ROS-Tutorials：rviz之Markers: Sending Basic Shapes (C++，附vscode调试说明)

官方的教程在这里：rviz/Tutorials/Markers: Basic Shapes - ROS Wikihttps://wiki.ros.org/rviz/Tutorials/Markers%3A%20Basic%20Shapes

我自己在ubuntu20.04上运行时碰到了一些问题，所以记录一下，

mkdir -p prj001/src
cd prj002/src
catkin_create_pkg using_markers roscpp visualization_msgs

这时候会生成下面这样的目录结构：

~/prj001/src/using_markers/src
~/prj001/src/using_markers/include
~/prj001/src/using_markers/CMakeLists.txt

然后建立一个叫basic_shapes.cpp的文件，放在这里，

~/prj001/src/using_markers/src/basic_shapes.cpp

文件内容如下，

#include <ros/ros.h>
#include <visualization_msgs/Marker.h>

int main( int argc, char** argv )
{
  ros::init(argc, argv, "basic_shapes");
  ros::NodeHandle n;
  ros::Rate r(1);
  ros::Publisher marker_pub = n.advertise<visualization_msgs::Marker>("visualization_marker", 1);

  // Set our initial shape type to be a cube
  uint32_t shape = visualization_msgs::Marker::CUBE;

  while (ros::ok())
  {
    visualization_msgs::Marker marker;
    // Set the frame ID and timestamp.  See the TF tutorials for information on these.
    marker.header.frame_id = "my_frame"; //<------------注意这里有改动
    marker.header.stamp = ros::Time::now();

    // Set the namespace and id for this marker.  This serves to create a unique ID
    // Any marker sent with the same namespace and id will overwrite the old one
    marker.ns = "basic_shapes";
    marker.id = 0;

    // Set the marker type.  Initially this is CUBE, and cycles between that and SPHERE, ARROW, and CYLINDER
    marker.type = shape;

    // Set the marker action.  Options are ADD, DELETE, and new in ROS Indigo: 3 (DELETEALL)
    marker.action = visualization_msgs::Marker::ADD;

    // Set the pose of the marker.  This is a full 6DOF pose relative to the frame/time specified in the header
    marker.pose.position.x = 0;
    marker.pose.position.y = 0;
    marker.pose.position.z = 0;
    marker.pose.orientation.x = 0.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 1.0;

    // Set the scale of the marker -- 1x1x1 here means 1m on a side
    marker.scale.x = 1.0;
    marker.scale.y = 1.0;
    marker.scale.z = 1.0;

    // Set the color -- be sure to set alpha to something non-zero!
    marker.color.r = 0.0f;
    marker.color.g = 1.0f;
    marker.color.b = 0.0f;
    marker.color.a = 1.0;

    marker.lifetime = ros::Duration();

    // Publish the marker
    while (marker_pub.getNumSubscribers() < 1)
    {
      if (!ros::ok())
      {
        return 0;
      }
      ROS_WARN_ONCE("Please create a subscriber to the marker");
      sleep(1);
    }
    marker_pub.publish(marker);

    // Cycle between different shapes
    switch (shape)
    {
    case visualization_msgs::Marker::CUBE:
      shape = visualization_msgs::Marker::SPHERE;
      break;
    case visualization_msgs::Marker::SPHERE:
      shape = visualization_msgs::Marker::ARROW;
      break;
    case visualization_msgs::Marker::ARROW:
      shape = visualization_msgs::Marker::CYLINDER;
      break;
    case visualization_msgs::Marker::CYLINDER:
      shape = visualization_msgs::Marker::CUBE;
      break;
    }

    r.sleep();
  }
}

要特别注意"/my_frame"被我改成了"my_frame"，主要原因是新的tf不再支持原来的命名方式。如果不改的话rviz会报错：

Invalid argument "/my_frame" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like

同时basic_shapes也会提示：

please create a subscriber to the marker 

然后，CMakeLists.txt之中要添加下面这两句

add_executable(basic_shapes src/basic_shapes.cpp)
target_link_libraries(basic_shapes ${catkin_LIBRARIES})

