目录
实验目的:
1.练习话题通信、服务通信编程代码示例;
2.安装Rviz,用它显示电脑摄像头的视频。
实验环境:Windows10,Ubuntu18.04
参考资料:B站视频
ROS编程基础
Rviz
一、创建工作空间与功能包
工作空间是用来存放ROS工程里面的相关文件夹。工作空间里面有四个文件夹:
src:代码空间,用于存放代码
build:编译空间,用于存放编译文件
devel:开发空间,用于存放开发过程中生成的可执行文件和库
install:安装空间,用于存放安装的程序
1.创建工作空间
创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin/src
catkin_init_workspace
编译工作空间
cd ~/catkin_ws
catkin_make
设置环境变量
source devel/setup.bash
设置为只对当前终端有效
检查环境变量
echo $ROS_PACKAGE_PATH
2.创建功能包
同一个工作空间,不允许存在同名功能包,不同工作空间则可以
创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_communication std_msgs rospy roscpp
//catkin_create_pkg [功能包名字] [依赖1] [依赖2]
//std_msgs:定义的标准的数据结构
编译功能包
cd ~/catkin_ws
catkin_make
完成后的包
二、话题编程
1.创建发布者
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;
}
2.创建订阅者
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;
}
3.添加编译选项
在这里编写程序
在包里的CMakeLists.txt
里添加
xxx表示talker和listener,两个都要添加
add_executable(xxx src/xxx.cpp)
target_link_libraries(xxx ${catkin_LIBRARIES})
用catkin_make
编译
4.运行可执行程序
roscore
rosrun learning_communication talker
rosrun learning_communication listener
如果出现[rospack] Error: package 'learning_communication' not found
在新终端里输入
cd ~/catkin_ws
source devel/setup.bash
rosrun learning_communication talker
//或者rosrun learning_communication listener
自定义话题消息
mkdir ~/catkin_ws/src/learning_communication/msg
cd ~/catkin_ws/src/learning_communication/msg
sudo vim Person.msg
Person.msg内容为
string name
uint8 sex
uint8 age
uint8 unknown=0
uint8 male=1
uint8 female=2
编辑 package.xml 文件
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
再编辑CMakeLists.txt
find_package(... message_generation)
add_message_files(
FILES Person.msg
)
generate_messages(
DEPENDENCIES std_msgs
//没有这个不行!!!
)
catkin_package(
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
)
开始编译
cd ~/catkin_ws
catkin_make
查看自定义消息
rosmsg show Person
三、服务编程
前期工作
定义srv文件
mkdir ~/catkin_ws/src/learning_communication/srv
cd ~/catkin_ws/src/learning_communication/srv
sudo vim AddTwoInts.srv
里面写入
int64 a
int64 b
---
int64 sum
在package.xml中添加功能依赖包
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
//部分ROS需要将exec_depend改为run_depend
在CMakeLists.txt添加编译选项
find_package(... message_generation)
catkin_package(CATKIN_DEPENDS roscpp rospy std_msgs message_runtime)
add_service_files(FILES AddTwoInts.srv)
//如果出现“ fatal error: learning_communication/AddTwoInts.h”,
//在add_service_files(FILES AddTwoInts.srv)后面添加上
generate_messages(DEPENDENCIES std_msgs)
//否则不会生成srv.h
1.创建服务器
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;
}
2.创建客户端
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;
}
3.添加编译选项
在CMakeLists.txt里面添加
xxx表示server和client,两个都要添加
add_executable(xxx src/xxx.cpp)
target_link_libraries(xxx ${catkin_LIBRARIES})
add_dependencies(xxx ${PROJECT_NAME}_gencpp)
4.运行可执行程序
先运行server,再运行client
roscore
rosrun learning_communication server
rosrun learning_communication client 整数1 整数2
四、动作编程
前期工作
定义action文件
mkdir ~/catkin_ws/src/learning_communication/action
cd ~/catkin_ws/src/learning_communication/action
sudo vim DoDishes.action
写入以下内容
#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中添加功能依赖包
<build_depend>actionlib</build_depend>
<build_depend>actionlib_msgs</build_depend>
<exec_depend>actionlib</exec_depend>
<exec_depend>actionlib_msgs</exec_depend>
在CMakeLists.txt添加编译选项
actionlib_msgs actionlib
add_action_files(
DIRECTORY action FILES DODishes.action
)
generate_messages(
DEPENDENCIES std_msgs
DEPENDENCIES actionlib_msgs
)
1.创建服务器
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;
}
2.创建客户端
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;
}
3.添加编译选项
在CMakeLists.txt里面添加
xxx表示DoDishes_server和DoDishes_client,两个都要添加
add_executable(xxx src/xxx.cpp)
target_link_libraries(xxx ${catkin_LIBRARIES})
add_dependencies(xxx ${${PROJECT_NAME}_EXPORTED_TARGETS})
4.运行可执行程序
先运行DoDishes_server,再运行DoDishes_client
roscore
rosrun learning_communication DoDishes_server
rosrun learning_communication DoDishes_client
五、Rviz工具
1.打开摄像头
在虚拟机启动后,在VMware右下角有一排图标,其中一个是摄像头的,设置ta,选择连接主机。
ta开始闪烁就可以了。
如果没有图标,在启动虚拟机后,点击虚拟机——》可移动设备——》找到摄像头(用排除法)——》连接主机
还不行就看这里
检查ta
cheese
//打开摄像头
没有cheese先安装
sudo apt-get install cheese
2.Rviz摄像头显示相关包安装
//安装uvc camera功能包
sudo apt-get install ros-melodic-uvc-camera
//安装image相关功能包
sudo apt-get install ros-melodic-image-*
sudo apt-get install ros-melodic-rqt-image-view
//启动ROS核心
roscore
//在第二个终端运行uvc_camera节点
rosrun uvc_camera uvc_camera_node
//打开第三个终端,查看话题消息
rostopic list
//在第三个终端中打印相机信息
rostopic echo /camera_info
//在第三个终端中打开Rviz
rviz
打开Rviz后,在左下角找到Add
选择Image
在左边做出如下选择
最后效果