ROS学习——第一章（ROS概述与环境搭建）

一、ROS介绍

ROS全称Robot Operating System(机器人操作系统)

• ros–开源元操作系统
• 集成了大量的工具、库、协议
• 提供用于在多台计算机上获取、构建、编写、和运行代码的工具和库
• ROS = 通信+工具+功能+生态

设计目标

• 代码复用:ROS的目标不是成为具有最多功能的框架，ROS的主要目标是支持机器人技术研发中的代码重用。
• 分布式:ROS是进程（也称为Nodes）的分布式框架,ROS中的进程可分布于不同主机，不同主机协同工作，从而分散计算压力
• 松耦合:ROS中功能模块封装于独立的功能包或元功能包，便于分享，功能包内的模块以节点为单位运行，以ROS标准的IO作为接口，开发者不需要关注模块内部实现，只要了解接口规则就能实现复用,实现了模块间点对点的松耦合连接
• 精简：ROS被设计为尽可能精简，以便为ROS编写的代码可以与其他机器人软件框架一起使用。ROS易于与其他机器人软件框架集成：ROS已与OpenRAVE，Orocos和Player集成。
• 语言独立性：包括Java，C++，Python等。为了支持更多应用开发和移植，ROS设计为一种语言弱相关的框架结构，使用简洁，中立的定义语言描述模块间的消息接口，在编译中再产生所使用语言的目标文件，为消息交互提供支持，同时允许消息接口的嵌套使用
• 易于测试：ROS具有称为rostest的内置单元/集成测试框架，可轻松安装和拆卸测试工具。
• 大型应用：ROS适用于大型运行时系统和大型开发流程。
• 丰富的组件化工具包：ROS可采用组件化方式集成一些工具和软件到系统中并作为一个组件直接使用，如RVIZ（3D可视化工具），开发者根据ROS定义的接口在其中显示机器人模型等，组件还包括仿真环境和消息查看工具等
• 免费且开源：开发者众多，功能包多

二、安装ROS

1. 添加ros源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

2. 添加密钥

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

成功显示：已导入1

3. 更新软件源

sudo apt update

4. 安装ros

这一步比较久

sudo apt install ros-noetic-desktop-full

5.配置环境变量

配置环境变量，方便在任意 终端中使用 ROS。

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

三、测试(小乌龟）

roscore

rosrun turtlesim turtlesim_node

在该窗口下使用箭头四个按钮来改边小乌龟的移动

rosrun turtlesim turtle_teleop_key

四、第一个hello world

1. 创建工作空间并初始化

mkdir -p 自定义空间名称/src
cd 自定义空间名称
catkin_make

2. 进入 src 创建 ros 包并添加依赖
   会在工作空间下生成一个功能包，该功能包依赖于 roscpp、rospy 与 std_msgs，其中roscpp是使用C++实现的库，而rospy则是使用python实现的库，std_msgs是标准消息库，创建ROS功能包时，一般都会依赖这三个库实现。

cd src
catkin_create_pkg 自定义ROS包名 roscpp rospy std_msgs

3. 进入 ros 包的 src 目录编辑源文件
   cd 自定义的包

#include "ros/ros.h"

int main(int argc, char *argv[])
{
    //执行 ros 节点初始化
    ros::init(argc,argv,"hello");
    //创建 ros 节点句柄(非必须)
    ros::NodeHandle n;
    //控制台输出 hello world
    ROS_INFO("hello world!");

    return 0;
}

4. 编辑 ros 包下的 Cmakelist.txt文件

add_executable(步骤3的源文件名
  src/步骤3的源文件名.cpp
)
target_link_libraries(步骤3的源文件名
  ${catkin_LIBRARIES}
)

遇到的问题：

fatal error: ros/ros.h: 没有那个文件或目录 1 | #include “ros/ros.h”

解决：
在CMakeLists.text中添加：

find_package(catkin  REQUIRED COMPONENTS
  roscpp
)
 
include_directories(include ${catkin_INCLUDE_DIRS} )
catkin_package(
  CATKIN_DEPENDS roscpp
  INCLUDE_DIRS
)

