python调用c++类_ROS进阶学习（六） - 在Python里使用C++类

1 不要NodeHandle的类

因为当roscpp不是在rospy.init_node调用的时候初始化。ros::NodeHandle 类不能内有错误的用在一个C++类里。如果C++代码没有使用它，其他的地方就没有问题了。

1.1 创建一个package并且写一个C++类

这个类使用ROS message作为参数和返回类型。

cd catkin_ws_me #(打开自己的工作区)

source ./devel/setup.bash

cd src

catkin_create_pkg python_bindings_tutorial rospy roscpp std_msgs

cd python_bindings_tutorial/include/python_bindings_tutorial

touch add_two_ints.h

vim add_two_ints.h

加入以下代码：

#ifndef PYTHON_BINDINGS_TUTORIAL_ADD_TWO_INTS_H

#define PYTHON_BINDINGS_TUTORIAL_ADD_TWO_INTS_H

#include

namespace python_bindings_tutorial {

class AddTwoInts

{

public:

std_msgs::Int64 add(const std_msgs::Int64& a, const std_msgs::Int64& b);

};

} // namespace python_bindings_tutorial

#endif // PYTHON_BINDINGS_TUTORIAL_ADD_TWO_INTS_H

编写类的实现：

在python_bindings_tutorial 包下的src目录新建文件add_two_ints.cpp ，写入以下代码：

#include

using namespace python_bindings_tutorial;

std_msgs::Int64 AddTwoInts::add(const std_msgs::Int64& a, const std_msgs::Int64& b)

{

std_msgs::Int64 sum;

sum.data = a.data + b.data;

return sum;

}

1.2 绑定C++部分

绑定是通过两个包装类，一个用C++，一个是用Python。C++包装类将输入从序列化内容转换为C++ message，输出从C++ message转变为序列化的内容。

在刚才的目录下再新建一个文件add_two_ints_wrapper.cpp ，输入以下内容：

#include

#include

#include

#include

#include

/* Read a ROS message from a serialized string.

*/

template

M from_python(const std::string str_msg)

{

size_t serial_size = str_msg.size();

boost::shared_array buffer(new uint8_t[serial_size]);

for (size_t i = 0; i < serial_size; ++i)

{

buffer[i] = str_msg[i];

}

ros::serialization::IStream stream(buffer.get(), serial_size);

M msg;

ros::serialization::Serializer::read(stream, msg);

return msg;

}

/* Write a ROS message into a serialized string.

*/

template

std::string to_python(const M& msg)

{

size_t serial_size = ros::serialization::serializationLength(msg);

boost::shared_array buffer(new uint8_t[serial_size]);

ros::serialization::OStream stream(buffer.get(), serial_size);

ros::serialization::serialize(stream, msg);

std::string str_msg;

str_msg.reserve(serial_size);

for (size_t i = 0; i < serial_size; ++i)

{

str_msg.push_back(buffer[i]);

}

return str_msg;

}

class AddTwoIntsWrapper : public python_bindings_tutorial::AddTwoInts

{

public:

AddTwoIntsWrapper() : AddTwoInts() {}

std::string add(const std::string& str_a, const std::string& str_b)

{

std_msgs::Int64 a = from_python(str_a);

std_msgs::Int64 b = from_python(str_b);

std_msgs::Int64 sum = AddTwoInts::add(a, b);

return to_python(sum);

}

};

BOOST_PYTHON_MODULE(_add_two_ints_wrapper_cpp)

{

boost::python::class_("AddTwoIntsWrapper", boost::python::init<>())

.def("add", &AddTwoIntsWrapper::add)

;

}

1.3 绑定python部分

前面的跟C++相似。将Python序列转变成C++序列需要在高级的Python库里实现。

在src文件夹里新建python_bindings_tutorial文件夹，然后在里面新建_add_two_ints_wrapper_py.py，输入：

from StringIO import StringIO

import rospy

from std_msgs.msg import Int64

from python_bindings_tutorial._add_two_ints_wrapper_cpp import AddTwoIntsWrapper

class AddTwoInts(object):

def __init__(self):

self._add_two_ints = AddTwoIntsWrapper()

def _to_cpp(self, msg):

"""Return a serialized string from a ROS message

Parameters

----------

- msg: a ROS message instance.

