ROS2——话题、服务、动作编程
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
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
3、编译工作空间
cd ~/catkin_ws/
catkin_make
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
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
2、创建一个叫comm(通信)包
catkin_create_pkg comm std_msgs rospy roscpp
如下
3、编译工程包
如下即可:
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
2、进入src子目录
cd src
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
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;
}
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
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
6、编辑Cmakelist.txt文件(注意:是comm项目包下的CMakelist文件)
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)
7、将目录切换到工作区目录,并执行catkin_make运行命令:
编译成功的结果如下
注意:如果没有出现上述结果,需要在执行catkin_make指令之前执行source devel/setup.bash
三、测试程序
需要注意下面的终端不要关闭
许多指令上面都提到了,就不在赘述
1、新开一个终端,启动ROS核心程序roscore。
2、程序注册
在先前编译的终端,不要关闭终端
3、运行talker节点:
4、接下来运行listener节点
需要新开一个终端(按住ctrl+Alt+t)
5、开始测试,在最开始的终端开始回车,切换到我们最后建立的终端,也开始回车!
这表示订阅节点(listener)已经成功的接收到了发布节点(talker)发布的信息。至此,整个程序结束!
实验成功,我们可以关闭所有的终端了!