这样，准备好之后就可以按官方的操作编译了，

$ cd ~/prj001/
$ catkin_make

rosmake rviz

完成后分别打开三个terminal，在每个terminal中要记得source devel/setup.bash

roscore
rosrun using_markers basic_shapes
rosrun rviz rviz

最后就可以看到输出的图像了。

VSCode调试说明

参考： 

Ubuntu20.04+vscode快速调试ROS通用程序_tanmx219的博客-CSDN博客(PlaceHolder.....)这里假设你已经安装好了ROS noetic和git。(1) 安装vscode和extensionsubuntu上如何安装vscode可以参考官网，Running Visual Studio Code on Linux需要安装的vscode扩展如下，C/C++ (c++ intellisense and configuration help) -> MandatoryClangd (Alternative intellisense provhttps://blog.csdn.net/tanmx219/article/details/122799015

快捷键ctrl+shift+p，找到C/C++ :Edit configurations (JSON)，添加c_cppproperties.json文件，这个文件应该是指定一些路径和语言标准，如下，

c_cpp_properties.json

{
    "configurations": [
        {
            "browse": {
                "databaseFilename": "${workspaceFolder}/.vscode/browse.vc.db",
                "limitSymbolsToIncludedHeaders": false
            },
            "includePath": [
                "/opt/ros/noetic/include/**",
                "/home/matthew/projects/prj001/src/using_markers/include/**",
                "/usr/include/**"
            ],
            "name": "ROS",
            "intelliSenseMode": "gcc-x64",
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c11",
            "cppStandard": "c++14",
            "configurationProvider": "ms-vscode.cmake-tools"
        }
    ],
    "version": 4
}

快捷键ctrl+shift+p，找到Tasks:Configure Task，添加tasks.json文件，这个文件指定一些catkin_make的编译参数。

注意这里的定义"-DCMAKE_BUILD_TYPE=Debug", 

tasks.json

{
    "tasks": [
        {
            "type": "shell",
            "label": "prerun",
            "command": "source ./devel/setup.sh && export ROS_MASTER_URI=http://localhost:11311/",            
        },
        {
            "type": "shell",
            "label": "catkin_make",
            "command": "catkin_make",
            "args": [
                "--directory",
				"~/projects/prj001/",
				"-DCMAKE_BUILD_TYPE=Debug"
            ],
            "options": {
                "cwd": "${fileDirname}"
            },
            "problemMatcher": [
                "$msCompile"
            ],
            "group": "build",
            "detail": "调试器生成的任务。"
        },
        {
            "label": "Build",
            "dependsOn": [
                "catkin_make",
                "prerun"
            ]
        }
    ],
    "version": "2.0.0"
}

launch.json

{
    // Use IntelliSense to learn about possible attributes.
    // Hover to view descriptions of existing attributes.
    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
    "version": "0.2.0",
    "configurations": [
        {
            "name": "basic_shapes",
            "type": "cppdbg",
            "request": "launch",
            "program": "${workspaceFolder}/devel/lib/using_markers/basic_shapes",
            "args": [],
            "stopAtEntry": false,
            "cwd": "${fileDirname}",
            "environment": [],
            "externalConsole": false,
            "MIMode": "gdb",
            "setupCommands": [
                {
                    "description": "为 gdb 启用整齐打印",
                    "text": "-enable-pretty-printing",
                    "ignoreFailures": true
                }
            ],
            "preLaunchTask": "catkin_make",
            "miDebuggerPath": "/usr/bin/gdb"
        }
    ]
}

附加说明

如果需要在launch之前运行tasks.json里的任务，就可以加上preLaunchTask这一条，比如这里tasks.json里有一个名字叫"catkin_make"，可以通过

"preLaunchTask": "catkin_make"

这样的语句使程序在启动前都编译一次源码。

这样，启动vscode，选择basic_shapes，就可以调试源码了。