ROS通信模式编程

最新推荐文章于 2024-05-23 20:19:57 发布

m0_65923764

最新推荐文章于 2024-05-23 20:19:57 发布

阅读量40

点赞数

文章标签： c++

本文链接：https://blog.csdn.net/m0_65923764/article/details/129651133

版权

提示：文章写完后，目录可以自动生成，如何生成可参考右边的帮助文档

文章目录

编程实现过程
总结
参考链接

编程实现过程

1，打开终端进入工程文件夹
在这里插入图片描述
2) 新建服务文件 turtleMove.cpp
命令：touch turtleMove.cpp
3) 编写代码：
编辑touch turtleMove.cpp文件
命令：gedit turtleMove.cpp
输入以下代码

/*
此程序通过通过动作编程实现由 client 发布一个目标位置
然后控制 Turtle 运动到目标位置的过程
*/
#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include "comm/turtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionServer<comm::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 comm::turtleMoveGoalConstPtr& goal, Server* as)
{
comm::turtleMoveFeedback feedback;
ROS_INFO("TurtleMove is working.");
turtle_target_pose.x=goal->turtle_target_x;
- 3 -
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
- 4 -
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;
}

在这里插入图片描述
2、创建小乌龟“发布目标位置文件”turtleMoveClient.cpp

在相同的目录下，创建“发布目标位置”文件 turtleMoveClient.cpp
命令：touch turtleMoveClient.cpp
在这里插入图片描述

2）编写代码：
命令：gedit turtleMoveClient.cpp
输入以下代码

#include <actionlib/client/simple_action_client.h>
#include "my_turtle_package/turtleMoveAction.h"
#include <turtlesim/Pose.h>
#include <turtlesim/Spawn.h>
#include <geometry_msgs/Twist.h>
typedef actionlib::SimpleActionClient<my_turtle_package::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 my_turtle_package::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 my_turtle_package::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
	my_turtle_package::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;
}

在这里插入图片描述
3、在功能包目录下创建 action 文件夹

进入工程包目录
命令：cd ~/catkin_ws/src/my_turtle_package
创建 action 文件夹
命令：mkdir action
在这里插入图片描述
4、在 action 文件夹下创建 turtleMove.action 文件
、进入 action 文件夹
命令：cd action
、创建 turtleMove.action 文件
命令：touch turtleMove.action
、将如下代码写入 turtleMove.action 文件中，如下：
命令：gedit 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

2、、修改 CMakeLists.txt 文件内容
1 进入工程包 my_turtle_package 目录下
命令：cd ~/catkin_ws/src/my_turtle_package
2 打开 CMakeLists.txt 文件
命令：sudo gedit CMakeLists.txt
3 将如下代码添加到 CMakeLists.txt 文件末尾

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)

在这里插入图片描述
2) 在该文件中找到 find_package 函数方法，修改为如下：

3) 继续在该文件中找到 add_action_files 函数一项修改为如下代码：

add_action_files(
FILES
turtleMove.action
)

在这里插入图片描述
4) 继续在该文件中找到 generate_messages 函数一项

5) 找到 catkin_package 函数一项，修改为如下代码：

3、、修改 package.xml 文件内容
1 打开 package.xml 文件
命令：gedit package.xml
2 将文件中 build_depend 一栏、替换为如下代码：

<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>

在这里插入图片描述

3 将文件中 exec_depend 一栏、替换为如下代码：

<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>