ROS的话题、服务模式的ROS示例程序
文章目录
一、工作空间
存放工程开发相关文件的文件夹,其中主要包括src,build,devel,install文件夹。
1.创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace#初始化,使其成为ROS的工作空间
2.编译空间
cd ..
catkin_make
3.设置环境变量
source /home/wt/catkin_ws/devel/setup.bash #wt是用户名
sudo nano ~/.bashrc
4.检查环境变量
echo $ROS_PACKAGE_PATH
二、功能包
1.创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
2.编译功能包
cd ~/catkin_ws
catkin_make
三、编程通信
1.话题编程
创建发布者
-
初始化ROS节点
-
向ROS Master注册节点信息,包括发布的话题名和话题中的消息类型-
-
按照一定频率循环发布消息
创建订阅者
- 初始化ROS节点
- 订阅需要的话题
- 循环等待话题消息,接受到消息后进行回调函数
- 回调函数中完成消息处理
添加编译选项
- 设置需要编译的代码和生成的可执行文件
- 设置链接库
- 设置依赖
运行可执行程序
talker.cpp
#include<sstream>
#include"ros/ros.h"
#include"std_msgs/String.h"
int main(int argc,char **argv)
{
//ROS节点初始化
ros::init(argc,argv,"talker");
//创建节点句柄
ros::NodeHandle n;
//创建一个Publisher,发布名为chatter的topic,消息类型为std_msgs::String
ros::Publisher chatter_pub=n.advertise<std_msgs::String>("chatter",1000);
//设置循环的频率
ros::Rate loop_rate(10);
int count=0;
while(ros::ok())
{
//初始化std_msgs::String类型的消息
std_msgs::String msg;
std::stringstream ss;
ss<<"hello world"<<count;
msg.data=ss.str();
//发布消息
ROS_INFO("%s",msg.data.c_str());
chatter_pub.publish(msg);
//循环等待回调函数
ros::spinOnce();
//接受循环频率延时
loop_rate.sleep();
++count;
}
return 0;
}
listener.cpp
#include"ros/ros.h"
#include"std_msgs/String.h"
//接收到订阅的消息,会进入消息的回调函数
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
//将接收到的消息打印处理
ROS_INFO("I heard:{%s}",msg->data.c_str());
}
int main(int argc,char **argv)
{
//初始化ROS节点
ros::init(argc,argv,"listener");
//创建节点句柄
ros::NodeHandle n;
//创建一个Subscriber,订阅名为chatter的topic,注册回调函数chatterCallback
ros::Subscriber sub=n.subscribe("chatter",1000,chatterCallback);
//循环等待回调函数
ros::spin();
return 0;
}
编译
运行可执行文件
roscore
rosrun learning_communication talker
rosrun learning_communication listener
出现“[rospack]Error:package ‘learning_communication’ not found”错误
解决方法:
sudo gedit ~/.bashrc
在末尾添加source /home/xxx/catkin_ws/devel/setup.bash
这里xxx指的是自己的用户名
2.服务编程
定义服务请求与应答的方式
定义srv文件
mkdir ~/catkin_ws/src/learning_communication/srv
sudo nano AddTwoInts.srv
AddTwoInts.stv
int64 a
int64 b
---
int64 sum
添加功能包依赖
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
服务编程步骤
创建服务器
- 初始化ROS节点
- 创建Serve实例
- 循环等待服务请求,进入回调函数
- 在回调函数中完成服务功能的处理,并反馈应答数据
创建客户端
- 初始化ROS节点
- 创建一个Client实例
- 发布服务请求数据
- 等待Serve处理之后的应答结果
添加编译选项
- 设置需要编译的代码和生成的可执行文件
- 设置链接库
- 设置依赖
运行可执行程序*
server.cpp
#include<ros/ros.h>
#include"learning_communication/AddTwoInts.h"
//service回调函数,输入参数req,输出参数res
bool add(learning_communication::AddTwoInts::Request &req,learning_communication::AddTwoInts::Response &res)
{
//将输入的参数中的请求数据相加,结果放到应答变量中
res.sum=req.a+req.b;
ROS_INFO("request: x=%1d,y=%1d",(long int)req.a,(long int)req.b);
ROS_INFO("sending back response:[%1d]",(long int)res.sum);
return true;
}
int main(int argc,char **argv)
{
//ROS节点初始化
ros::init(argc,argv,"add_two_ints_server");
//创建节点句柄
ros::NodeHandle n;
//创建一个名为add_two_ints的server,注册回调函数add()
ros::ServiceServer service=n.advertiseService("add_two_ints",add);
//循环等待回调函数
ROS_INFO("Ready to add two ints.");
ros::spin();
return 0;
}
client.cpp
#include<cstdlib>
#include<ros/ros.h>
#include"learning_communication/AddTwoInts.h"
int main(int argc,char **argv)
{
//ROS节点初始化
ros::init(argc,argv,"add_two_ints_client");
//从终端命令行获取两个加数
if(argc!=3)
{
ROS_INFO("usage:add_two_ints_client X Y");
return 1;
}
//创建节点句柄
ros::NodeHandle n;
//创建一个client,请求add_two_ints_service