最后Cmakelist.txt文件

project(hellworld)
find_package(catkin  REQUIRED COMPONENTS
  roscpp
)
 
include_directories(include ${catkin_INCLUDE_DIRS} )
catkin_package(
  CATKIN_DEPENDS roscpp
  INCLUDE_DIRS
)

add_executable(hellDemo
  src/hellworld.cpp
)
target_link_libraries(hellDemo
  ${catkin_LIBRARIES}
)

5. 进入工作空间目录并编译

cd 自定义空间名称
catkin_make

6. 执行
   先启动ros

roscore

单独开一个窗口

cd 工作空间
source ./devel/setup.bash
rosrun 包名 C++节点

五、ros文件系统

WorkSpace — 自定义的工作空间

|--- build:编译空间，用于存放CMake和catkin的缓存信息、配置信息和其他中间文件。

|--- devel:开发空间，用于存放编译后生成的目标文件，包括头文件、动态&静态链接库、可执行文件等。

|--- src: 源码

    |-- package：功能包(ROS基本单元)包含多个节点、库与配置文件，包名所有字母小写，只能由字母、数字与下划线组成

        |-- CMakeLists.txt 配置编译规则，比如源文件、依赖项、目标文件

        |-- package.xml 包信息，比如:包名、版本、作者、依赖项...(以前版本是 manifest.xml)

        |-- scripts 存储python文件

        |-- src 存储C++源文件

        |-- include 头文件

        |-- msg 消息通信格式文件

        |-- srv 服务通信格式文件

        |-- action 动作格式文件

        |-- launch 可一次性运行多个节点 

        |-- config 配置信息

    |-- CMakeLists.txt: 编译的基本配置

package.xml

该文件定义有关软件包的属性，例如软件包名称，版本号，作者，维护者以及对其他catkin软件包的依赖性。请注意，该概念类似于旧版 rosbuild 构建系统中使用的manifest.xml文件。

​<?xml version="1.0"?>
<!-- 格式: 以前是 1，推荐使用格式 2 -->
<package format="2">
  <!-- 包名 -->
  <name>demo01_hello_vscode</name>
  <!-- 版本 -->
  <version>0.0.0</version>
  <!-- 描述信息 -->
  <description>The demo01_hello_vscode package</description>

  <!-- One maintainer tag required, multiple allowed, one person per tag -->
  <!-- Example:  -->
  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  <!-- 维护人员 -->
  <maintainer email="xuzuo@todo.todo">xuzuo</maintainer>


  <!-- One license tag required, multiple allowed, one license per tag -->
  <!-- Commonly used license strings: -->
  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
  <!-- 许可证信息，ROS核心组件默认 BSD -->
  <license>TODO</license>


  <!-- Url tags are optional, but multiple are allowed, one per tag -->
  <!-- Optional attribute type can be: website, bugtracker, or repository -->
  <!-- Example: -->
  <!-- <url type="website">http://wiki.ros.org/demo01_hello_vscode</url> -->


  <!-- Author tags are optional, multiple are allowed, one per tag -->
  <!-- Authors do not have to be maintainers, but could be -->
  <!-- Example: -->
  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->


  <!-- The *depend tags are used to specify dependencies -->
  <!-- Dependencies can be catkin packages or system dependencies -->
  <!-- Examples: -->
  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
  <!--   <depend>roscpp</depend> -->
  <!--   Note that this is equivalent to the following: -->
  <!--   <build_depend>roscpp</build_depend> -->
  <!--   <exec_depend>roscpp</exec_depend> -->
  <!-- Use build_depend for packages you need at compile time: -->
  <!--   <build_depend>message_generation</build_depend> -->
  <!-- Use build_export_depend for packages you need in order to build against this package: -->
  <!--   <build_export_depend>message_generation</build_export_depend> -->
  <!-- Use buildtool_depend for build tool packages: -->
  <!--   <buildtool_depend>catkin</buildtool_depend> -->
  <!-- Use exec_depend for packages you need at runtime: -->
  <!--   <exec_depend>message_runtime</exec_depend> -->
  <!-- Use test_depend for packages you need only for testing: -->
  <!--   <test_depend>gtest</test_depend> -->
  <!-- Use doc_depend for packages you need only for building documentation: -->
  <!--   <doc_depend>doxygen</doc_depend> -->
  <!-- 依赖的构建工具，这是必须的 -->
  <buildtool_depend>catkin</buildtool_depend>

