转载：在 Ubuntu16.04 中使用ROS与PostgreSQL配置 household_objects_database

最新推荐文章于 2024-04-01 21:29:34 发布

Eric大江

最新推荐文章于 2024-04-01 21:29:34 发布

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分类专栏： ros 文章标签： household_objects_database

原文链接：https://blog.csdn.net/oDaHaiTaoTao/article/details/85062444

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本文原链接： https://blog.csdn.net/oDaHaiTaoTao/article/details/85062444

英文原档请查看: http://wiki.ros.org/household_objects_database

household_objects_database简介

Class definitions and a few convenience functions for interfacing with a specific SQL database, containing 3D models of a set of common household objects.
ROS WiKi: http://wiki.ros.org/household_objects_database

1 在本地安装数据库

1.1 安装 PostgreSQL Server

sudo apt-get install postgresql

   
   
   
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1.2 修改 pg_hba.conf 文件

$ sudo gedit /etc/postgresql/9.4/main/pg_hba.conf
// 修改为如下形式
# Database administrative login by UNIX sockets
local   all         postgres                          ident sameuser
// 重启 postgresql 服务
$ sudo service postgresql reload

   
   
   
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1.3 为数据库添加用户

// 登录数据库控制台
$ sudo -u postgres psql
// 创建新用户名，willow用户用于测试示例代码
CREATE ROLE willow LOGIN CREATEDB CREATEROLE PASSWORD 'willow';

   
   
   
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1.4 安装 PGAdmin3

$ sudo apt-get install pgadmin3

   
   
   
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2. 安装 the household_objects_database

2.1 Database Creation

1. 启动 pgadmin3, 新建数据库连接，连接到 PostgreSQL server.
2. 在服务器下拉列表中, 右击 数据库，选择 新建数据库 ...
3. 创建数据名称 (如 household_objects-0.2) 并 点击 确认 按钮.

   
   
   
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2.2 从备份文件中恢复数据库信息

// Download the desired version of the database backup file from Willow Garage. 
git clone https://github.com/ros-interactive-manipulation/household_objects_database_backups.git
// Note that if a backup file is called *-schema.backup it will only 
// contain the schema of the database, but no data.

   
   
   
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After downloading the backup file, go back to pgadmin3. Right-click your newly created database, and click Restore… Point the dialog to the backup file you downloaded and click OK. Wait for the restoration to finish, then close the dialog.

2.3 使用数据库

创建ROS的工作空间

$ mkdir -p catkin_kris/src
$ cd catkin_kris/src
src$ catkin_init_space
catkin_kris$ cd ..
catkin_kris$ catkin_make
catkin_kris$ source devel/setup.bash

   
   
   
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git源码文件

catkin_kris$ cd src/
git clone https://github.com/ros-interactive-manipulation/household_objects_database_msgs.git
git clone https://github.com/ros-interactive-manipulation/sql_database.git
git clone https://github.com/ros-interactive-manipulation/household_objects_database.git

   
   
   
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Note：
修改 sql_database 包中CMakeLists.txt 文件，如下:
include_directories(include ${catkin_INCLUDE_DIRS} database_interface/include)

创建参数文件(my_server.yaml), 文件路径为 household_objects_database/config/my_server.yaml，参数文件内容如下:

household_objects_database:
  database_host: 127.0.0.1
  database_port: 5432
  database_user: willow
  database_pass: willow
  database_name: household_objects-0.2

   
   
   
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创建 launch 文件 mylocal_server.launch, 文件路径为 household_objects_database/launch/mylocal_server.launch

<launch>
 <!-- load database connection parameters -->
 <rosparam command="load" 
           file="$(find household_objects_database)/config/my_server.yaml"/>
 <!-- start the database wrapper node -->
 <node pkg="household_objects_database" name="objects_database_node" 
       type="objects_database_node" respawn="true" output="screen"/>
</launch>

   
   
   
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编译工作空间

catkin_kris$ catkin_make
catkin_kris$ source devel/setup.bash

   
   
   
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运行ros master
新开一个终端

$ roscore

   
   
   
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新开终端运行

$ roslaunch household_objects_database mylocal_server.launch

   
   
   
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新开终端运行

$ rosservice list
$ rosservice call /objects_database_node/get_model_list REDUCED_MODEL_SET 

   
   
   
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输出:
return_code:
code: -1
model_ids: [18665, 18685, 18691, 18693, 18699, 18744, 18746, 18765, 18766, 18783, 18791, 18798,
18799, 18800, 18802, 18807, 18808]

创建自己的模型集合

Open up pgadmin3, then log into your PostgreSQL server
Select your database and select Tools, Query tool (or press Ctrl+E)
输入以下代码，单击工具栏中的 Play 按钮或按 F5 快捷键

INSERT INTO model_set (original_model_id, model_set_name)
SELECT original_model_id, 'MY_MODEL_SET'
FROM original_model
WHERE original_model_id IN (
SELECT original_model_id FROM scaled_model
WHERE scaled_model_id IN (18671,18659,18638)
)

   
   
   
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终端运行:

rosservice call /objects_database_node/get_model_list MY_MODEL_SET 

   
   
   
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输出:
return_code:
code: -1
model_ids: [18638, 18659, 18671]

从数据库中删除自己的model set , 可运行下列query语句:

DELETE FROM model_set
WHERE model_set_name='MY_MODEL_SET'

   
   
   
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