1 ROS核心概念
1.1 节点(Node)
(1)执行具体任务的进程、独立运行的可执行文件
(2)不同节点可以使用不同的语言,可分布式运行在不同的主机
(3)节点在系统中的名称必须是唯一的
1.2 节点管理器(ROS Master)
(1)为节点提供命名和注册服务
(2)跟踪和记录话题/服务通信,辅助节点相互查找、建立连接
(3)提供参数服务器,节点使用此服务器存储和检索运行时的参数
1.3话题(Topic)异步通信机制
(1)节点间用来传输数据的重要总线
(2)使用发布/订阅模型,数据由发布者传输到订阅者,同一个话题的订阅者或发布者可以不唯一
1.4消息(Message)话题数据
(1)具有一定的类型和数据结构,包括ROS提供的标准类型和用户自定义类型
(2)使用编程语言无关的.msg文件定义,编译过程中生成对应的代码文件
1.5服务(Service)同步通信机制
(1)使用客户端/服务器(C/S)模型,客户端发送请求数据,服务端完成处理后返回应答数据
(2)使用编程语言无关的.srv文件定义请求和应答数据结构,编译过程中生成对应的代码文件
1.6 参数(Parameter)全局共享字典
(1)可通过网络访问的共享、多变量字典
(2)字节使用此服务器来存储和检索运行时的参数
(3)适合存储静态、非二进制的配置参数,不适合存储动态配置的数据
2 ROS命令行工具
2.1 小海龟
启动ROS Master
roscore
启动小海龟仿真器
rosrun turtlesim turtlesim_node
启动海归控制节点
rosrun turtlesim turtle_teleop_key
2.2 rqt基于qt的可视化工具
rqt_graph
回车之后出现以下窗口,是以图形显示节点和消息之间的相关关系的工具
2.3 rosnode
2.3.1查看某一个节点的ping值
rosnode ping /节点名称
2.3.2将系统中所有的节点都列出来
rosnode list
2.3.3查看某一个节点的具体信息
rosnode info /节点名称
2.3.4查看运行的机器名称
rosnode machine
2.3.5杀死ros节点
rosnode kill
2.4 rostopic
2.4.1打印系统中所有的话题列表
rostopic list
2.4.2发布数据给某一个topic
rostopic pub /话题名 /话题消息类型
例如小海龟
输入
rostopic pub /turtle1/cmd_vel 按下tab 按下tab
出现以下情况,即可设置小海龟的速度和角度
在速度x方向改为1之后,海归会前行一段距离即停下,因为执行后默认运行一次,此时需要在pub后加上-r +频率,例如加上-r 10 即以10Hz的频率执行,1s发布10次1m/s的指令
rostopic pub -r 10 /turtle1/cmd_vel 按下tab 按下tab
2.5 rosmsg
查看数据结构,例如查看上一个小海龟的数据结构,show后边的是上边按两次tab出来的
rosmsg show geometru_msgs/Twist
2.6 rosservice
2.6.1 查看所有service的内容
rosservice list
2.6.2产生新的内容
例如小海龟中产生新的海归
rosservice call /spawn Tab
然后更改x、y和名称
2.7 rosbag
记录ros中所有内容并保存下来
rosbag record -a -O cmd_record
话题复现
rosbag play cmd_record.bag
3 工作空间与功能包
3.1 工作空间
工作空间(workspace)是一个存放工程开发相关文件的文件夹
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)
3.2 建立过程
3.2.1创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
3.2.2编译工作空间
cd ~/catkin_ws/
catkin_make
3.2.3产生install文件
catkin_make install
3.2.4设置环境变量
source devel/setup.bash
3.2.5检查环境变量
echo $ROS_PACKAGE_PATH
3.3 创建功能包
3.3.1创建功能包
catkin_create_pkg <package name> [depend1] [depend2] [depend3]
cd ~/catkin_ws/src
catkin_create_pkg test_pkg std_msgs rospy roscpp
3.3.2编译功能包
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash
4 发布者Publisher编程实现
通过编程使海龟动起来
4.1创建一个功能包并编译
cd ~/catkin_ws/src
catkin_create_pkg learning_topic roscpp rospy std_msgs geometry_msgs turtlesim.
cd ..
