译：基于ROS发布传感器流数据_ros scan 发布-CSDN博客

基于ROS发布传感器流数据

1. 基于ROS发布传感器流数据

要想安全操作Navigation Stack，在ROS上从传感器处正确的发布数据是很重要的。如果Navigation Stack不能从传感器处接收消息，那么机器人就相当于盲目运行了，很有可能撞上什么东西。有很多传感器都能用来为Navigation Stack提供信息：雷达、摄像头、声呐、红外线、碰撞传感器等等。但是，闲杂的Navigation Stack只能接收使用sensor_msgs/LaserScan或sensor_msgs/PointCloud消息类型发布的传感器数据。以下内容将介绍一个典型的构建以及使用上述两种消息类型的例子。

2. ROS消息头

和其他ROS上发布的消息一样，sensor_msgs/LaserScan 和 sensor_msgs/PointCloud 消息中都包含了tf frame和time相关的信息。为了标准化信息的发送，Header类型都作为这些信息的一个字段包含其中。

下面展示了Header中的三个字段。seq字段对应一个标识符（随着发布者发送的信息自增），stamp字段存储时间信息（例如在雷达扫描时，stamp对应的时间应该是扫描的时刻信息），frame_id存储的是tf 帧信息。

#Standard metadata for higher-level flow data types
#sequence ID: consecutively increasing ID 
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.secs: seconds (stamp_secs) since epoch
# * stamp.nsecs: nanoseconds since stamp_secs
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
# 0: no frame
# 1: global frame
string frame_id

3. 在ROS上发布LaserScans

3.1 LaserScan消息

对于有雷达的机器人，ROS在sensor_msgs包中提供了一特殊的消息类型LaserScan来保存一次扫描的信息。使用LaserScan消息能很容易地在代码中与任何雷达进行交互，只要雷达扫描器返回的数据能标准化存入该消息中。在我们讨论如何生成以及发布这些消息时，让我们先来看看消息本身的内容：

#
# Laser scans angles are measured counter clockwise, with 0 facing forward
# (along the x-axis) of the device frame
#

Header header
float32 angle_min        # start angle of the scan [rad]
float32 angle_max        # end angle of the scan [rad]
float32 angle_increment  # angular distance between measurements [rad]
float32 time_increment   # time between measurements [seconds]
float32 scan_time        # time between scans [seconds]
float32 range_min        # minimum range value [m]
float32 range_max        # maximum range value [m]
float32[] ranges         # range data [m] (Note: values < range_min or > range_max should be discarded)
float32[] intensities    # intensity data [device-specific units]

从这些变量名以及注释我们大概能够了解这些字段的含义，为了理解地更清楚，让我们来写一个简单的雷达扫描发布器来表明具体是如何工作的。

3.2 编写发布LaserScan消息的代码

在ROS上发布LaserScan消息是很直接的，来看一下下面这段简单代码：

#include <ros/ros.h>
#include <sensor_msgs/LaserScan.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "laser_scan_publisher");

  ros::NodeHandle n;
  ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50);

  unsigned int num_readings = 100;
  double laser_frequency = 40;
  double ranges[num_readings];
  double intensities[num_readings];

  int count = 0;
  ros::Rate r(1.0);
  while(n.ok()){
    //generate some fake data for our laser scan
    for(unsigned int i = 0; i < num_readings; ++i){
      ranges[i] = count;
      intensities[i] = 100 + count;
    }
    ros::Time scan_time = ros::Time::now();

    //populate the LaserScan message
    sensor_msgs::LaserScan scan;
    scan.header.stamp = scan_time;
    scan.header.frame_id = "laser_frame";
    scan.angle_min = -1.57;
    scan.angle_max = 1.57;
    scan.angle_increment = 3.14 / num_readings;
    scan.time_increment = (1 / laser_frequency) / (num_readings);
    scan.range_min = 0.0;
    scan.range_max = 100.0;

    scan.ranges.resize(num_readings);
    scan.intensities.resize(num_readings);
    for(unsigned int i = 0; i < num_readings; ++i){
      scan.ranges[i] = ranges[i];
      scan.intensities[i] = intensities[i];
    }

    scan_pub.publish(scan);
    ++count;
    r.sleep();
  }
}

然后我们逐步来分解这段代码。

#include <sensor_msgs/LaserScan.h>

这里我们include了sensor_msgs/LaserScan，因为我们需要发布该消息。

 ros::Publisher scan_pub = n.advertise<sensor_msgs::LaserScan>("scan", 50);

