在ubnutu18中进行话题进行话题编程和控制小乌龟画圆
目录
一,话题编程
1.创建工作区
工作区可以作为一个独立的项目进行编译,存放ROS程序的源文件、编译文件和执行文件。
首先打开终端,
1)创建一个名为ros的工作区
mkdir -p ~/ros/src
再进入src的工作空间
cd ~/ros/src
然后生成工作区
catkin_init_workspace
最后再进入ros的工作区进行编译
cd ~/ros/
catkin_make
这时候,会在当前文件夹下生成devel,build这两个子文件夹,在devel文件夹下能看到几个setup.*sh文件
当前文件夹下生成devel,build这两个子文件夹如下图
devel文件夹下能看到几个setup.*sh文件
2.在bash中注册和创建工程包
1)bash注册
source devel/setup.bash
2)验证是否注册
echo $ROS_PACKAGE_PATH
如果能看到自己工作区的文件路径就说明已经成功了。
以上的工作区我们就创建成功了
3)工程包创建
先切换工作区
cd ~/ros/src
再创建一个comm的工程包
catkin_create_pkg comm std_msgs rospy roscpp
4)工程包编译
切换工作区
cd ~/ros
然后编译
catkin_make
经过以上步骤,ROS工程包就建立好了
3.创建收发节点
将目录切换到comm中
cd ~/ros/src/comm
再进入src子目录
cd src
创建并打开talker.cpp
touch talker.cpp
gedit talker.cpp
再将一下内容写入文件中,
#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
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, "talker");
/**
* 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 advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message queue
* used for publishing messages. If messages are published more quickly
* than we can send them, the number here specifies how many messages to
* buffer up before throwing some away.
*/
ros::Publisher chatter_pub = n.advertise<std_msgs::String>("chatter", 1000);
ros::Rate loop_rate(10);
/**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
int count = 0;
while (ros::ok())
{
/**
* This is a message object. You stuff it with data, and then publish it.
*/
std_msgs::String msg;
std::stringstream ss;
ss << "hello world " << count;
msg.data = ss.str();
ROS_INFO("%s", msg.data.c_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();
loop_rate.sleep();
++count;
}
return 0;
}
创建并打开listener.cpp
touch listener.cpp
gedit listener.cpp
将一下内容写入文件中,
#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("I heard: [%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, "listener");
/**
* 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;
}
最后对src文件夹旁边的Cmakelist.txt文件末尾添加一段代码,
include_directories(include ${catkin_INCLUDE_DIRS})
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_dependencies(talker comm_generate_messages_cpp)
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
add_dependencies(listener comm_generate_messages_cpp)
注意:代码行之间最好不要有间隔,后面编译的时候如果有错误则可以将文件最上方的 version 3.0.2 改为 version 2.8.3
接下来进行编译,
cd ~/ros
catkin_make
如果成功,则会出现100%进度条,
4.测试
首先打开一个新终端,启动ros
roscore
然后再打开一个终端,进入ros工作区
cd ~/ros
并进行程序注册,
source ./devel/setup.bash
然后运行talker节点
rosrun comm talker
接下来,再打开一个新端口,重复上面的步骤,
cd ~/ros
source ./devel/setup.bash
运行lisetener节点
rosrun comm listener
这是listener节点就会同步更新talker的节点的内容。
二,控制小乌龟画圆
1.创建并写入程序
打开一个新终端创建并写入程序,
cd ~/ros/src/comm/src
新建画圆程序为
touch yuan.cpp
并打开
gedit yuan.cpp
代码如下,
#include "ros/ros.h"
#include "std_msgs/String.h"
#include<geometry_msgs/Twist.h> //运动速度结构体类型 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();//调用此函数给其他回调函数得以执行(比例程未使用回调函数)
//loopRate.sleep();
}
return 0;
}
再写一个接收程序,
touch callBackYuan.cpp
gedit callBackYuan.cpp
代码如下,
#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;
}
然后再进入comm文件夹,修改CMakeLists
cd ~/ros/src/comm
gedit CMakeLists.txt
再在末尾加上以下代码,
add_executable(yuan src/yuan.cpp)
target_link_libraries(yuan ${catkin_LIBRARIES})
#add_dependencies(yuan comm_generate_messages_cpp)
add_executable(callBackYuan src/callBackYuan.cpp)
target_link_libraries(callBackYuan ${catkin_LIBRARIES})
最后进行编译,
cd ~/ros
source ./devel/setup.bash
成功进度会显示100%。
运行
先回到ros工作空间,
cd ~/ros
进行程序注册,将原来这个终端记为终端1
source ./devel/setup.bash
再新建一个终端,运行ros,这个终端记为终端2
roscore
再新建一个终端,进入工作空间,运行接收程序,这个终端记为终端3
cd ~/ros
source ./devel/setup.bash
运行我们的接受实时位置的服务程序,
rosrun comm callBackYuan
再新建一个终端,启动小乌龟,记为终端4,
rosrun turtlesim turtlesim_node
最后在终端一运行画圆程序,
rosrun comm yuan
这个时候小乌龟就会开始画圆
总结
这次的实验让我进一步认识到了ros的话题编程和控制小乌龟行动的程序,知道了操作的具体步骤,明白了更深层的原理。