ROS2--随手笔记

marcker - - mash type

marker = visualization_msgs.msg.Marker()
marker.type = visualization_msgs.msg.Marker.MESH_RESOURCE
marker.mesh_resource = 'package://HexagonalPrism.STL'
//解释
文件格式为 'package://' + name_of_package + '/' + filename_in_package
例如，如果您在hexbot软件包中包含HexagonalPrism.STL，则语法应为'package://hexbot/HexagonalPrism.STL'。如果它在该程序包的一个名为meshes的文件夹中，'package://hexbot/meshes/HexagonalPrism.STL'

注：可以根据启动RViz加载Macker后报的错来修改加载文件的路径

[ERROR] [rviz2]: Error retrieving file [file:///home/gw04/all_ws/ros2_tt/install/data/share/data/generic_suv_1.stl]: Couldn't open file /home/gw04/all_ws/ros2_tt/install/data/share/data/generic_suv_1.stl

自定义的msg

float64类型等同于double类型
float64[ ]  ppp  #这里的类型是vector在使用ppp时可以使用ppp.push_back(***)

CMakeLists.txt中添加pcl

cmake_minimum_required(VERSION 3.5)
project(point_display)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(my_msgs REQUIRED)
#find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(sensor_msgs REQUIRED)

 find_package(PCL 1.8 REQUIRED)
 include_directories(${PCL_INCLUDE_DIRS})
 link_directories(${PCL_LIBRARY_DIRS})
 add_definitions(${PCL_DEFINITIONS})
find_package(Boost REQUIRED)
 include_directories(${Boost_INCLUDE_DIRS})
 link_directories(${Boost_LIBRARY_DIRS})
#find_package(pcl_ros REQUIRED)
#find_package(pcl_conversions REQUIRED)

# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()
##add
include_directories(include
  ${libpcap_LIBRARIES}
)
##
 add_executable(points_display src/points_display.cpp)
ament_target_dependencies(points_display rclcpp std_msgs sensor_msgs mymsgs pcl_conversions)
//这里的ament_target_dependencies()将需要的消息类型连接到目标文件
target_link_libraries(points_display ${PCL_LIBRARIES})
//注意这里是target_link_libraries（），把pcl的库连接到目标文件

install(TARGETS
  points_display
  DESTINATION lib/${PROJECT_NAME}
)
ament_package()

动态外部修改parameters

• 通过ros2 param set [node_name] [param_name] [param_value]
• 节点param_test

#include <iostream>
#include <memory>

#include "rclcpp/rclcpp.hpp"

int main(int argc, char ** argv)
{
  rclcpp::init(argc, argv);

  rclcpp::Node::SharedPtr node = rclcpp::Node::make_shared("param_test");

  // TODO(wjwwood): Make the parameter service automatically start with the node.
  //rclcpp::ParameterService::SharedPtr parameter_service = std::make_shared<rclcpp::ParameterService>(node);

  rclcpp::SyncParametersClient::SharedPtr parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
//declare parameters
node->declare_parameter("foo");
node->declare_parameter("bar");
node->declare_parameter("baz");
node->declare_parameter("foobar");
  // Set several different types of parameters.
  auto set_parameters_results = parameters_client->set_parameters({
    rclcpp::Parameter("foo", 2),
    rclcpp::Parameter("bar", "hello"),
    rclcpp::Parameter("baz", 1.45),
    rclcpp::Parameter("foobar", true),
  });
  // Check to see if they were set.
  for (auto & result : set_parameters_results) {
    if (!result.successful) {
      std::cerr << "Failed to set parameter: " << result.reason << std::endl;
    }
  }
  std::string tt;
while(1)
{
  // Get a few of the parameters just set.
  for (auto & parameter : parameters_client->get_parameters({"foo", "bar" ,"baz" ,"foobar"})) {
    std::cout << "Parameter name: " << parameter.get_name() << std::endl;
    std::cout << "Parameter value (" << parameter.get_type_name() << "): " <<
      parameter.value_to_string() << std::endl;
  }
  //也可以这么使用
  auto tt = parameters_client->get_parameters({"foo", "bar" ,"baz" ,"foobar"});
  //auto tt1 = tt[0].value_to_string();
  //auto tt1 = tt[0].as_int();
auto tt2 = tt[0].get_type_name();
auto tt2_ = tt[0].as_int();
auto tt3 = tt[1].get_type_name();
auto tt3_ = tt[1].as_string();
auto tt4 = tt[2].get_type_name();
auto tt4_ = tt[2].as_double();
auto tt5 = tt[3].get_type_name();
auto tt5_ = tt[3].as_bool();
//std::cout << "Parameter value: " << tt1 << std::endl;
std::cout << "Parameter value type: " << tt2 <<" "<<tt3<<" "<<tt4<<" "<<tt5<< std::endl;
std::cout << "Parameter value     : " << tt2_ <<"  "<<tt3_<<"  "<<tt4_<<"  "<<tt5_<< std::endl;
}
  return 0;
}

