ros rviz基础操作 绘制线条 显示tf 显示odom

ROS

当先所有代码的git仓库 https://gitee.com/tianxiaohuahua/upper_computer_rviz

一、基础

1.创建工作空间 catkin_ws

创建src文件，放置功能包源码：

mkdir -p ~/catkin_ws/src

进入src文件夹：

cd ~/catkin_ws/src

初始化文件夹：

 catkin_init_workspace

这样就在src文件中创建了一个 CMakeLists.txt 的文件，目的是告诉系统，这个是ROS的工作空间。

2.编译工作空间 catkin_make

所有编译工作都要在catkin_ws文件夹下编译：

cd ~/catkin_ws/

编译，编译完成后，会发现catkin_ws中多了两个文件 build 和 devel

catkin_make

3.设置环境变量

在第1篇中，我们介绍了设置环境变量，那个是将整个ros系统的环境变量设置到bash脚本中，现在我们需要把我们工作空间的环境变量设置到bash中。

echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc

让上面的配置在当前的终端生效：

source ~/.bashrc

我们用 vi 编辑器打开 ~/.bashrc 文件，就可以看到最后两行，第一行是我们第1篇添加的ros系统的环境变量，第2行是我们创建的catkin_ws工作空间的环境变量：

如果想要查看环境变量：

 echo $ROS_PACKAGE_PATH

终端会输出：

/home/wdd/catkin_ws/src : /opt/ros/kinetic/share 第一个是我们刚才创建的catkin_ws的，第二个是ros系统的。

4.创建功能包

在src中创建：

 cd ~/catkin_ws/src/

功能包格式：

catkin_create_pkg package_name depend1 depend2 depend2

package_name：功能表名称

depend1、2、3：依赖项

创建功能包：

catkin_create_pkg learning_communication std_msgs roscpp rospy

std_msgs：包含常见消息类型

roscpp：使用C++实现ROS各种功能

rospy：使用python实现ROS各种功能

5.编译功能包

cd ~/catkin_ws
catkin_make

显示如下说明编译成功：

6.添加编译C++源文件

ROS入门教程（三）—— 用C++或Python实现Hello world_ros操作系统下算法是用什么语言写的-CSDN博客

来到新建的learning_communication功能包

cd catkin_ws/src/learning_communication/src/
mkdir learning_communication_node.cpp

打开源文件添加如下内容：

#include "ros/ros.h" //set ros include

int main(int argc, char *argv[]) // main funtion
{
    //init ros includes
    ros::init(argc,argv,"haha");

    //print hello world
    ROS_INFO("hello world!");

    return 0;
}

7.修改节点Cmake文件

打开 catkin_ws/src/learning_communication 下面的cmakeList.txt

8. 编译测试：

回到catkin_ws 工作目录下面进行编译：

catkin_make

9.运行程序

重新打开一个输入：【启动ros核心】

roscore

再重新打开另一个终端输入：【在工作空间中编译并执行】

source ./devel/setup.bash
rosrun helloworld hello

二、绘图

1、添加odom

ROS中rviz显示运动轨迹的常见方法_visualization_msgs::msg::marker 绘制轨迹-CSDN博客

新建功能包和源文件：

catkin_create_pkg learning_communication std_msgs roscpp rospy
cd catkin_ws/src/learning_communication/src/
mkdir learning_communication_node.cpp

添加源文件 learning_communication_node.cpp

#include <ros/ros.h>
#include <ros/console.h>
#include <nav_msgs/Path.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/PoseStamped.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>

main (int argc, char **argv)
{
    ros::init (argc, argv, "showpath");

    ros::NodeHandle ph;
    ros::Publisher path_pub = ph.advertise<nav_msgs::Path>("trajectory",1, true);

    ros::Time current_time, last_time;
    current_time = ros::Time::now();
    last_time = ros::Time::now();

    nav_msgs::Path path;
    //nav_msgs::Path path;
    path.header.stamp=current_time;
    path.header.frame_id="odom";


