作业：ROS通信编程

ROS通信编程

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。

• **src:**代码空间

• **build:**编译空间

• **devel:**开发空间

• **install:**安装空间

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

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2.编译空间

cd ..
catkin_make

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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

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功能包

1.创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp

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2.编译功能包

cd ~/catkin_ws
catkin_make

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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

图片6

允许可执行文件

roscore
rosrun learning_communication talker
rosrun learning_communication listener

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

ROS话题与服务编程之控制乌龟画圆

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;
}

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;
}

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

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。

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;
}

### 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

## 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。