• 注意的语句：

// 1 建立参数客户端
  rclcpp::SyncParametersClient::SharedPtr parameters_client = std::make_shared<rclcpp::SyncParametersClient>(node);
 // 2 声明参数
node->declare_parameter("foo");
node->declare_parameter("bar");
node->declare_parameter("baz");
node->declare_parameter("foobar");
// 3 设置不同类型的参数
  auto set_parameters_results = parameters_client->set_parameters({
    rclcpp::Parameter("foo", 2),
    rclcpp::Parameter("bar", "hello"),
    rclcpp::Parameter("baz", 1.45),
    rclcpp::Parameter("foobar", true),
  });

• 如果需要参数有默认值可以使用下面的两种方法（使用node的成员函数）

//方法1：声明时初始化
node->declare_parameter("pub_topic", std::string("/display/left"));
//方法2：设置时获取时设置
string sub_topic;
node->get_parameter_or_set("sub_topic", sub_topic, std::string("/corner/data/front/left"));

注：

可以向上面那样使用来设置参数是因为，当节点启动时，参数服务器就启动了：

自我理解1：
// 在node_ptions.hpp中有下面的注释，其中“- start_parameter_services = true”
  /// Create NodeOptions with default values, optionally specifying the allocator to use.
  /**
   * Default values for the node options:
   *
   *   - context = rclcpp::contexts::default_context::get_global_default_context()
   *   - arguments = {}
   *   - parameter_overrides = {}
   *   - use_global_arguments = true
   *   - use_intra_process_comms = false
   *   - start_parameter_services = true
   *   - start_parameter_event_publisher = true
   *   - parameter_event_qos = rclcpp::ParameterEventQoS
   *     - with history setting and depth from rmw_qos_profile_parameter_events
   *   - parameter_event_publisher_options = rclcpp::PublisherOptionsBase
   *   - allow_undeclared_parameters = false
   *   - automatically_declare_parameters_from_overrides = false
   *   - allocator = rcl_get_default_allocator()
   *
   * \param[in] allocator allocator to use in construction of NodeOptions.
   */
   自我理解2：
   将param_test.cpp文件中除了定义初始化node的语句都注释掉,在return 0；前加上while(1);，在编译运行；
   新打开终端：ros2 service list  
   输出：
   xx@xx:~$ ros2 service list
/param_test/describe_parameters
/param_test/get_parameter_types
/param_test/get_parameters
/param_test/list_parameters
/param_test/set_parameters
/param_test/set_parameters_atomically
这说明定义node，启动节点后parameter service也启动了。

launch文件启动节点，输出到屏幕

import launch  
import launch_ros.actions
def generate_launch_description():
  node1 = launch_ros.actions.Node(
      package='ros2tt', node_executable='param_test',
      node_name='param_test',
      parameters=[{'foo': 1}])
  return launch.LaunchDescription([node1,])

