【ROS2——话题、服务、动作编程】

@cherry。

已于 2024-03-15 18:18:16 修改

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于 2024-03-15 13:49:12 首次发布

本文链接：https://blog.csdn.net/m0_67981564/article/details/136690981

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ROS2——话题、服务、动作编程

一、工作空间
二、创建一个ROS工程包
三、测试程序

在做完小海龟的实验之后，我们继续熟悉ROS基础中的话题，服务和动作编程

一、工作空间

1、什么是工作空间

工作空间思存放工程开发相关文件的文件夹

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2、工作空间的创建

1、创建名为catkin_ws的工作区

mkdir -p ~/catkin_ws/src

2、进入该工作空间的src文件夹

cd ~/catkin_ws/src

3、初始化

catkin_init_workspace

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3、编译工作空间

cd ~/catkin_ws/
catkin_make

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这时候，会在当前文件夹下生成devel，build这两个子文件夹，在devel文件夹下能看到几个setup.*sh文件
当前文件夹下生成devel，build这两个子文件夹如下图

4、设置并检查环境变量

设置环境变量

source devel/setup.bash

检查环境变量

echo $ROS_PACKAGE_PATH

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二、创建一个ROS工程包

在一个工作区内，可能会包含多个ROS工程包。而最基本ROS工程包中会包括CmakeLists.txt和Package.xml这两个文件，其中Package.xml中主要包含本项目信息和各种依赖（depends），而CmakeLists.txt中包含了如何编译和安装代码的信息。

1、切换到工作区

cd ~/catkin_ws/src

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2、创建一个叫comm(通信)包

catkin_create_pkg comm std_msgs rospy roscpp

如下
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3、编译工程包

如下即可：
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4、创建通信的发、收节点

节点（node）是连接到ROS网络中可执行的基本单元。我们在这创建一个发布者—“talker”节点，这个节点持续对外发布消息。

1、切换到我们的comm工程包中

cd ~/catkin_ws/src/comm

因为我们已经编译过这个工程包了，所以会在comm文件夹下看到CmakeList.txt、package.xml文件和include、src这两个目录
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2、进入src子目录

cd src

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3、在src目录中创建一个talker.cpp文件，写一个发布（Publisher）节点
1)、创建一个名为talker.cpp文件

touch talker.cpp

2)、修改该文件为如下内容
打开文件

gedit talker.cpp

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修改为如下内容

#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
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, "talker");
 
  /**
   * 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 advertise() function is how you tell ROS that you want to
   * publish on a given topic name. This invokes a call to the ROS
   * master node, which keeps a registry of who is publishing and who
   * is subscribing. After this advertise() call is made, the master
   * node will notify anyone who is trying to subscribe to this topic name,
   * and they will in turn negotiate a peer-to-peer connection with this
   * node.  advertise() returns a Publisher object which allows you to
   * publish messages on that topic through a call to publish().  Once
   * all copies of the returned Publisher object are destroyed, the topic
   * will be automatically unadvertised.
   *
   * The second parameter to advertise() is the size of the message queue
   * used for publishing messages.  If messages are published more quickly
   * than we can send them, the number here specifies how many messages to
   * buffer up before throwing some away.
   */
  ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
 
  ros::Rate loop_rate(10);
 
  /**
   * A count of how many messages we have sent. This is used to create
   * a unique string for each message.
   */
  int count = 0;
  while (ros::ok())
  {
    /**
     * This is a message object. You stuff it with data, and then publish it.
     */
    std_msgs::String msg;
 
    std::stringstream ss;
    ss << "hello world " << count;
    msg.data = ss.str();
 
    ROS_INFO("%s", msg.data.c_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();
 
    loop_rate.sleep();
    ++count;
  }
  return 0;
}

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5、在src目录中创建一个listener.cpp文件，写一个订阅（Subscriber）节点

1、创建一个名为listener.cpp文件

touch listener.cpp

2、进入listener.cpp文件

gedit listener.cpp

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3、写入以下代码

#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("I heard: [%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, "listener");
 
  /**
   * 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;
}

以下即为创建的节点信息
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6、编辑Cmakelist.txt文件（注意：是comm项目包下的CMakelist文件）

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打开这个文件，在文件末尾添加如下代码：

include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker comm_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener comm_generate_messages_cpp)

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