"""

buf = StringIO()

msg.serialize(buf)

return buf.getvalue()

def _from_cpp(self, str_msg, cls):

"""Return a ROS message from a serialized string

Parameters

----------

- str_msg: str, serialized message

- cls: ROS message class, e.g. sensor_msgs.msg.LaserScan.

"""

msg = cls()

return msg.deserialize(str_msg)

def add(self, a, b):

"""Add two std_mgs/Int64 messages

Return a std_msgs/Int64 instance.

Parameters

----------

- a: a std_msgs/Int64 instance.

- b: a std_msgs/Int64 instance.

"""

if not isinstance(a, Int64):

rospy.ROSException('Argument 1 is not a std_msgs/Int64')

if not isinstance(b, Int64):

rospy.ROSException('Argument 2 is not a std_msgs/Int64')

str_a = self._to_cpp(a)

str_b = self._to_cpp(b)

str_sum = self._add_two_ints.add(str_a, str_b)

return self._from_cpp(str_sum, Int64)

为了能以python_bindings_tutorial.AddTwoInts这样的方式引入类，我们在init.py引入符号：

首先在刚才的目录里创建文件init.py，然后输入代码：

from python_bindings_tutorial._add_two_ints_wrapper_py import AddTwoInts

1.4 把所有东西黏在一起

编辑 CMakeLists.txt 如下：

cmake_minimum_required(VERSION 2.8.3)

project(python_bindings_tutorial)

find_package(catkin REQUIRED COMPONENTS

roscpp

roscpp_serialization

std_msgs

)

## Both Boost.python and Python libs are required.

find_package(Boost REQUIRED COMPONENTS python)

find_package(PythonLibs 2.7 REQUIRED)

## Uncomment this if the package has a setup.py. This macro ensures

## modules and global scripts declared therein get installed

## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html

catkin_python_setup()

###################################

## catkin specific configuration ##

###################################

catkin_package(

INCLUDE_DIRS include

LIBRARIES add_two_ints _add_two_ints_wrapper_cpp

CATKIN_DEPENDS roscpp

# DEPENDS system_lib

)

###########

## Build ##

###########

# include Boost and Python.

include_directories(

include

${catkin_INCLUDE_DIRS}

${Boost_INCLUDE_DIRS}

${PYTHON_INCLUDE_DIRS}

)

## Declare a cpp library

add_library(add_two_ints src/add_two_ints.cpp)

add_library(_add_two_ints_wrapper_cpp src/add_two_ints_wrapper.cpp)

## Specify libraries to link a library or executable target against

target_link_libraries(add_two_ints ${catkin_LIBRARIES})

target_link_libraries(_add_two_ints_wrapper_cpp add_two_ints ${catkin_LIBRARIES} ${Boost_LIBRARIES})

# Don't prepend wrapper library name with lib and add to Python libs.

set_target_properties(_add_two_ints_wrapper_cpp PROPERTIES

PREFIX ""

LIBRARY_OUTPUT_DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_PYTHON_DESTINATION}

)

C++包装器库应该跟Python模型有相同的名字，如果目标文件需要因为某些原因要指定特殊的名字，可以用set_target_properties(_add_two_ints_wrapper_cpp PROPERTIES OUTPUT_NAME correct_library_name)。

这一行：

catkin_python_setup()

这个用来输出Python模型，并且和setup.py关联。

在python_bindings_tutorial中新建 setup.py ，输入：

# ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD

from distutils.core import setup

from catkin_pkg.python_setup import generate_distutils_setup

# fetch values from package.xml

setup_args = generate_distutils_setup(

packages=['python_bindings_tutorial'],

package_dir={'': 'src'})

setup(**setup_args)

现在可以到工作空间编译一下了。

1.5

然后可以新建一个Python文件test.py

输入：

from std_msgs.msg import Int64

from python_bindings_tutorial import AddTwoInts

a = Int64(4)

b = Int64(2)

addtwoints = AddTwoInts()

sum = addtwoints.add(a, b)

sum

这里实在看不懂，留作以后继续学习吧，也没有做出来现象。

总是提示错误：

Traceback (most recent call last):

File "test.py", line 2, in

from python_bindings_tutorial import AddTwoInts

ImportError: No module named python_bindings_tutorial

算是又烂尾了一篇。