ROS通信编程-CSDN博客

本文链接：https://blog.csdn.net/m0_64341369/article/details/136652875

一、ROS话题、服务、动作基本操作

1.1创建工作空间

一、ROS话题、服务、动作基本操作

1.1创建工作空间

什么是工作空间

工作空间（workspace）是一个存放工程开放相关文件的文件夹，它包括：

一个工作空间的大致文件层次如下图所示：

而我们后面的编程文件主要是放在 package 下面。

1、创建工作空间

	mkdir -p ~/catkin_ws/src#创建文件夹
	cd ~/catkin_ws/src#进入目录
	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

3、设置环境变量

source /home/ls/catkin_ws/devel/setup.bash#该环境变量设置只对当前终端有效，ls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

1.2功能包

1、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

2.编译功能包

cd ~/catkin_ws
catkin_make

1.3ROS通信编程

1.3.1话题编程

话题编程流程

首先在 ~/catkin_ws/src/learning_communication/src 下创建一个 talker.cpp 文件

cd ~/catkin_ws/src/learning_communication/src
gedit talker

复制粘贴以下代码

#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;
}

创建订阅者

实现步骤：
1. 初始化 ROS 节点
2. 订阅需要的话题
3. 循环等待话题消息，接收到消息后进入回调函数
4. 在回调函数中完成消息处理
首先在同目录下创建一个 listener.cpp 文件

#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_mmsgs::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;
}

编译代码

首先要配置编译文件 CMakeLists.txt
进入到 ~/catkin_ws/src/learning_commuication 下，会有一个 CMakeLists.txt 文件，编辑此文件
复制粘贴以下代码

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})

add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})

然后返回到工作空间，开始编译工作空间

cd ~/catkin_ws
catkin_make

运行可执行文件

编译完成后，重新打开两个终端：一个运行发布者；另一个运行订阅者。
然后现在有三个终端了，首先第一个终端运行 roscore 命令，然后下一个终端运行 talker 命令实现发布者端口，最后一个终端运行 listener 命令实现订阅者端口

roscore
rosrun learning_communication talker
rosrun learning_communication listener

自定义话题消息

mkdir ~/catkin_ws/src/learning_communication/msg
cd ~/catkin_ws/src/learning_communication/msg
sudo nano Person.msg

复制粘贴如下代码

string name
uint8 sex
uint8 age

uint8 unknown=0
uint8 male=1
uint8 female=2

返回到上级目录，编辑 package.xml 文件

```
cd ..
gedit package.xml
```
在其中添加以下功能包依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

然后使用命令 gedit CMakeLists.txt 编辑编译文件
添加如下代码
开始编译
```
cd ~/catkin_ws
catkin_make
```

1.3.2服务编程

服务编程流程：

自定义服务器请求与答应

首先创建一个src文件

mkdir ~/catkin_ws/src/learning_communication/srv
cd ~/catkin_ws/src/learning_communication/srv
sudo nano AddTwoInts.srv

复制粘贴一下代码

int64 a
int64 b
---
int64 sum

在 package.xml 中添加功能包依赖。

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

使用命令 gedit CMakeLists.txt 编辑 CMakeLists.txt 文件

在文件中添加如下代码

实现一个服务器与客户端

在 .../learning_communication/src 下创建 server.cpp 和 client.cpp 文件并复制粘贴相应的代码

server.cpp

#include<ros/ros.h>
#include"learning_communication/AddTwoInts.h"
//service回调函数，输入参数req，输出参数res
bool add(learning_communication::AddTwoInts::Request &req,learning_communication::AddTwoInts::Response &res)
{
	//将输入的参数中的请求数据相加，结果放到应答变量中
	res.sum=req.a+req.b;
	ROS_INFO("request: x=%1d,y=%1d",(long int)req.a,(long int)req.b);
	ROS_INFO("sending back response:[%1d]",(long int)res.sum);
	return true;
}
int main(int argc,char **argv)
{
	//ROS节点初始化
	ros::init(argc,argv,"add_two_ints_server");
	//创建节点句柄
	ros::NodeHandle n;
	//创建一个名为add_two_ints的server,注册回调函数add()
	ros::ServiceServer service=n.advertiseService("add_two_ints",add);
	//循环等待回调函数
	ROS_INFO("Ready to add two ints.");
	ros::spin();
	return 0;
}

client.cpp

#include<cstdlib>
#include<ros/ros.h>
#include"learning_communication/AddTwoInts.h"
int main(int argc,char **argv)
{
	//ROS节点初始化
	ros::init(argc,argv,"add_two_ints_client");
	//从终端命令行获取两个加数
	if(argc!=3)
	{
		ROS_INFO("usage:add_two_ints_client X Y");
		return 1;
	}
	//创建节点句柄
	ros::NodeHandle n;
	//创建一个client，请求add_two_ints_service
	//service消息类型是learning_communication::AddTwoInts
	ros::ServiceClient client=n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
	//创建learning_communication::AddTwoInts类型的service消息
	learning_communication::AddTwoInts srv;
	srv.request.a=atoll(argv[1]);
	srv.request.b=atoll(argv[2]);
	//发布service请求，等待加法运算的应答请求
	if(client.call(srv))
	{
		ROS_INFO("sum: %1d",(long int)srv.response.sum);
	}
	else
	{
		ROS_INFO("Failed to call service add_two_ints");
		return 1;
	}
	return 0;
}