创建一个发布器用于之后发布LaserScan消息。

  unsigned int num_readings = 100;
  double laser_frequency = 40;
  double ranges[num_readings];
  double intensities[num_readings];

这里我们创建了一些假的雷达配置信息，在真实的应用中，这些信息可以从雷达驱动器处获得。

    //generate some fake data for our laser scan
    for(unsigned int i = 0; i < num_readings; ++i){
      ranges[i] = count;
      intensities[i] = 100 + count;
    }
    ros::Time scan_time = ros::Time::now();

为假的雷达数据填充一些每秒增加一的值。

    //populate the LaserScan message
    sensor_msgs::LaserScan scan;
    scan.header.stamp = scan_time;
    scan.header.frame_id = "laser_frame";
    scan.angle_min = -1.57;
    scan.angle_max = 1.57;
    scan.angle_increment = 3.14 / num_readings;
    scan.time_increment = (1 / laser_frequency) / (num_readings);
    scan.range_min = 0.0;
    scan.range_max = 100.0;

    scan.ranges.resize(num_readings);
    scan.intensities.resize(num_readings);
    for(unsigned int i = 0; i < num_readings; ++i){
      scan.ranges[i] = ranges[i];
      scan.intensities[i] = intensities[i];
    }

创建一个scan_msgs::LaserScan消息，并将我们生成的雷达数据填充到该消息中。

    scan_pub.publish(scan);

在ROS上发布该消息。

4. 在ROS上发布PointClouds

4.1 PointCloud消息

对于如何存储以及分发大量点的数据，ROS提供了sensor_msgs/PointCloud消息。如下所示，该消息是用来存储一组3d点数据以及一组通道（每个通道都存储了点数据的相关信息）。例如，一个发布的PointCloud消息中可能包含了一个“intensity”通道，该通道包含了点云中每个点的强度信息。下文将介绍一个发送PointCloud消息的简单例子。

#This message holds a collection of 3d points, plus optional additional information about each point.
#Each Point32 should be interpreted as a 3d point in the frame given in the header

Header header
geometry_msgs/Point32[] points  #Array of 3d points
ChannelFloat32[] channels       #Each channel should have the same number of elements as points array, and the data in each channel should correspond 1:1 with each point

4.2 编写发布PointCloud消息的代码

在ROS上发布PointCloud也是很容易的，看一下这段代码：

#include <ros/ros.h>
#include <sensor_msgs/PointCloud.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "point_cloud_publisher");

  ros::NodeHandle n;
  ros::Publisher cloud_pub = n.advertise<sensor_msgs::PointCloud>("cloud", 50);

  unsigned int num_points = 100;

  int count = 0;
  ros::Rate r(1.0);
  while(n.ok()){
    sensor_msgs::PointCloud cloud;
    cloud.header.stamp = ros::Time::now();
    cloud.header.frame_id = "sensor_frame";

    cloud.points.resize(num_points);

    //we'll also add an intensity channel to the cloud
    cloud.channels.resize(1);
    cloud.channels[0].name = "intensities";
    cloud.channels[0].values.resize(num_points);

    //generate some fake data for our point cloud
    for(unsigned int i = 0; i < num_points; ++i){
      cloud.points[i].x = 1 + count;
      cloud.points[i].y = 2 + count;
      cloud.points[i].z = 3 + count;
      cloud.channels[0].values[i] = 100 + count;
    }

    cloud_pub.publish(cloud);
    ++count;
    r.sleep();
  }
}

下面我们逐一解释这段代码。

#include <sensor_msgs/PointCloud.h>

include sensor_msgs/PointCloud消息

  ros::Publisher cloud_pub = n.advertise<sensor_msgs::PointCloud>("cloud", 50);

创建一个发布PointCloud消息的发布器。

    sensor_msgs::PointCloud cloud;
    cloud.header.stamp = ros::Time::now();
    cloud.header.frame_id = "sensor_frame";

填充消息头。

    cloud.points.resize(num_points);

设置点云中点的数量以填充假的数据。

    //we'll also add an intensity channel to the cloud
    cloud.channels.resize(1);
    cloud.channels[0].name = "intensities";
    cloud.channels[0].values.resize(num_points);

添加一个名为“intensity”的通道，并将起大小设为与点云数据相同的大小。

    //generate some fake data for our point cloud
    for(unsigned int i = 0; i < num_points; ++i){
      cloud.points[i].x = 1 + count;
      cloud.points[i].y = 2 + count;
      cloud.points[i].z = 3 + count;
      cloud.channels[0].values[i] = 100 + count;
    }

填充假数据。