目录
一、按照课件内容,分别完成话题、服务模式的ROS示例程序,并实践练习;
二、练习ROS动作编程:客户端发送一个运动坐标,模拟机器人运动到目标位置的过程。包括服务端和客户端的代码实现,要求带有实时位置反馈。同时注意学习cmakelists 的使用方法。
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。
文件夹名称 | 用途 |
---|---|
src | 代码空间(Source Space ) |
build | 编译空间(Build Space) |
devel | 开发空间(Development Space) |
install | 安装空间(Install Space) |
1.创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
2.编译工作空间
cd ..
catkin_make
3.设置环境变量
source /home/a/catkin_ws/devel/setup.bash
sudo nano ~/.bashrc
4.检查环境变量
echo $ROS_PACKAGE_PATH
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
二、话题编程
在/catkin_ws/src/learning_communication/src中创建talker.cpp和listener.cpp
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;
}
设置CMakeLists.txt文件
添加以下代码
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
编译
cd ~/catkin_ws
catkin_make
运行可执行文件
创建三个终端
终端一
roscore
终端二
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication talker
终端三
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication listener
三、服务编程
1、定义srv文件
mkdir ~/catkin_ws/src/learning_communication/srv
sudo nano AddTwoInts.srv
AddTwoInts.srv
int64 a
int64 b
---
int64 sum
2、在CMakeLists.txt添加编译选项
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
3、在learning_communication/src中创建server.cpp和client.cpp
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;
}
4、设置CMakeLists.txt文件
add_executable(server src/server.cpp)
target_link_libraries(server ${catkin_LIBRARIES})
add_dependencies(server learning_communication_gencpp)
add_executable(client src/client.cpp)
target_link_libraries(client ${catkin_LIBRARIES})
add_dependencies(client learning_communication_gencpp)
5、编译
cd ~/catkin_ws
catkin_make
6、运行
终端一
roscore
终端二
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication server
终端三
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication client 整数1 整数2
四、动作编程
定义action文件
mkdir ~/catkin_ws/src/learning_communication/action
gedit DoDishes.action
DoDishes.action
#定义目标信息
uint32 dishwasher_id
---
#定义结果信息
uint32 total_dishes_cleaned
---
#定义周期反馈的消息
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>
在learning_communication/src中创建DoDishes_server.cpp和DoDishes_client.cpp
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
终端1
roscore
终端2
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication DoDishes_client
终端3
cd ~/catkin_ws/
source devel/setup.bash
rosrun learning_communication DoDishes_server
五,总结
通过本次实验,我们不仅学习了ROS的基本编程模型,包括话题、服务和动作的使用,还了解了如何使用CMakeLists文件来构建ROS软件包。这些技能对于开发复杂的机器人应用程序至关重要,并为进一步探索ROS的高级功能打下了坚实的基础。