在windows上用python 连接Ubuntu ROS(一：使用roslibpy库）

环境：

Win10+python叫它WinPC

虚拟机Ubuntu16.04 + ROS kinetic 叫它RosPC

首先，在RosPC上安装rosbridge suite：

sudo apt-get install -y ros-kinetic-rosbridge-server
sudo apt-get install -y ros-kinetic-tf2-web-republisher

在你连接之前，确保服务已经开启：

roslaunch rosbridge_server rosbridge_websocket.launch
rosrun tf2_web_republisher tf2_web_republisher

在你的WinPC上安装roslibpy：

    pip install roslibpy

简单连接:

我们开始导入roslibpy如下：

>>> import roslibpy

我们初始化连接(端口默认9090）：

>>> ros = roslibpy.Ros(host='localhost', port=9090)
>>> ros.run()

前面的行开始连接但不阻塞，即连接在后台建立，但函数立即将控件返回给程序。

我们来看看状态：

>>> ros.is_connected
True

比较复杂的例子：

建立一个ROS 节点，开始Publish(发送）:

import time

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
talker = roslibpy.Topic(client, '/chatter', 'std_msgs/String')


def start_talking():
    while client.is_connected:
        talker.publish(roslibpy.Message({'data': 'Hello World!'}))
        print('Sending message...')
        time.sleep(1)

    talker.unadvertise()


client.on_ready(start_talking)
client.run_forever()

如果是接收端：

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
listener = roslibpy.Topic(client, '/chatter', 'std_msgs/String')


def start_listening():
    listener.subscribe(receive_message)

def receive_message(message):
    print('Heard talking: ' + message['data'])

client.on_ready(start_listening)
client.run_forever()

做Service的服务器：

import roslibpy

client = roslibpy.Ros(host='localhost', port=9090)
client.run()
client.on_ready(lambda: call_service())

service = roslibpy.Service(client, '/rosout/get_loggers', 'roscpp/GetLoggers')


def call_service():
    print('Calling service')
    request = roslibpy.ServiceRequest()
    service.call(request, success_callback, error_callback)


def success_callback(result):
    print('Service response: ', result['loggers'])


def error_callback(result):
    print('Something went wrong')


try:
    while True:
        pass
except KeyboardInterrupt:
    pass

client.terminate()

但是对于我来说，我在ROS上的代码是C++的，所以我希望在WinPC上用c++来连接ROS。

于是我又用了rosserial_windows.