编译代码

首先返回上一目录，并编辑 CMakeLists.txt 文件。

设置编译文件、链接库和依赖

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

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

然后返回到工作空间，开始编译

cd ~/catkin_ws
catkin_make

运行可执行文件

还是跟第二部分的话题编程一样执行方式：用三个终端分别运行一条命令。

roscore
rosrun learning_communication server
rosrun learning_communication client 整数1 整数2

1.3.3动作编程

动作编程简介

什么是动作？

一种问答通信机制；
带有连续反馈；
可以在任务过程中止运行；
基于 ROS 的消息机制实现
Action 的接口

自定义动作消息

创建一个 action 文件。

mkdir ~/catkin_ws/src/learning_communication/action
cd ~/catkin_ws/src/learning_communication/action
sudo nano DoDishes.action

复制粘贴以下内容：

#定义目标信息
uint32 dishwasher_id
---
#定义结果信息
uint32 total_dishes_cleaned
---
#定义周期反馈的消息
float32 percent_complete

返回上一级，并打开编辑 package.xml 文件。

cd ..
gedit package.xml

添加以下依赖：

<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>

编辑 CMakeLists.txt 编译文件。

修改如下位置

DIRECTORY action FILES DoDishes.action
DEPENDENCIES actionlib_msgs

实现动作服务器与客户端

进入到 src 文件夹下，创建 DoDishes_server.cpp 与 DoDishes_client.cpp 文件，并在里面粘贴如下代码：

DoDishes_server.cpp

#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "learning_communication/DoDishesAction.h"
typedef actionlib::SimpleActionServer<learning_communication::DoDishesAction> Server;
// 收到action的goal后调用该回调函数
void execute(const learning_communication::DoDishesGoalConstPtr &goal, Server *as)
{
	ros::Rate r(1);
	learning_communication::DoDishesFeedback feedback;
	ROS_INFO("Dishwasher %d is working.", goal->dishwasher_id);
	// 假设洗盘子的进度，并且按照1Hz的频率发布进度feedback 
	for(int i = 1; i <= 10; i++)
	{
		feedback.percent_complete = i * 10;
		as->publishFeedback(feedback);
		r.sleep();
	}	
	// 当action完成后，向客户端返回结果
	ROS_INFO("Dishwasher %d finish working.", goal->dishwasher_id);
	as->setSucceeded();
}
int main(int argc, char **argv)
{
	ros::init(argc, argv, "do_dishes_server");
	ros::NodeHandle hNode;
	// 定义一个服务器
	Server server(hNode, "do_dishes", boost::bind(&execute, _1, &server), false);
	// 服务器开始运行
	server.start();
	ros::spin();
	return 0;
}

DoDishes_client.cpp

#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "learning_communication/DoDishesAction.h"
typedef actionlib::SimpleActionClient<learning_communication::DoDishesAction> Client;
// 当action完成后会调用该回调函数一次
void doneCallback(const actionlib::SimpleClientGoalState &state
	, const learning_communication::DoDishesResultConstPtr &result)
{
	ROS_INFO("Yay! The dishes are now clean");
	ros::shutdown();
}
// 当action激活后会调用该回调函数一次
void activeCallback()
{
	ROS_INFO("Goal just went active");
}
// 收到feedback后调用该回调函数
void feedbackCallback(const learning_communication::DoDishesFeedbackConstPtr &feedback)
{
	ROS_INFO("percent_complete : %f", feedback->percent_complete);
}
int main(int argc, char **argv)
{
	ros::init(argc, argv, "do_dishes_client");
	// 定义一个客户端
	Client client("do_dishes", 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::DoDishesGoal goal;
	goal.dishwasher_id = 1;
	// 发送action的goal给服务端，并且设置回调函数
	client.sendGoal(goal, &doneCallback, &activeCallback, &feedbackCallback);
	ros::spin();
	return 0;
}

编译代码

返回上一级，并编辑 CMakeLists.txt 文件。

添加以下代码

add_executable(DoDishes_server src/DoDishes_server.cpp)
target_link_libraries(DoDishes_server ${catkin_LIBRARIES})
add_dependencies(DoDishes_server ${${PROJECT_NAME}_EXPORTED_TARGETS})

add_executable(DoDishes_client src/DoDishes_client.cpp)
target_link_libraries(DoDishes_client ${catkin_LIBRARIES})
add_dependencies(DoDishes_client ${${PROJECT_NAME}_EXPORTED_TARGETS})