catkin_make
4.2 如何实现一个发布者
(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)创建消息数据
(4)按照一定的频率循环发布信息
4.3代码实现
在创建的功能包learning_topic功能包中的src中创建一个cpp文件velocity_publisher.cpp
/**
* 该例程将发布turtle1/cmd_vel话题,消息类型geometry_msgs::Twist
*/
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "velocity_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/turtle1/cmd_vel的topic,消息类型为geometry_msgs::Twist,队列长度10
ros::Publisher turtle_vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
// 设置循环的频率
ros::Rate loop_rate(10);
int count = 0;
while (ros::ok())
{
// 初始化geometry_msgs::Twist类型的消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0.5;
vel_msg.angular.z = 0.2;
// 发布消息
turtle_vel_pub.publish(vel_msg);
ROS_INFO("Publsh turtle velocity command[%0.2f m/s, %0.2f rad/s]",
vel_msg.linear.x, vel_msg.angular.z);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
添加CMakeLists.txt中编译规则
add_executable(velocity_publisher src/velocity_publisher.cpp)
target_link_libraries(velocity_publisher ${catkin_LIBRARIES})
add_executable:将第二个位置的文件编译成第一个可执行文件
target_link_libraries:将ROS的可执行文件与ROS的库进行链接
编译并运行发布者
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
source devel/setup.bash
rosrun learning_topic velocity_publisher
5 订阅者Subscriber编程实现
使用订阅者定位海龟的位置信息
5.1 如何实现一个订阅者
(1)初始化ROS节点
(2)订阅需要的话题
(3)循环等待话题消息,接收到消息后进入回调函数
(4)在回调函数中完成消息处理
5.2 代码实现
/**
* 该例程将订阅/turtle1/pose话题,消息类型turtlesim::Pose
*/
#include <ros/ros.h>
#include "turtlesim/Pose.h"
// 接收到订阅的消息后,会进入消息回调函数
void poseCallback(const turtlesim::Pose::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Turtle pose: x:%0.6f, y:%0.6f", msg->x, msg->y);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "pose_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为/turtle1/pose的topic,注册回调函数poseCallback
ros::Subscriber pose_sub = n.subscribe("/turtle1/pose", 10, poseCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
添加CMakeLists.txt中编译规则
add_executable(pose_subscriber src/pose_subscriber.cpp)
target_link_libraries(pose_subscriber ${catkin_LIBRARIES})
add_executable:将第二个位置的文件编译成第一个可执行文件
target_link_libraries:将ROS的可执行文件与ROS的库进行链接
编译并运行发布者
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
source devel/setup.bash
rosrun learning_topic pose_subscriber
6 话题消息的订阅和使用
传输一个名称、年龄等个人信息
6.1 如何自定义话题消息
(1)定义msg文件,即定义
(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CMakeLists.txt中增加编译选项
find_package(...... message_generation)
add_message_files(FILES Person.msg)
generation_messages(DEPENDENCIES std_msgs)
catkin_package(...... message_runtime)
(4)编译生成语言相关文件
6.2 代码编写
(1)Person.msg文件
string name
uint8 sex
uint8 age
uint8 unknown
uint8 male=1
uint8 female=2
(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CMakeLists.txt中增加编译选项
find_package(...... message_generation)
add_message_files(FILES Person.msg)
generation_messages(DEPENDENCIES std_msgs)
catkin_package(...... message_runtime)
(4)代码
Person_publisher.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将发布/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_publisher");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Publisher,发布名为/person_info的topic,消息类型为learning_topic::Person,队列长度10
ros::Publisher person_info_pub = n.advertise<learning_topic::Person>("/person_info", 10);
// 设置循环的频率
ros::Rate loop_rate(1);
int count = 0;
while (ros::ok())
{
// 初始化learning_topic::Person类型的消息
learning_topic::Person person_msg;
person_msg.name = "Tom";
person_msg.age = 18;
person_msg.sex = learning_topic::Person::male;
// 发布消息
person_info_pub.publish(person_msg);
ROS_INFO("Publish Person Info: name:%s age:%d sex:%d",
person_msg.name.c_str(), person_msg.age, person_msg.sex);
// 按照循环频率延时
loop_rate.sleep();
}
return 0;
}
Person_subscriber.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将订阅/person_info话题,自定义消息类型learning_topic::Person