  <!-- 指定构建此软件包所需的软件包 -->
  <build_depend>roscpp</build_depend>
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>

  <!-- 指定根据这个包构建库所需要的包 -->
  <build_export_depend>roscpp</build_export_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>std_msgs</build_export_depend>

  <!-- 运行该程序包中的代码所需的程序包 -->  
  <exec_depend>roscpp</exec_depend>
  <exec_depend>rospy</exec_depend>
  <exec_depend>std_msgs</exec_depend>


  <!-- The export tag contains other, unspecified, tags -->
  <export>
    <!-- Other tools can request additional information be placed here -->

  </export>
</package>

CMakelists.txt

文件CMakeLists.txt是CMake构建系统的输入，用于构建软件包。任何兼容CMake的软件包都包含一个或多个CMakeLists.txt文件，这些文件描述了如何构建代码以及将代码安装到何处。

​cmake_minimum_required(VERSION 3.0.2) #所需 cmake 版本
project(demo01_hello_vscode) #包名称，会被 ${PROJECT_NAME} 的方式调用

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
#设置构建所需要的软件包
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
)

## System dependencies are found with CMake's conventions
#默认添加系统依赖
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# 启动 python 模块支持
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
## 声明 ROS 消息、服务、动作... ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
# 生成消息、服务时的依赖包
# generate_messages(
#   DEPENDENCIES
#   std_msgs
# )

################################################
## Declare ROS dynamic reconfigure parameters ##
## 声明 ROS 动态参数配置 ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
## catkin 特定配置##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
# 运行时依赖
catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES demo01_hello_vscode
#  CATKIN_DEPENDS roscpp rospy std_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# 添加头文件路径，当前程序包的头文件路径位于其他文件路径之前
include_directories(
# include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# 声明 C++ 库
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/demo01_hello_vscode.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# 添加库的 cmake 目标依赖
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# 声明 C++ 可执行文件
add_executable(Hello_VSCode src/Hello_VSCode.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
#重命名c++可执行文件
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
#添加可执行文件的 cmake 目标依赖
add_dependencies(Hello_VSCode ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
#指定库、可执行文件的链接库
target_link_libraries(Hello_VSCode
  ${catkin_LIBRARIES}
)

#############
## Install ##
## 安装 ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
#设置用于安装的可执行脚本
catkin_install_python(PROGRAMS
  scripts/Hi.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_demo01_hello_vscode.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

六、ros相关命令

catkin_create_pkg 自定义包名 依赖包 === 创建新的ROS功能包
sudo apt install xxx === 安装 ROS功能包

sudo apt purge xxx ==== 删除某个功能包

rospack list === 列出所有功能包
rospack find 包名 === 查找某个功能包是否存在，如果存在返回安装路径
roscd 包名 === 进入某个功能包
rosls 包名 === 列出某个包下的文件
apt search xxx === 搜索某个功能包

rosed 包名 文件名 === 修改功能包文件


roscore
	roscore === 是 ROS 的系统先决条件节点和程序的集合， 必须运行 roscore 才能使 ROS 节点进行通信。
	roscore 将启动:ros masterros 、参数服务器、rosout 日志节点
roscore -p xxxx  //指定端口号

rosrun 包名 可执行文件名 === 运行指定的ROS节点，例如：rosrun turtlesim turtlesim_node

roslaunch 包名 launch文件名 === 执行某个包下的 launch 文件