文章目录
一、工作空间
存放工程开发相关文件的文件夹,其中主要包括src,build,devel,install文件夹。
文件夹名称 用途
src 代码空间(Source Space )
build 编译空间(Build Space)
devel 开发空间(Development Space)
install 安装空间(Install Space)
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
编译工作空间
cd ..
catkin_make
设置环境变量
source /home/dengkun/catkin_ws/devel/setup.bash#该环境变量设置只对当前终端有效,dengkun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
检查环境变量
echo $ROS_PACKAGE_PATH
二、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
三、 ROS通信编程
1.话题编程
步骤:
创建发布者:
1.初始化ROS节点
2.向ROS Master注册节点信息,包括发布的话题名和话题中的消息类型
3.按照一定频率循环发布消息
创建订阅者:
1.初始化ROS节点
2.订阅需要的话题
3.循环等待话题消息,接受到消息后进行回调函数
4.回调函数中完成消息处理
添加编译选项:
1.设置需要编译的代码和生成的可执行文件
2.设置链接库
3.设置依赖
运行可执行程序
talker.cpp
#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;
}
listener.cpp
#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_msgs::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;
}
设置CMakeLists.txt文件
编译
运行
roscore
rosrun learning_communication talker
rosrun learning_communication listener
2.服务编程
定义服务请求与应答的方式
定义srv文件
mkdir ~/catkin_ws/src/learning_communication/srv
cd ~/catkin_ws/src/learning_communication/srv
touch AddTwoInts.srv
打开AddTwoInts.srv文件并将以下内容写入
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>
在CMakeLists.txt添加编译选项
步骤:
创建服务器:
1.初始化ROS节点
2.创建Serve实例
3.循环等待服务请求,进入回调函数
4.在回调函数中完成服务功能的处理,并反馈应答数据
创建客户端:
1.初始化ROS节点
2.创建一个Client实例
3.发布服务请求数据
4.等待Serve处理之后的应答结果
添加编译选项:
1.设置需要编译的代码和生成的可执行文件
2.设置链接库
3.设置依赖
运行可执行程序
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;
}
设置CMakeLists.txt文件
add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependdencies(server learning_communication_gencpp)
add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependdencies(client learning_communication_gencpp)
运行可执行文件
先运行server,再运行client
source devel/setup.bash
roscore
source devel/setup.bash
rosrun learning_communication server
source devel/setup.bash
rosrun learning_communication client 3 4
四、控制小乌龟画圆
1.创建小乌龟画圆程序
新建终端1
cd ~/ros/src/comm/src
新建画圆程序名为yuan.cpp
touch yuan.cpp
打开文件将如下代码写入yuan.cpp中
#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;
}
2.创建小乌龟画圆接收程序
新建小乌龟画圆接收程序
touch callBackYuan.cpp
打开callBackYuan.cpp文件,输入如下代码
#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;
}
3.修改CMakeLists.txt
进入工程包comm文件夹
cd ~/ros/src/comm
打开CMakeLists.txt文件
gedit 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})
4.编译程序
进入工作空间ros
cd ~/ros
编译我们创建好的程序
catkin_make
运行程序
回到空间
cd ~/ros
注册程序
source ./devel/setup.bash
新建终端2
roscore
新建终端3
进入空间
cd ~/ros
注册程序
source ./devel/setup.bash
运行我们的接受实时位置的服务程序
rosrun comm callBackYuan
再新建一个终端,启动我们的小海龟
rosrun turtlesim turtlesim_node
在终端1运行我们的小海龟画圆程序
rosrun comm yuan
参考链接:https://blog.csdn.net/qq_42451251/article/details/104664926
https://blog.csdn.net/qq_43279579/article/details/114764633