//service消息类型是learning_communication::AddTwoInts
ros::ServiceClient client=n.serviceClient<learning_communication::AddTwoInts>("add_two_ints");
//创建learning_communication::AddTwoInts类型的service消息
learning_communication::AddTwoInts srv;
srv.request.a=atoll(argv[1]);
srv.request.b=atoll(argv[2]);
//发布service请求,等待加法运算的应答请求
if(client.call(srv))
{
ROS_INFO("sum: %1d",(long int)srv.response.sum);
}
else
{
ROS_INFO("Failed to call service add_two_ints");
return 1;
}
return 0;
}
运行可执行文件
roscore
rosrun learning_communication server
rosrun learning_communication client 整数1 整数2
3.动作编程
动作是一种基于ROS消息实现的问答通信机制,它包含连续反馈,可以在任务过程中止运行。
动作(Action)的接口
- goal:发布任务目标
- cancel:请求取消任务
- status:通知客户端当前的状态
- feedback:周期反馈任务运行的监控数据
- result:向客户端发送任务的执行结果,只发布一次
自定义动作消息
- action文件
mkdir ~/catkin_ws/src/learning_communication/action
sudo nano DoDishes.action
DoDishes.action
#定义目标信息
uint32 dishwasher_id
---
#定义结果信息
uint32 total_dishes_cleaned
---
#定义反馈消息
float32 percent_complete
- 在package.xml中添加功能包依赖
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
步骤
创建动作服务器
- 初始化ROS节点
- 创建动作服务器实例
- 启动服务器,等待动作请求
- 在回调函数中完成动作服务功能的处理,并反馈进度信息
- 动作完成,发送结束信息
创建动作客户端
- 初始化ROS节点
- 创建动作客户端实例
- 连接动作服务器
- 发送动作目标
- 根据不同类型的服务器端反馈处理回调函数
添加编译选项
- 设置需要编译的代码和生成的可执行文件
- 设置链接库
- 设置依赖
运行可执行程序
DoDishes_server.cpp
#include "ros/ros.h"
#include "actionlib/server/simple_action_server.h"
#include "learning_communication/DoDishesAction.h"
typedef actionlib::SimpleActionServer<learning_communication::DoDishesAction> Server;
// 收到action的goal后调用该回调函数
void execute(const learning_communication::DoDishesGoalConstPtr &goal, Server *as)
{
ros::Rate r(1);
learning_communication::DoDishesFeedback feedback;
ROS_INFO("Dishwasher %d is working.", goal->dishwasher_id);
// 假设洗盘子的进度,并且按照1Hz的频率发布进度feedback
for(int i = 1; i <= 10; i++)
{
feedback.percent_complete = i * 10;
as->publishFeedback(feedback);
r.sleep();
}
// 当action完成后,向客户端返回结果
ROS_INFO("Dishwasher %d finish working.", goal->dishwasher_id);
as->setSucceeded();
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "do_dishes_server");
ros::NodeHandle hNode;
// 定义一个服务器
Server server(hNode, "do_dishes", boost::bind(&execute, _1, &server), false);
// 服务器开始运行
server.start();
ros::spin();
return 0;
}
DoDishes_client.cpp
#include "ros/ros.h"
#include "actionlib/client/simple_action_client.h"
#include "learning_communication/DoDishesAction.h"
typedef actionlib::SimpleActionClient<learning_communication::DoDishesAction> Client;
// 当action完成后会调用该回调函数一次
void doneCallback(const actionlib::SimpleClientGoalState &state
, const learning_communication::DoDishesResultConstPtr &result)
{
ROS_INFO("Yay! The dishes are now clean");
ros::shutdown();
}
// 当action激活后会调用该回调函数一次
void activeCallback()
{
ROS_INFO("Goal just went active");
}
// 收到feedback后调用该回调函数
void feedbackCallback(const learning_communication::DoDishesFeedbackConstPtr &feedback)
{
ROS_INFO("percent_complete : %f", feedback->percent_complete);
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "do_dishes_client");
// 定义一个客户端
Client client("do_dishes", true);
// 等待服务器端
ROS_INFO("Waiting for action server to start.");
client.waitForServer();
ROS_INFO("Action server started, sending goal.");
// 创建一个 action 的 goal
learning_communication::DoDishesGoal goal;
goal.dishwasher_id = 1;
// 发送action的goal给服务端,并且设置回调函数
client.sendGoal(goal, &doneCallback, &activeCallback, &feedbackCallback);
ros::spin();
return 0;
}
运行可执行文件
