果没有什么事情,它就不会占用太多CPU。另外,一旦ros::ok()返回false,ros::spin()就会退出,这意味着ros::shutdown()被调用了,主节点让我们关闭(或是因为按下Ctrl+C,它被手动调用)。
还有其他的方法可以进行回调,但是我们在这里不考虑这些。可以自己研究下roscpp_tutorials包中的一些示例程序,或看看roscpp概览。
同样地,我们来总结一下:
- 初始化ROS系统
-
订阅chatter话题
- 开始spin自循环,等待消息的到达
-
当消息到达后,调用chatterCallback()函数
2.3构建节点
在上一篇教程中使用了catkin_create_pkg,它创建了一个和一个package.xml和CMakeLists.txt文件。
生成的CMakeLists.txt看起来应该是这样的(修改自创建ROS消息和服务教程,删除了未使用的注释和示例):
注意中间的注释行不用管,去掉注释行就是如下内容。
1 cmake_minimum_required(VERSION 2.8.3) 2 project(beginner_tutorials) 3 4 ## Find catkin and any catkin packages 5 find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg) 6 7 ## Declare ROS messages and services 8 add_message_files(DIRECTORY msg FILES Num.msg) 9 add_service_files(DIRECTORY srv FILES AddTwoInts.srv) 10 11 ## Generate added messages and services 12 generate_messages(DEPENDENCIES std_msgs) 13 14 ## Declare a catkin package 15 catkin_package()
不要担心修改注释(#)示例,只需将这几行添加到CMakeLists.txt文件的底部:
add_executable(talker src/talker.cpp) target_link_libraries(talker ${catkin_LIBRARIES}) add_dependencies(talker beginner_tutorials_generate_messages_cpp) add_executable(listener src/listener.cpp) target_link_libraries(listener ${catkin_LIBRARIES}) add_dependencies(listener beginner_tutorials_generate_messages_cpp)
最终的CMakeLists.txt长这样:
1 cmake_minimum_required(VERSION 2.8.3) 2 project(beginner_tutorials) 3 4 ## Find catkin and any catkin packages 5 find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs genmsg) 6 7 ## Declare ROS messages and services 8 add_message_files(FILES Num.msg) 9 add_service_files(FILES AddTwoInts.srv) 10 11 ## Generate added messages and services 12 generate_messages(DEPENDENCIES std_msgs) 13 14 ## Declare a catkin package 15 catkin_package() 16 17 ## Build talker and listener 18 include_directories(include ${catkin_INCLUDE_DIRS}) 19 20 add_executable(talker src/talker.cpp) 21 target_link_libraries(talker ${catkin_LIBRARIES}) 22 add_dependencies(talker beginner_tutorials_generate_messages_cpp) 23 24 add_executable(listener src/listener.cpp) 25 target_link_libraries(listener ${catkin_LIBRARIES}) 26 add_dependencies(listener beginner_tutorials_generate_messages_cpp)
这将创建两个可执行文件talker和listener,默认情况下,它们将被放到软件包目录下的devel空间中,即~/catkin_ws/devel/lib/<package name>。
请注意,您必须为可执行目标添加依赖项到消息生成目标:
add_dependencies(talker beginner_tutorials_generate_messages_cpp)
这确保了在使用此包之前生成了该包的消息头。如果使用来自你catkin工作空间中的其他包中的消息,则还需要将依赖项添加到各自的生成目标中,因为catkin将所有项目并行构建。在ROS Groovy及更新版本中,还可以使用以下变量来依赖所有必需的目标:
target_link_libraries(talker ${catkin_LIBRARIES})
你可以直接调用可执行文件,也可以使用rosrun来调用它们。它们没有被放在<prefix>/bin中,因为在将软件包安装到系统时会污染PATH环境变量。但如果你希望在安装时将可执行文件放在PATH中,可以配置安装目标,参见CMakeLists.txt。
现在可以运行catkin_make:
# 在你的catkin工作空间下 $ cd ~/catkin_ws $ catkin_make
注意:如果你又添加了新的包,可能需要通过指定--force-cmake参数来让catkin强制生成。参见使用工作空间。
如果出现以上错误,请检查两个cpp文件的位置与命名。