*/
#include <ros/ros.h>
#include "learning_topic/Person.h"
// 接收到订阅的消息后,会进入消息回调函数
void personInfoCallback(const learning_topic::Person::ConstPtr& msg)
{
// 将接收到的消息打印出来
ROS_INFO("Subcribe Person Info: name:%s age:%d sex:%d",
msg->name.c_str(), msg->age, msg->sex);
}
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_subscriber");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个Subscriber,订阅名为/person_info的topic,注册回调函数personInfoCallback
ros::Subscriber person_info_sub = n.subscribe("/person_info", 10, personInfoCallback);
// 循环等待回调函数
ros::spin();
return 0;
}
在CMakeLists.txt中增加代码
add_executable(person_publisher src/person_publisher.cpp)
target_link_libraries(person_publisher ${catkin_LIBRARIES})
add_dependencies(person_publisher ${PROJECT_NAME}_generate_messages_cpp)
add_executable(person_subscriber src/person_subscriber.cpp)
target_link_libraries(person_subscriber ${catkin_LIBRARIES})
add_dependencies(person_subscriber ${PROJECT_NAME}_generate_messages_cpp)
编译代码
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_topic person_subscriber
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_topic person_publisher
7 客户端Client的编程实现
7.1 如何实现一个客户端
(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Server处理之后的应答结果
7.2 代码实现
(1)创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_service roscpp rospy std_msgs geometry_msgs turtlesim
(2)turtle_spawn.cpp
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/spawn服务,服务数据类型turtlesim::Spawn
*/
#include <ros/ros.h>
#include "turtlesim/Spawn.h"
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle_spawn");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
// 初始化turtlesim::Spawn的请求数据
turtlesim::Spawn srv;
srv.request.x = 2.0;
srv.request.y = 2.0;
srv.request.name = "turtle2";
// 请求服务调用
ROS_INFO("Call service to spwan turtle[x:%0.6f, y:%0.6f, name:%s]",
srv.request.x, srv.request.y, srv.request.name.c_str());
add_turtle.call(srv);
// 显示服务调用结果
ROS_INFO("Spwan turtle successfully [name:%s]", srv.response.name.c_str());
return 0;
};
(3)CMakeLists.txt增加代码
add_executable(turtle_spawn src/turtle_spawn.cpp)
target_link_libraries(turtle_spawn ${catkin_LIBRARIES})
(4)编译
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
cd ~/catkin_ws
source devel/setup.bash
rosrun turtlesim turtlesim_node
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_service turtle_spawn
8 服务端Server的编程实现
8.1 如何实现一个服务器
(1)初始化ROS节点
(2)创建Server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
8.2 代码实现
(1)在CMakeLists.txt中增加代码
add_executable(turtle_command_server src/turtle_command_server.cpp)
target_link_libraries(turtle_command_server ${catkin_LIBRARIES})
(2)编译并运行服务器
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
cd ~/catkin_ws
source devel/setup.bash
rosrun turtlesim turtlesim_node
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_service turtle_command_server
cd ~/catkin_ws
source devel/setup.bash
rosservice call/turtle_command "{}"
9 服务数据的定义与使用
9.1 如何创建一个服务数据
(1)定时srv
(2)在package.xml中添加功能包依赖
(3)在CMakeLists.txt添加编译选项
(4) 编译生成语言相关文件
9.2 代码实现
(1)Person.srv
string name
uint8 age
uint8 sex
uint8 unknown=0
uint8 male=1
uint8 female=2
---
string result
(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CMakeLists.txt中添加编译选项
find_package(...... message_generation)
add_service_files(FILES Person.srv)
generate_messages(DEPENDENCIES std_msgs)
catkin_package(...... message_runtime)
(4)编译生成语言相关文件
(5)代码
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将请求/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "person_client");
// 创建节点句柄
ros::NodeHandle node;
// 发现/spawn服务后,创建一个服务客户端,连接名为/spawn的service
ros::service::waitForService("/show_person");
ros::ServiceClient person_client = node.serviceClient<learning_service::Person>("/show_person");