    double x = 0.0;
    double y = 0.0;
    double th = 0.0;
    double vx = 0.1;
    double vy = -0.1;
    double vth = 0.1;

    ros::Rate loop_rate(1);
    while (ros::ok())
    {

        current_time = ros::Time::now();
        //compute odometry in a typical way given the velocities of the robot
        double dt = 0.1;
        double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
        double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
        double delta_th = vth * dt;

        x += delta_x;
        y += delta_y;
        th += delta_th;


        geometry_msgs::PoseStamped this_pose_stamped;
        this_pose_stamped.pose.position.x = x;
        this_pose_stamped.pose.position.y = y;

        geometry_msgs::Quaternion goal_quat = tf::createQuaternionMsgFromYaw(th);
        this_pose_stamped.pose.orientation.x = goal_quat.x;
        this_pose_stamped.pose.orientation.y = goal_quat.y;
        this_pose_stamped.pose.orientation.z = goal_quat.z;
        this_pose_stamped.pose.orientation.w = goal_quat.w;

        this_pose_stamped.header.stamp=current_time;
        this_pose_stamped.header.frame_id="odom";
        path.poses.push_back(this_pose_stamped);

        path_pub.publish(path);
        ros::spinOnce();               // check for incoming messages

        last_time = current_time;
        loop_rate.sleep();
    }

    return 0;
}

修改Cmake进行编译：

cd catkin_ws/
catkin_make

运行：

source ./setup.base
rosrun learning_communication learning_communication_node

运行rviz

rviz

2、添加tf

ROS中的TF坐标变换工具及实现、Rviz查看（十四）C++、python_rviz查看某点的坐标-CSDN博客

新建一个功能包：

cd catkin_workSpease/src 
catkin_create_pkg tf_test roscpp rospy std_msgs tf2 tf2_ros tf2_geometry_msgs geometry_msgs
catkin_init_workspace

新建源文件

touch tf_test_node.cpp

/* 
    静态坐标变换发布方:
        发布关于 laser 坐标系的位置信息 
    实现流程:
        1.包含头文件
        2.初始化 ROS 节点
        3.创建静态坐标转换广播器
        4.创建坐标系信息
        5.广播器发布坐标系信息
        6.spin()
*/
 
 
// 1.包含头文件
#include "ros/ros.h"
#include "tf2_ros/static_transform_broadcaster.h"
#include "geometry_msgs/TransformStamped.h"
#include "tf2/LinearMath/Quaternion.h"
 
int main(int argc, char *argv[])
{
    setlocale(LC_ALL,"");
    // 2.初始化 ROS 节点
    ros::init(argc,argv,"static_brocast");
    // 3.创建静态坐标转换广播器
    tf2_ros::StaticTransformBroadcaster broadcaster;
    // 4.创建坐标系信息
    geometry_msgs::TransformStamped ts;
    //----设置头信息
    ts.header.seq = 100;
    ts.header.stamp = ros::Time::now();
    ts.header.frame_id = "base_link";
    //----设置子级坐标系
    ts.child_frame_id = "laser";
    //----设置子级相对于父级的偏移量
    ts.transform.translation.x = 0.2;
    ts.transform.translation.y = 0.0;
    ts.transform.translation.z = 0.5;
    //----设置四元数:将 欧拉角数据转换成四元数
 
    tf2::Quaternion qtn;//创建四元数对象
 
 
    qtn.setRPY(0,0,0);//向该对象设置欧拉角，这个对象可以将欧拉角转换成四元数
 
 
    //注意此处是弧度值，比如说设置3.14就是绕着对应轴转了一圈
 
 
    ts.transform.rotation.x = qtn.getX();
    ts.transform.rotation.y = qtn.getY();
    ts.transform.rotation.z = qtn.getZ();
    ts.transform.rotation.w = qtn.getW();
    // 5.广播器发布坐标系信息
    broadcaster.sendTransform(ts);
    ros::spin();
    return 0;
}

修改Cmake

add_executable(${PROJECT_NAME}_node src/tf_test_node.cpp)

