第2周--ROS通信编程

一、按照课件内容，分别完成话题、服务模式的ROS示例程序，并实践练习；
二、练习ROS动作编程：客户端发送一个运动坐标，模拟机器人运动到目标位置的过程。包括服务端和客户端的代码实现，要求带有实时位置反馈。同时注意学习cmakelists 的使用方法。

一、工作空间

1、简介

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。

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）

2、相关配置

1.创建工作空间

	mkdir -p ~/catkin_ws/src
	cd ~/catkin_ws/src
	catkin_init_workspace

2.编译工作空间

	cd ..
	catkin_make

3.设置环境变量

	source /home/a/catkin_ws/devel/setup.bash
	nano ~/.bashrc

4.检查环境变量

	echo $ROS_PACKAGE_PATH

3、功能包

1.创建功能包

	cd ~/catkin_ws/src
	catkin_create_pkg learning_communication std_msgs rospy roscpp

2.编译功能包

	cd ~/catkin_ws
	catkin_make

二、话题编程

1、在/catkin_ws/src/learning_communication/src中创建talker.cpp和listener.cpp
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;
}

2、设置CMakeLists.txt文件

add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
 
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})

将以上代码添加至此处

3、编译

cd ~/catkin_ws
catkin_make

4、运行
终端一

roscore

终端二

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication talker

终端三

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication listener

三、服务编程

1、定义srv文件

mkdir ~/catkin_ws/src/learning_communication/srv
sudo nano AddTwoInts.srv

AddTwoInts.srv

int64 a
int64 b
---
int64 sum

2、在package.xml中添加功能包依赖

<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

3、在learning_communication/src中创建server.cpp和client.cpp
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;
}

4、设置CMakeLists.txt文件

add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server learning_communication_gencpp)

add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client learning_communication_gencpp)

5、编译

cd ~/catkin_ws
catkin_make

6、运行
终端一

roscore

终端二

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication server

终端三

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication client 整数1 整数2

四、动作编程

1、定义action文件

mkdir ~/catkin_ws/src/learning_communication/action
gedit DoDishes.action

DoDishes.action

#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

2、在package.xml中添加功能包依赖

<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>

3、在learning_communication/src中创建DoDishes_server.cpp和DoDishes_client.cpp

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;
}

4、运行
终端一

roscore

终端二

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication DoDishes_client

终端三

 cd  ~/catkin_ws/
 source devel/setup.bash
 rosrun learning_communication DoDishes_server