ros(Melodic)记录

写在前面

1、本文内容
ros入门基础
2、平台
windows10, vmware workstation, ubuntu1804
3、转载请注明出处：
https://blog.csdn.net/qq_41102371/article/details/125223367

安装ros melodic

安装虚拟机ubuntu1804
安装ros Melodic，参考官方教程
http://wiki.ros.org/melodic/Installation/Ubuntu

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt install curl # if you haven't already installed curl

curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

sudo apt update

sudo apt install ros-melodic-desktop-full

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

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

sudo rosdep init
#rosdep update会失败，网上可找到解决方法https://blog.csdn.net/zbw1185/article/details/123807654
rosdep update

例程

turtlesim

启动roscore

roscore

打开新的命令行终端

rosrun turtlesim turtlesim_node

键盘控制小乌龟，打开新的终端输入

rosrun turtlesim turtle_teleop_key

使用上下左右键控制乌龟运动，注意要在输入命令的终端上使用上下左右才行

计算图，打开新的终端

rqt_graph

(去掉debug勾选后)

查看系统节点

rosnode list

查看节点信息

rosnode info /turtlesim

查看当前话题

rostopic list

发布话题控制海龟运动
只发布一次

rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0"

# 每秒发布10次，海龟一直运动
rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0"

查看消息结构

rosmsg show geometry_msgs/Twist

查看服务

rosservice list

产生新的海龟，坐标(5,5,)，名称turtle2

rosservice call /spawn "x: 5.0
y: 5.0
theta: 0.0
name: 'turtle2'"

控制第二个海龟运动

rostopic pub -r 10 /turtle2/cmd_vel geometry_msgs/Twist "linear:
  x: 2.0
  y: 0.0
  z: 0.0
angular:
  x: 0.0
  y: 0.0
  z: 1.0"

话题记录，记录当前的话题数据到文件，以后可以复现该话题

上下左右控制海龟动几下，然后在rosbag record的窗口ctrl+c结束记录

复现之前的记录
关掉之前的turtlesim，重新打开一个turtlesim，然后复现运动

rosbag play cmd_record.bag

TF

ROS学习–轻松使用tf https://blog.csdn.net/start_from_scratch/article/details/50762293
静态发布tf关系：

<launch>
<!-- A是parent_frame_id，B是child_frame_id，关系是B到A的坐标转换 -->
 <node pkg="tf2_ros" type="static_transform_publisher" name="pubB2A"
      args="0 0 0 0 0 0 1 A B" />
</launch>

点云

rviz点云显示，alpha参数：
http://wiki.ros.org/rviz/DisplayTypes/PointCloud

命令

# 查看当前话题列表
rostopic list
# 查看话题信息
rostopic info /tutlesim

rosmsg show sensor_msgs/PointCloud

# 话题记录，会记录在cmd_record.bag文件里面
rosbag record -a -O cmd_record
# 话题复现
rosbag play cmed_record.bag

编译

catkin buid
https://blog.csdn.net/dzhongjie/article/details/83868684
catkin clean

#清理某个包
catkin clean pkgname

https://zhuanlan.zhihu.com/p/399753815
catkin文档
https://catkin-tools.readthedocs.io/en/latest/verbs/catkin_clean.html

消息

wait_for_massage
https://vimsky.com/examples/detail/python-method-rospy.wait_for_message.html

抛出异常处理：
c++:
http://wiki.ros.org/roscpp/Overview/Exceptions
https://www.ncnynl.com/archives/201702/1302.html
roscpp所有的异常都继承基类ros::Exception

try{
;
}
catch(ros::Exception &ex){
;
}

python:
http://wiki.ros.org/rospy/Overview/Exceptions

try:
	...
except Exception as e:
	rospy.logerr(e.args)

python取消消息订阅
https://stackoverflow.com/questions/38487816/unsubscribing-from-ros-topic-python

sub = rospy.subscriber("/cameras/left_hand_camera/image",Image,self.callback_viewer)
sub.unregister()

资料

ros cpp 教程 http://wiki.ros.org/roscpp_tutorials/Tutorials
ros API https://wiki.ros.org/APIs

参考

古月居ros教程：
https://www.bilibili.com/video/BV1zt411G7Vn

完

如有错漏，敬请指正
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