ROS2 学习--新建ros2工作空间和功能包

简介：如何建立ros2的工作空间和功能包。

1. 创建新的工作空间

mkdir -p ~/dev_ws/src
cd ~/dev_ws/src

2. 新建功能包

ros2 pkg create --build-type ament_cmake cpp_header

功能包名：cpp_header
编译类型：build-type
编译工具：ament_cmake

3. 新建节点头文件

//minimal_publisher.hpp
#include <chrono>
#include <functional>
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp" //包含rclcpp.hpp
#include "std_msgs/msg/string.hpp" //包含string.hpp
//上面两个外部包的使用，除包含外，还需要在配置包依赖 
using namespace std::chrono_literals; 
 
class MinimalPublisher : public rclcpp::Node  //类MinimalPublisher声明
{
public:
  MinimalPublisher();
 
  private:
  void timer_callback();
  rclcpp::TimerBase::SharedPtr timer_;
  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
  size_t count_;
};

4. 头文件中类的定义

//minimal_publisher.cpp
#include "cpp_header/minimal_publisher.hpp"
  
MinimalPublisher::MinimalPublisher () //类MinimalPublisher定义
: Node("minimal_publisher"), count_(0) //初始化计数器
{  
    publisher_ = this->create_publisher<std_msgs::msg::String>("topic", 10); //构建发布器
    timer_ = this->create_wall_timer(
      500ms, std::bind(&MinimalPublisher::timer_callback, this));
}//定时绑定回调函数
 
void MinimalPublisher::timer_callback()//回调函数
{
    auto message = std_msgs::msg::String();
    message.data = "Hello, world! " + std::to_string(count_++);
    RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str());
    publisher_->publish(message);//发布消息
 }

5. 新建ROS发布节点

//minimal_publisher_node.cpp
#include "cpp_header/minimal_publisher.hpp"
 
int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalPublisher>());
  rclcpp::shutdown();
  return 0;
}

6. 修改 package.xml文件

<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>cpp_header</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="wanghq2020@yeah.net">wanghq2023</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  #添加依赖包rclcpp、std_msgs
  <depend>rclcpp</depend> 
  <depend>std_msgs</depend>

  <test_depend>ament_lint_auto</test_depend>
  <test_depend>ament_lint_common</test_depend>

  <export>
    <build_type>ament_cmake</build_type>
  </export>
</package>

7. 修改配置文件 CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(cpp_header)

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)
#发现依赖包rclcpp、std_msgs
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

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

include_directories(include)
#生成talker，两个源文件在src中
add_executable(talker src/minimal_publisher_node.cpp src/minimal_publisher.cpp) 
#添加目标依赖
ament_target_dependencies(talker rclcpp std_msgs)
#添加目标talker的安装路径
install(TARGETS
  talker
  DESTINATION lib/${PROJECT_NAME})
  
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

8. 安装相关依赖

    cd ~/dev_ws/
    rosdep install -i --from-path src --rosdistro humble -y

参数rosdistro 根据自己的ROS版本设置，这里是humble。
9. 编译功能包

cd ~/dev_ws
~/dev_ws$ colcon build --symlink-install --packages-select cpp_header

在编译时，使用参数–packages-select，只编译特定的功能包
编译命令：colcon build，不再是ROS的catkin_make。
10. 环境设置

~/dev_ws$ source ./install/setup.bash

11. VS code 中包含路径设置
在使用code时，如果包含路径设置不完整，常常提示找不到源函数。
设置方式：修改c_cpp_properties.json文件中的 includePATH标签。这里是：

{
    "configurations": [
        {
            "name": "Linux",
            "includePath": [
                "${workspaceFolder}/**",
                "/opt/ros/humble/include/**",
              ],
            "defines": [],
            "compilerPath": "/usr/bin/gcc",
            "cStandard": "c17",
            "cppStandard": "gnu++17",
            "intelliSenseMode": "linux-gcc-x64"
        }
    ],
    "version": 4
}

12. 节点运行

~/dev_ws$ ros2 run cpp_header talker 
[INFO] [1682586792.656552787] [minimal_publisher]: Publishing: 'Hello, world! 0'
[INFO] [1682586793.156567447] [minimal_publisher]: Publishing: 'Hello, world! 1'
[INFO] [1682586793.656552445] [minimal_publisher]: Publishing: 'Hello, world! 2'

参考文献：
【1】ROS2与C++入门教程-新建ros2包