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

编译测试：

cd catkin_wprkspase
catkin_make

3、散点绘制直线

如何由一组散点绘制直线，曲线或轨迹并在Rviz中显示

如何由一组散点绘制直线，曲线或轨迹并在Rviz中显示_rviz画直线-CSDN博客

新建一个功能包：

cd catkin_workSpease/src 
catkin_create_pkg tf_test roscpp rospy std_msgs tf2 tf2_ros tf2_geometry_msgs geometry_msgs
catkin_init_workspace

新建源文件

touch using_markers_node.cpp

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

#include <cmath>

int main( int argc, char** argv )
{
  ros::init(argc, argv, "points_and_lines");
  ros::NodeHandle n;
  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 10);

  ros::Rate r(30);

  float f = 0.0;
  while (ros::ok())
  {
    visualization_msgs::Marker points, line_strip, line_list;
    points.header.frame_id = line_strip.header.frame_id = line_list.header.frame_id = "my_frame";
    points.header.stamp = line_strip.header.stamp = line_list.header.stamp = ros::Time::now();
    points.ns = line_strip.ns = line_list.ns = "points_and_lines";
    points.action = line_strip.action = line_list.action = visualization_msgs::Marker::ADD;
    points.pose.orientation.w = line_strip.pose.orientation.w = line_list.pose.orientation.w = 1.0;

    points.id = 0;
    line_strip.id = 1;
    line_list.id = 2;

    points.type = visualization_msgs::Marker::POINTS;
    line_strip.type = visualization_msgs::Marker::LINE_STRIP;
    line_list.type = visualization_msgs::Marker::LINE_LIST;

    // POINTS markers use x and y scale for width/height respectively
    points.scale.x = 0.2;
    points.scale.y = 0.2;

    // LINE_STRIP/LINE_LIST markers use only the x component of scale, for the line width
    line_strip.scale.x = 0.1;
    line_list.scale.x = 0.1;

    // Points are green
    points.color.g = 1.0f;
    points.color.a = 1.0;

    // Line strip is blue
    line_strip.color.b = 1.0;
    line_strip.color.a = 1.0;

    // Line list is red
    line_list.color.r = 1.0;
    line_list.color.a = 1.0;

    // Create the vertices for the points and lines
    for (uint32_t i = 0; i < 100; ++i)
    {
      float y = 5 * sin(f + i / 100.0f * 2 * M_PI);
      float z = 5 * cos(f + i / 100.0f * 2 * M_PI);
      
      geometry_msgs::Point p;
      p.x = (int32_t)i - 50;
      p.y = y;
      p.z = z;

      points.points.push_back(p);
      line_strip.points.push_back(p);

      // The line list needs two points for each line
      line_list.points.push_back(p);
      p.z += 1.0;
      line_list.points.push_back(p);
    }

    marker_pub.publish(points);
    marker_pub.publish(line_strip);
    marker_pub.publish(line_list);

    r.sleep();

    f += 0.04;
  }
}

修改Cmake

add_executable(${PROJECT_NAME}_node src/using_markers_node.cpp)

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
)

编译测试：

cd catkin_wprkspase
catkin_make

ROS2 操作

ROS2 入门应用 工作空间 - 古月居 (guyuehome.com)

在Ubuntu 20.04中安装ROS2最新版本Foxy Fitzroy_ubuntu 20.04 sudo apt install gazebo_ros_pkgs ros2-CSDN博客

source /opt/ros/foxy/setup.bash

以后每次打开终端都需要输入一次上面的语句，比较麻烦。我们以zsh为例，解决方法：

$ echo "source /opt/ros/foxy/setup.zsh" >> ~/.zshrc 
$ source ~/.zshrc

这样，以后每次新打开终端，就不需要输入这条烦人的语句了source /opt/ros/foxy/setup.zsh, 终端会自动帮你加载这条语句，设置好ROS2的环境变量。

（2）安装argcomplete（可选）

sudo apt install python3-argcomplete

（3）安装RMW implementation

sudo apt update
sudo apt install ros-foxy-rmw-connext-cpp