在ros2下使用ros1_bridge与ros1自定义消息桥接

最新推荐文章于 2024-05-24 09:51:01 发布

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最新推荐文章于 2024-05-24 09:51:01 发布

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分类专栏： ros2 文章标签： c++ python 自动驾驶

本文链接：https://blog.csdn.net/weixin_38274206/article/details/123062134

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在ros2下使用ros1_bridge与ros1自定义消息桥接

示例环境

操作系统：ubuntu 20.04 amd64

ros版本：noetic

ros2版本：foxy

ros1示例代码

创建ros1的工作空间catkin_ws，功能包custom_msgs，并创建一个msg文件TestNoetic.msg

TestNoetic.msg文件内容如下:
```
string test_str1
int32 test_int1
```
编译功能包，由于大家对ros1很熟悉了，所以此处不在介绍ros1编译的细节；
创建ros2的工作空间colcon_ws，功能包custom_msgs，并创建一个msg文件TestFoxy.msg

ros2创建包指令:
```
ros2 pkg create --build-type ament_cmake custom_msgs
```
TestFoxy.msg文件内容如下:
```
string test_str2
int32 test_int2
```
注意事项：ros2的msg文件命名有正则表达式的规定，要以大写字母开头，文件内容中的每个变量不可以存在大写字母，更详细的规则请参考官方文档

由于示例中要桥接的消息的文件名和内部变量名不一样，所以需要定义映射文件mapping_rules.yaml

-
  ros1_package_name: 'custom_msgs'
  ros1_message_name: 'TestNoetic'
  ros2_package_name: 'custom_msgs'
  ros2_message_name: 'TestFoxy'
  fields_1_to_2:
    test_str1: 'test_str2'
    test_int1: 'test_int2'

此映射文件放在package.xml同级目录下即可，此文件中只需要在两个包名或msg名或者变量名不相同时给出，如果名称都相同可以省略，如果存在此文件，则CMakeLists.txt如下：

cmake_minimum_required(VERSION 3.5)
project(custom_msgs)

# 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_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)

rosidl_generate_interfaces(custom_msgs
    msg/TestFoxy.msg
  DEPENDENCIES
    builtin_interfaces
)

install(FILES mapping_rules.yaml
  DESTINATION share/${PROJECT_NAME}
)

ament_export_dependencies(rosidl_default_runtime)

ament_package()

package.xml如下：

<?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>custom_msgs</name>
  <version>0.0.0</version>
  <description>The custom_msgs package</description>

  <maintainer email="weibw@todo.todo">weibw</maintainer>

  <license>TODO</license>

  <depend>rclpy</depend>
  <depend>builtin_interfaces</depend>
  <depend>rosidl_default_generators</depend>

  <member_of_group>rosidl_interface_packages</member_of_group>

  <export>
    <build_type>ament_cmake</build_type>
    <ros1_bridge mapping_rules="mapping_rules.yaml"/>
  </export>
</package>

编译ros2下的custom_msgs功能包

source /opt/ros/foxy/setup.bash
cd colcon_ws
colcon build --packages-select custom_msgs

下载ros1_bridge源码，由于我们要桥接自定义消息，所以ros1_bridge必须重新编译

源码到github自行下载，放到colcon_ws工作空间中

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
source catkin_ws/devel/setup.bash
source colcon/install/setup.bash
cd colcon_ws
colcon build --packages-select ros1_bridge --cmake-force-configure

编译完成后命令行输入:

source colcon/install/setup.bash
ros2 run ros1_bridge dynamic_bridge --print-pairs | grep custom_msgs

如果显示：

- 'custom_msgs/msg/TestFoxy' (ROS 2) <=> 'custom_msgs/TestNoetic' (ROS 1)

则代表桥接数据转换成功

编译通过后再创建一个测试用的ros2软件包bridge_test，编写一个简单的订阅器来监听话题，验证桥接是否成功

ros2 pkg create --build-type ament_cmake bridge_test --dependencies custom_msgs

创建test.cpp，内容如下

#include <memory>

#include "rclcpp/rclcpp.hpp"
#include "custom_msgs/msg/test_foxy.hpp"
using std::placeholders::_1;

class MinimalSubscriber : public rclcpp::Node
{
  public:
    MinimalSubscriber()
    : Node("minimal_subscriber")
    {
      subscription_ = this->create_subscription<custom_msgs::msg::TestFoxy>(
      "topic", 10, std::bind(&MinimalSubscriber::topic_callback, this, _1));
    }

  private:
    void topic_callback(const custom_msgs::msg::TestFoxy::SharedPtr msg) const
    {
      RCLCPP_INFO(this->get_logger(), "I heard custom_msgs::msg::TestFoxy : '%d'", msg->test_int);
    }
    rclcpp::Subscription<custom_msgs::msg::TestFoxy>::SharedPtr subscription_;
};

int main(int argc, char * argv[])
{
  rclcpp::init(argc, argv);
  rclcpp::spin(std::make_shared<MinimalSubscriber>());
  rclcpp::shutdown();
  return 0;
}

CMakelists.txt如下

cmake_minimum_required(VERSION 3.5)
project(bridge_test)

# 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(custom_msgs REQUIRED)

add_executable(subscriber src/test.cpp)
ament_target_dependencies(subscriber rclcpp custom_msgs)

install(TARGETS
  subscriber
  DESTINATION lib/${PROJECT_NAME})

ament_package()

package.xml如下

<?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>bridge_test</name>
  <version>0.0.0</version>
  <description>TODO: Package description</description>
  <maintainer email="weibw@todo.todo">weibw</maintainer>
  <license>TODO: License declaration</license>

  <buildtool_depend>ament_cmake</buildtool_depend>
  <depend>rclcpp</depend>
  <depend>custom_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>

编译功能包

cd colcon_ws
colcon build --packages-select bridge_test

验证桥接自定义消息是否成功

在ros1环境下使用命令行工具以固定频率向外广播话题数据

source /opt/ros/noetic/setup.bash
source catkin_ws/devel/setup.bash
roscore&
rostopic pub topic custom_msgs/TestNoetic "test_str1: 'hello'
test_int: 234" -r 2

在ros2环境下运行订阅节点

source /opt/ros/foxy/setup.bash
source colcon_ws/install/setup.bash
ros2 run bridge_test subscriber

运行ros1_bridge

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
source catkin_ws/devel/setup.bash
source colcon/install/setup.bash
ros2 run ros1_bridge dynamic_bridge

此时应该在ros2的订阅节点终端中看到如下打印：

[INFO] [1645162912.958789169] [minimal_subscriber]: I heard custom_msgs::msg::TestFoxy : '234'

至此，本文结束

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在ros2下使用ros1_bridge与ros1自定义消息桥接

在ros2下使用ros1_bridge与ros1自定义消息桥接示例环境操作系统：ubuntu 20.04 amd64ros版本：noeticros2版本：foxy
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