ROS 学习笔记-installation、workspace、package、message、topic、service

1、安装

http://wiki.ros.org/kinetic/Installation/Ubuntu

ROS wiki是最好的教程

sudo rosdep init
rosdep update

问题：无法连接网络

解决方法：

https://blog.csdn.net/qq_41644087/article/details/115014268

 

2、创建workspace

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

cd ~/catkin_ws
catkin_make
source devel/setup.bash

3、创建package

cd ~/catkin_ws/src
catkin_create_pkg basic rospy std_msgs message_generation
cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash

4、创建message：

roscd basic
mkdir msg
cd msg
vim Complex.msg




float32 real
float32 imaginary

修改package.xml

 <?xml version="1.0"?>
 <package format="2">
   <name>basic</name>
   <version>0.1.0</version>
   <description> basic package</description>
 
   <maintainer email="you@yourdomain.tld">Your Name</maintainer>
   <license>BSD</license>
   <url type="website">http://wiki.ros.org/beginner_tutorials</url>
   <author email="you@yourdomain.tld">Jane Doe</author>
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
 
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
   <exec_depend>message_runtime</exec_depend>

 
 </package>

修改CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  message_generation
)


add_message_files(
   FILES
   Complex.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs  # Or other packages containing msgs
)

catkin_package(
  CATKIN_DEPENDS  rospy message_runtime
)

编译

cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash

5、创建topic

roscd basic
cd src
vim topic_publisher.py




#!/usr/bin/env python

import rospy
from basic.msg import Complex
from std_msgs.msg import Int32
from random import random

rospy.init_node('topic_publisher')

pub=rospy.Publisher('counter',Int32)
pub2=rospy.Publisher('complex',Complex)
rate=rospy.Rate(2)

count=0
while not rospy.is_shutdown():
  pub.publish(count)
  cp=Complex()
  cp.real=random()
  cp.imaginary=random()
  pub2.publish(cp)
  count+=1
  rate.sleep()




chmod u+x topic_publisher.py

vim topic_subscriber.py




#!/usr/bin/env python

import rospy
from basic.msg import Complex
from std_msgs.msg import Int32
from random import random
rospy.init_node('topic_publisher')

pub=rospy.Publisher('counter',Int32)
pub2=rospy.Publisher('complex',Complex)
rate=rospy.Rate(2)

count=0
while not rospy.is_shutdown():
  pub.publish(count)
  cp=Complex()
  cp.real=random()
  cp.imaginary=random()
  pub2.publish(cp)
  count+=1
  rate.sleep()




chmod u+x topic_subscriber.py

运行

roscore

rosrun basic topic_publisher.py

rosrun basic topic_subscriber.py

rostopic echo /counter

rostopic echo /complex

6、创建service

roscd basic
mkdir srv
cd srv
vim WordCountFilter.srv




string words
uint32 min_word_length
---
uint32 count
uint32 ignored

修改CMakeLists.txt

add_service_files(
   FILES
   WordCountFilter.srv
)

编译

cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash

建立服务端

roscd basic
cd src
vim service_server_fliter.py




#!/usr/bin/env python

import rospy
from basic.srv import WordCountFilter,WordCountFilterResponse

def count_words_filter(request):
  words_list=request.words.split()
  words_filter_list=[i for i in words_list if len(i)>=request.min_word_length]
  count=len(words_filter_list)
  ignored=len(words_list)-count
  return WordCountFilterResponse(count,ignored)
  
rospy.init_node('service_server_filter')

service=rospy.Service('word_count_filter',WordCountFilter,count_words_filter)

rospy.spin()




chmod u+x service_server_fliter.py

建立客户端

vim service_client_fliter.py




#!/usr/bin/env python 
import rospy
from basic.srv import WordCountFilter,WordCountFilterRequest
import sys

rospy.init_node('service_client_filter')

rospy.wait_for_service('word_count_filter')

word_counter=rospy.ServiceProxy('word_count_filter',WordCountFilter)

min_word_length=int(sys.argv[1])

words=' '.join(sys.argv[2:])