roscore
rosrun learning_communication DoDishes_client
rosrun learning_communication DoDishes_server
四、ROS话题与服务编程之控制乌龟画圆
1.创建工程包,并进入
创建工程包,进入工程包
mkdir -p ~/ros/src/comm/src
cd ~/ros/src/comm/src
创建画圆程序
touch yuan.cpp
编写yuan.cpp程序
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<geometry_msgs/Twist.h>
geometry_msgs::Twist的定义文件
int main(int argc, char *argv[])
{
ros::init(argc, argv, "vel_ctrl"); //对该节点进行初始化操作
ros::NodeHandle n; //申明一个NodeHandle对象n,并用n生成一个广播对象vel_pub
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
//vel_pub会在主题"/turtle1/cmd_vel"(机器人速度控制主题)里广播geometry_msgs::Twist类型的数据
//ros::Rate loopRate(2);
ROS_INFO("draw_circle start...");//输出显示信息
while(ros::ok())
{
geometry_msgs::Twist vel_cmd; //声明一个geometry_msgs::Twist 类型的对象vel_cmd,并将速度的值赋值到这个对象里面
vel_cmd.linear.x = 2.0;//前后(+-) m/s
vel_cmd.linear.y = 0.0; //左右(+-) m/s
vel_cmd.linear.z = 0.0;
vel_cmd.angular.x = 0;
vel_cmd.angular.y = 0;
vel_cmd.angular.z = 1.8; //机器人的自转速度,+左转,-右转,单位是rad/s
vel_pub.publish(vel_cmd); //赋值完毕后,发送到主题"/turtle1/cmd_vel"。机器人的核心节点会从这个主题接受发送过去的速度值,并转发到硬件体上去执行
std_msgs::String msg;
std::stringstream ss;//定义输出流对象
ss <<vel_cmd;
msg.data = ss.str();
/**
* The publish() function is how you send messages. The parameter
* is the message object. The type of this object must agree with the type
* given as a template parameter to the advertise<>() call, as was done
* in the constructor above.
*/
chatter_pub.publish(msg);
ros::spinOnce();
//loopRate.sleep();
}
return 0;
}
2.创建接收程序
新建接收程序
touch callBackYuan.cpp
程序代码
#include "ros/ros.h"
#include "std_msgs/String.h"
/**
* This tutorial demonstrates simple receipt of messages over the ROS system.
*/
void chatterCallback(const std_msgs::String::ConstPtr& msg)
{
ROS_INFO("it is location: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line. For programmatic
* remappings you can use a different version of init() which takes remappings
* directly, but for most command-line programs, passing argc and argv is the easiest
* way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "yuan");
/**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle n;
/**
* The subscribe() call is how you tell ROS that you want to receive messages
* on a given topic. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. Messages are passed to a callback function, here
* called chatterCallback. subscribe() returns a Subscriber object that you
* must hold on to until you want to unsubscribe. When all copies of the Subscriber
* object go out of scope, this callback will automatically be unsubscribed from
* this topic.
*
* The second parameter to the subscribe() function is the size of the message
* queue. If messages are arriving faster than they are being processed, this
* is the number of messages that will be buffered up before beginning to throw
* away the oldest ones.
*/
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
/**
* ros::spin() will enter a loop, pumping callbacks. With this version, all
* callbacks will be called from within this thread (the main one). ros::spin()
* will exit when Ctrl-C is pressed, or the node is shutdown by the master.
*/
ros::spin();
return 0;
}
3.编译运行程序
进入工作空间
cd ~/ros
编译程序
catkin_make
运行程序
rosrun turtlesim turtlesim_node
rosrun comm yuan
输入命令 gedit ~/.bashrc,然后在末尾添加 source /home/XXX/catkin_ws/devel/setup.bash,XXX为自己的用户名,保存该文件。
五、总结
经过本次的学习,我了解到了ROS的话题、服务模式和动作编程,并通过练习,初步使用这些知识,让我对ROS的技能更加深刻。