返回到工作空间，开始编译：

cd ~/catkin_ws
catkin_make

运行可执行文件

同样的，三个终端分别运行三句命令。

roscore
rosrun learning_communication DoDishes_client
rosrun learning_communication DoDishes_server

二、控制小乌龟画圆

2.1进入工程包，创建小乌龟画圆发送程序

yuan.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
#include<geometry_msgs/Twist.h> //运动速度结构体类型  geometry_msgs::Twist的定义文件
 
int main(int argc, char *argv[])
{
    ros::init(argc, argv, "vel_ctrl");  //对该节点进行初始化操作
    ros::NodeHandle n;         //申明一个NodeHandle对象n，并用n生成一个广播对象vel_pub
    ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
    ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
    ros::Rate loop_rate(10);
    //vel_pub会在主题"/turtle1/cmd_vel"(机器人速度控制主题)里广播geometry_msgs::Twist类型的数据
    //ros::Rate loopRate(2);
    ROS_INFO("draw_circle start...");//输出显示信息
    while(ros::ok())
    {
        geometry_msgs::Twist vel_cmd; //声明一个geometry_msgs::Twist 类型的对象vel_cmd，并将速度的值赋值到这个对象里面

        vel_cmd.linear.x = 2.0;//前后（+-） m/s
        vel_cmd.linear.y = 0.0;  //左右（+-） m/s
        vel_cmd.linear.z = 0.0;
 
        vel_cmd.angular.x = 0;
        vel_cmd.angular.y = 0;
        vel_cmd.angular.z = 1.8; //机器人的自转速度，+左转，-右转，单位是rad/s

        vel_pub.publish(vel_cmd); //赋值完毕后，发送到主题"/turtle1/cmd_vel"。机器人的核心节点会从这个主题接受发送过去的速度值，并转发到硬件体上去执行
	std_msgs::String msg;
        std::stringstream ss;//定义输出流对象
        ss <<vel_cmd;
        msg.data = ss.str();
    	/**
     	* The publish() function is how you send messages. The parameter
     	* is the message object. The type of this object must agree with the type
     	* given as a template parameter to the advertise<>() call, as was done
     	* in the constructor above.
     	*/
        chatter_pub.publish(msg);
        ros::spinOnce();//调用此函数给其他回调函数得以执行(比例程未使用回调函数)
       //loopRate.sleep();
    }
    return 0;
}

callBackYuan.cpp

#include "ros/ros.h"
#include "std_msgs/String.h"
 
/**
 * This tutorial demonstrates simple receipt of messages over the ROS system.
 */
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
  ROS_INFO("it is location: [%s]", msg->data.c_str());
}
 
int main(int argc, char **argv)
{
  /**
   * The ros::init() function needs to see argc and argv so that it can perform
   * any ROS arguments and name remapping that were provided at the command line. For programmatic
   * remappings you can use a different version of init() which takes remappings
   * directly, but for most command-line programs, passing argc and argv is the easiest
   * way to do it.  The third argument to init() is the name of the node.
   *
   * You must call one of the versions of ros::init() before using any other
   * part of the ROS system.
   */
  ros::init(argc, argv, "yuan");
 
  /**
   * NodeHandle is the main access point to communications with the ROS system.
   * The first NodeHandle constructed will fully initialize this node, and the last
   * NodeHandle destructed will close down the node.
   */
  ros::NodeHandle n;
 
  /**
   * The subscribe() call is how you tell ROS that you want to receive messages
   * on a given topic.  This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing.  Messages are passed to a callback function, here
   * called chatterCallback.  subscribe() returns a Subscriber object that you
   * must hold on to until you want to unsubscribe.  When all copies of the Subscriber
   * object go out of scope, this callback will automatically be unsubscribed from
   * this topic.
   *
   * The second parameter to the subscribe() function is the size of the message
   * queue.  If messages are arriving faster than they are being processed, this
   * is the number of messages that will be buffered up before beginning to throw
   * away the oldest ones.
   */
  ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
 
  /**
   * ros::spin() will enter a loop, pumping callbacks.  With this version, all
   * callbacks will be called from within this thread (the main one).  ros::spin()
   * will exit when Ctrl-C is pressed, or the node is shutdown by the master.
   */
  ros::spin();
 
  return 0;
}

2.2修改CMakeLists.txt

在CMakeLists.txt文件末尾添加如下代码：

add_executable(yuan src/yuan.cpp)
target_link_libraries(yuan ${catkin_LIBRARIES})
#add_dependencies(yuan comm_generate_messages_cpp)
add_executable(callBackYuan src/callBackYuan.cpp)
target_link_libraries(callBackYuan ${catkin_LIBRARIES})