• 这时通过ros2 launch ‘launch文件路径’ 启动节点时显示：

[INFO] [launch]: Default logging verbosity is set to INFO

• 若要是输出打印到屏幕上，需要添加“ output=‘screen’ ”
• 即

import launch  
import launch_ros.actions
def generate_launch_description():
  node1 = launch_ros.actions.Node(
      package='ros2tt', node_executable='param_test',
      node_name='param_test', output='screen',
      parameters=[{'foo': 1}])
  return launch.LaunchDescription([node1,])

此时，程序里的std::cout可以显示在屏幕上
也可以使用：

RCLCPP_INFO(node->get_logger(), "I heard :=%f",rclcpp::Duration(0,40000000).seconds());

进行输出显示。

• 可以对log进行宏定义使用

#include <rcutils/logging_macros.h>
#define ROS_ERROR RCUTILS_LOG_ERROR
#define ROS_INFO RCUTILS_LOG_INFO
#define ROS_ERROR_THROTTLE(sec, ...) RCUTILS_LOG_ERROR_THROTTLE(RCUTILS_STEADY_TIME, sec, __VA_ARGS__) //待查明使用方法
----------------
使用时：
 ROS_ERROR("Open Serial: %s Error!",serialNumber_.c_str());
 ROS_INFO("Open serial: [ %s ], successfully, with idex: %d.", serialNumber_.c_str() ,fd); -------------------
参考：https://blog.csdn.net/u011118482/article/details/80389767

自己构建tf::StampedTransform的函数

ROS1中的tf包含tf::StampedTransform的函数，ROS2中没有这个函数，由于需要使用这种操作，所以进行了构建

//使用到的
#include "rclcpp/rclcpp.hpp"
#include <tf2_ros/transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2/utils.h> 
#include <tf2/transform_datatypes.h>
#include <tf2/LinearMath/Quaternion.h>
//头文件

geometry_msgs::msg::TransformStamped StampedTransform_self(const tf2::Transform& transform_, const rclcpp::Time& timestamp, const std::string & frame_id, const std::string & child_frame_id)
{
	  std::cout<<"--1-StampedTransform_self--"<<std::endl;
   tf2::Quaternion q_tf2;
   tf2::Vector3 v_tf2;
   geometry_msgs::msg::Quaternion q_geo;
   geometry_msgs::msg::Vector3    t_geo;
   
   v_tf2 = transform_.getOrigin();
   t_geo.set__x(v_tf2.getX());
   t_geo.set__y(v_tf2.getY());
   t_geo.set__z(v_tf2.getZ());
   /*
   std::cout<<"v_tf2.getX() = "<<v_tf2.getX() <<std::endl;
   std::cout<<"v_tf2.getY() = "<<v_tf2.getY() <<std::endl;
   std::cout<<"v_tf2.getZ() = "<<v_tf2.getZ() <<std::endl;
   */
    q_tf2 = transform_.getRotation();
    q_geo.set__x(q_tf2.getX());
    q_geo.set__y(q_tf2.getY());
    q_geo.set__z(q_tf2.getZ());
    q_geo.set__w(q_tf2.getW());
    /*
   std::cout<<"q_tf2.getX() = "<<q_tf2.getX() <<std::endl;
   std::cout<<"q_tf2.getY() = "<<q_tf2.getY() <<std::endl;
   std::cout<<"q_tf2.getZ() = "<<q_tf2.getZ() <<std::endl;
   std::cout<<"q_tf2.getW() = "<<q_tf2.getW() <<std::endl;
    */
    geometry_msgs::msg::TransformStamped geo_trans;
	  geo_trans.header.stamp = timestamp;
	  geo_trans.header.frame_id = frame_id;//"velodyne";
	  geo_trans.child_frame_id = child_frame_id;//"body";
	  geo_trans.transform.translation = t_geo;
	  geo_trans.transform.rotation = q_geo;
    std::cout<<"--2-StampedTransform_self--"<<std::endl;
    return geo_trans;
}

从众多坑中爬出来后发现：

https://github.com/zhangrelay/ros2_tutorials