// 初始化learning_service::Person的请求数据
learning_service::Person srv;
srv.request.name = "Tom";
srv.request.age = 20;
srv.request.sex = learning_service::Person::Request::male;
// 请求服务调用
ROS_INFO("Call service to show person[name:%s, age:%d, sex:%d]",
srv.request.name.c_str(), srv.request.age, srv.request.sex);
person_client.call(srv);
// 显示服务调用结果
ROS_INFO("Show person result : %s", srv.response.result.c_str());
return 0;
};
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程将执行/show_person服务,服务数据类型learning_service::Person
*/
#include <ros/ros.h>
#include "learning_service/Person.h"
// service回调函数,输入参数req,输出参数res
bool personCallback(learning_service::Person::Request &req,
learning_service::Person::Response &res)
{
// 显示请求数据
ROS_INFO("Person: name:%s age:%d sex:%d", req.name.c_str(), req.age, req.sex);
// 设置反馈数据
res.result = "OK";
return true;
}
int main(int argc, char **argv)
{
// ROS节点初始化
ros::init(argc, argv, "person_server");
// 创建节点句柄
ros::NodeHandle n;
// 创建一个名为/show_person的server,注册回调函数personCallback
ros::ServiceServer person_service = n.advertiseService("/show_person", personCallback);
// 循环等待回调函数
ROS_INFO("Ready to show person informtion.");
ros::spin();
return 0;
}
(6)配置CMakeLists.txt文件代码
add_executable(person_server src/person_server.cpp)
target_link_libraries(person_server ${catkin_LIBRARIES})
add_dependencies(person_server ${PROJECT_NAME}_gencpp)
add_executable(person_client src/person_client.cpp)
target_link_libraries(person_client ${catkin_LIBRARIES})
add_dependencies(person_client ${PROJECT_NAME}_gencpp)
(7)编译
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_service person_server
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_service person_client
10 参数的使用与编程方法
10.1 新建一个参数模型
(1)新建pkg
cd ~/catkin_ws/src
catkin_create_pkg learning_parameter roscpp rospy std_srvs
(2)rosparam命令行
rosparam list:列出当前多有参数
rosparam get param_key:显示某个参数值
rosparam set param_key param_value:设置某个参数值
rosparam dump file_name:保存参数到文件
rosparam load file_name:从文件读取参数
rosparam delete param_key:删除参数
若更改颜色保存:rosservice call /clear "{}"
(3)代码
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程设置/读取海龟例程中的参数
*/
#include <string>
#include <ros/ros.h>
#include <std_srvs/Empty.h>
int main(int argc, char **argv)
{
int red, green, blue;
// ROS节点初始化
ros::init(argc, argv, "parameter_config");
// 创建节点句柄
ros::NodeHandle node;
// 读取背景颜色参数
ros::param::get("/background_r", red);
ros::param::get("/background_g", green);
ros::param::get("/background_b", blue);
ROS_INFO("Get Backgroud Color[%d, %d, %d]", red, green, blue);
// 设置背景颜色参数
ros::param::set("/background_r", 255);
ros::param::set("/background_g", 255);
ros::param::set("/background_b", 255);
ROS_INFO("Set Backgroud Color[255, 255, 255]");
// 读取背景颜色参数
ros::param::get("/background_r", red);
ros::param::get("/background_g", green);
ros::param::get("/background_b", blue);
ROS_INFO("Re-get Backgroud Color[%d, %d, %d]", red, green, blue);
// 调用服务,刷新背景颜色
ros::service::waitForService("/clear");
ros::ServiceClient clear_background = node.serviceClient<std_srvs::Empty>("/clear");
std_srvs::Empty srv;
clear_background.call(srv);
sleep(1);
return 0;
}
(4)CMakeLists.txt中增加编译规则
add_executable(parameter_config src/parameter_config.cpp)
target_link_libraries(parameter_config ${catkin_LIBRARIES})
(5)运行程序后海龟背景变成白色
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
cd ~/catkin_ws
source devel/setup.bash
rosrun turtlesim turtlesim_node
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_parameter parameter_config
11 ROS中的坐标系管理
sudo apt-fet install ros-melodic-turtle-tf
roslaunch turtle_tf turtle_tf_demo.launch
rosrun turtlesim turtle_teleop_key
查看坐标关系
rosrun tf view_frames
rosrun tf tf_echo turtle1 turtle2
rosrun rviz rviz -d ·rospack find turtle_tf· /rviz/turtle_rviz.rviz