#request=WordCountFilterRequest(words,min_word_length)
#response=word_counter(request)

response=word_counter(words,min_word_length)
print('{} have {} words legth > {},{} words are ignored.'.format(words,response.count,min_word_length,response.ignored))




chmod u+x service_client_fliter.py

6、创建action

roscd basic
mkdir action
vim Timer.action



# This is an action definition file, which has three parts: the goal, the
# result, and the feedback.
#
# Part 1: the goal, to be sent by the client
#
# The amount of time we want to wait
duration time_to_wait
---
# Part 2: the result, to be sent by the server upon completion
#
# How much time we waited
duration time_elapsed
# How many updates we provided along the way
uint32 updates_sent
---
# Part 3: the feedback, to be sent periodically by the server during
# execution.
#
# The amount of time that has elapsed from the start
duration time_elapsed
# The amount of time remaining until we're done
duration time_remaining

修改CMakeLists.txt

find_package(catkin REQUIRED COMPONENTS
  rospy
  std_msgs
  actionlib_msgs
  message_generation
)

add_action_files(
   FILES
   Timer.action
)

generate_messages(
  DEPENDENCIES
  actionlib_msgs
  std_msgs  # Or other packages containing msgs
)

catkin_package(
  CATKIN_DEPENDS  
  rospy 
  message_runtime
  actionlib_msgs
）

修改package.xml

  <buildtool_depend>catkin</buildtool_depend> 
  <build_depend>rospy</build_depend>
  <build_depend>std_msgs</build_depend>
  <build_depend>message_generation</build_depend>
  <build_depend>actionlib_msgs</build_depend>
  <build_depend>actionlib</build_depend>
  <build_export_depend>rospy</build_export_depend>
  <build_export_depend>actionlib</build_export_depend>
  <build_export_depend>actionlib_msgs</build_export_depend>
  <exec_depend>message_runtime</exec_depend>
  <exec_depend>actionlib_msgs</exec_depend>
  <exec_depend>actionlib</exec_depend>
  <exec_depend>rospy</exec_depend>

编译

cd ~/catkin_ws
catkin_make
. ~/catkin_ws/devel/setup.bash

建立服务端

roscd basic
cd src
vim fancy_action_server.py



#!/usr/bin/env python

import rospy
import time
import actionlib

from basic.msg import TimerAction,TimerGoal,TimerFeedback,TimerResult


def do_timer(goal):
    start_time=time.time()
    update_count=0

    if goal.time_to_wait.to_sec()>60:
        result=TimerResult()
        result.time_elapsed=rospy.Duration.from_sec(time.time()-start_time)
        result.updates_sent=update_count
        server.set_aborted(result,"Timer aborted due to too-long wait")
        return
    print(time.time()-start_time)
    while (time.time()-start_time)<goal.time_to_wait.to_sec():
        
        if server.is_preempt_requested():
            result = TimerResult()
            result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
            result.updates_sent = update_count
            server.set_preempted(result,"Timer preepted")

        feedback=TimerFeedback()
        feedback.time_elapsed=rospy.Duration.from_sec(time.time()-start_time)
        feedback.time_remaining=goal.time_to_wait-feedback.time_elapsed
        print(feedback)
        server.publish_feedback(feedback)
        update_count+=1

        time.sleep(1)

    result = TimerResult()
    result.time_elapsed = rospy.Duration.from_sec(time.time() - start_time)
    result.updates_sent = update_count
    server.set_succeeded(result,'Timer compled successfully')


rospy.init_node('timer_action_server')
server=actionlib.SimpleActionServer('timer',TimerAction,do_timer,False)
server.start()
rospy.spin()



chmod u+x fancy_action_server.py

创建客户端

vim fancy_action_client.py



#!/usr/bin/env python

import rospy

import time
import actionlib
from basic.msg import TimerAction,TimerGoal,TimerFeedback,TimerResult

def feedback_cb(feedback):
    print('feedback time elapsed:{}'.format(feedback.time_elapsed.to_sec()))
    print('feedback time remaining:{}'.format(feedback.time_remaining.to_sec()))

rospy.init_node('timer_action_client')
client=actionlib.SimpleActionClient('timer',TimerAction)
client.wait_for_server()

goal=TimerGoal()
goal.time_to_wait=rospy.Duration.from_sec(5)
client.send_goal(goal,feedback_cb=feedback_cb)

#time.sleep(3)
#client.cancle_goal()

client.wait_for_result()
print('result state:{}'.format(client.get_state()))
print('result status:{}'.format(client.get_goal_status_text()))
print('result time_elapsed:{}'.format(client.get_result().time_elapsed.to_sec()))
print('result update sent:{}'.format(client.get_result().updates_sent))





chmod u+x fancy_action_client.py