目录
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:
- 初始化 ROS 节点
- 订阅需要的话题
- 循环等待话题消息,接收到消息后进入回调函数
- 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
-
编译代码#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; }
- 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})
2.3编译程序
cd ~/catkin_ws/src
catkin_make
2.4运行程序
新建一个终端,运行ros
roscore
再新建一个终端,启动我们的小海龟
rosrun turtlesim turtlesim_node
2.5实验结果
分别新建终端运行callBackYuan.cpp,yuan.cpp
三、总结
本章实验内容较多,需做好每个步骤,不然接下来每个步骤都有错误