12 tf坐标系广播与监听
12.1 如何实现一个tf广播器
(1)定义TF广播器
(2)创建坐标变换值
(3)发布坐标变换
12.2 代码实现
(1)创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_tf roscpp rospy tf turtlesim
(2)创建tf广播器
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程产生tf数据,并计算、发布turtle2的速度指令
*/
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
std::string turtle_name;
void poseCallback(const turtlesim::PoseConstPtr& msg)
{
// 创建tf的广播器
static tf::TransformBroadcaster br;
// 初始化tf数据
tf::Transform transform;
transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, msg->theta);
transform.setRotation(q);
// 广播world与海龟坐标系之间的tf数据
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "my_tf_broadcaster");
// 输入参数作为海龟的名字
if (argc != 2)
{
ROS_ERROR("need turtle name as argument");
return -1;
}
turtle_name = argv[1];
// 订阅海龟的位姿话题
ros::NodeHandle node;
ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
// 循环等待回调函数
ros::spin();
return 0;
};
12.3 如何实现一个TF监听器
(1)定义TF监听器
(2)查找坐标变换
12.4 代码实现
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 该例程监听tf数据,并计算、发布turtle2的速度指令
*/
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "my_tf_listener");
// 创建节点句柄
ros::NodeHandle node;
// 请求产生turtle2
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
turtlesim::Spawn srv;
add_turtle.call(srv);
// 创建发布turtle2速度控制指令的发布者
ros::Publisher turtle_vel = node.advertise<geometry_msgs::Twist>("/turtle2/cmd_vel", 10);
// 创建tf的监听器
tf::TransformListener listener;
ros::Rate rate(10.0);
while (node.ok())
{
// 获取turtle1与turtle2坐标系之间的tf数据
tf::StampedTransform transform;
try
{
listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0));
listener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform);
}
catch (tf::TransformException &ex)
{
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
// 根据turtle1与turtle2坐标系之间的位置关系,发布turtle2的速度控制指令
geometry_msgs::Twist vel_msg;
vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),
transform.getOrigin().x());
vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) +
pow(transform.getOrigin().y(), 2));
turtle_vel.publish(vel_msg);
rate.sleep();
}
return 0;
};
12.5 编译
(1)CMakeLists.txt
add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})
add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})
(2)运行
cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
source devel/setup.bash
rosrun turtlesim turtlesim_node
source devel/setup.bash
rosrun learning_tf tule_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1
source devel/setup.bash
rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2
cd ~/catkin_ws/devel/lib/learning_tf
rosrun learning_tf turtle_tf_listener
cd ~/catkin_ws
source devel/setup.bash
rosrun turtlesim turtle_teleop_key
13 launch文件使用
通过XML文件实现多节点的配置和启动(可自启动ROS Master)
13.1 语法
<launch>
launch文件中的根元素采用<launch>标签定义
<launch>开头
</launch>结尾
<node>启动节点
<node pkg="package-name" type="exectable-name" name="node-name"/>
pkg:节点所在的功能包名称
type:节点的可执行文件名称
name:节点运行时的名称
output、respawn、required、ns、args
<param/rosparam>设置ROS系统中运行的参数,存储在参数服务器中
<param neme="output_frame" value="odom"/>
name:参数名
value:参数值
加载参数文件中的多个参数
<rosparam file="params.yaml" command="load" ns="params">
<arg>launch文件内部的局部变量,仅限于launch文件使用
<arg name="arg-name" default="arg-value"/>
name:参数名
value:参数值
调用:
<param name="foo" value="$(arg arg-name)"/>
<node name="node" pkg="package" type="type" args="$(arg arg-name)"/>
<remap>重映射ROS计算图资源的命名
<remap from="/turtlebot/cmd_vel" to="/cmd_val"/>
form:原命名
to:映射之后的命名
<include>包含其他launch文件,类似C语言中的头文件包含
<include file="$(dirname)/other.launch"/>
file:包含的其他launch文件路径
13.2 启动方式
roslaunch 功能包名 launch文件名
14 可视化工具
rqt工具
rqt:综合工具
rqt_console:日志输出工具
rqt_graph:计算可视化工具
rqt_plot:数据绘图工具
rqt_image_view:图像渲染工具
Rviz工具
启动方式:
roscore
rosrun rviz rviz
Gazebo
很强大的三维物理仿真平台
roslaunch gezebo_ros