冰达机器人ros入门
https://www.bilibili.com/video/BV1pp4y1t7YA?p=3&spm_id_from=pageDriver
工具 vscode和 里面的ROS插件
1 创建工作空间和功能保pkg
mkdir zjh_ws
cd zjh_ws
mkdir src
cd src
catkin_create_pkg zjh_prectice # 自动生成package.xml等,也可以vscoda打开,也可以在src下右击新建package
(pkg.xml 运行依赖 <run_depend>rospy</run_depend>是用来给rosdep check --from-path 检测是否缺少依赖项 )
cpp的化还需要编译依赖
catkin_make #zai ws目录下,自动生成build devel
在package下新建两个文件夹src和scripts
依赖安装,在pkg xml中写明 opencv_apps 官方提供的,只有二进制包,看不到源码,可以在app的pkgxml找到网址
也可以下载源码src到ws中进行catkin_make,就可以改源码 学习和二次开发,cpp编译比较大
2 python2 medic发布topic
在对应的功能包路径下对应src(存cpp)和script(存py)
链接:https://www.zhihu.com/question/266545444/answer/1889995257
#!/usr/bin/env python
# -*- coding:utf-8 -*-
import rospy
from std_msgs.msg import String
def talker():
pub = rospy.Publisher("chatter", String, queue_size=10)
rospy.init_node("talker", anonymous=False)
rate = rospy.Rate(10)
while not rospy.is_shutdown():
hello_str = "hello world %s" % rospy.get_time()
rospy.loginfo(hello_str)
pub.publish(hello_str)
rate.sleep()
if __name__ == '__main__':
try:
talker()
except rospy.ROSInternalException:
pass
# 需要将该 python 文件的属性设置为可执行文件
# bash 命令: rosrun practice1 talker.py
CPP 的listener,注意 在cmakelist中添加,c++的编译方式
cmake_minimum_required(VERSION 3.0.2)
project(zjh_practice)
find_package(catkin REQUIRED
roscpp
std_msgs
)
## Build ##
include_directories(
include
${catkin_INCLUDE_DIRS}
)
# catkin_add_nosetests(test)
add_executable(talker src/talker.cpp)
target_link_libraries(talker ${catkin_LIBRARIES})
add_executable(listener src/listener.cpp)
target_link_libraries(listener ${catkin_LIBRARIES})
在vscode中添加,检查补全用的头文件目录
“opt/ros/medic/include/*”
#include "ros/ros.h"
#include "std_msgs/String.h"
void chatterCallback(const std_msgs::String::ConstPtr &msg)
{
ROS_INFO("I heard: [%s]", msg->data.c_str());
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "listener");
ros::NodeHandle n;
ros::Subscriber sub = n.subscribe("chatter", 1000, chatterCallback);
ros::spin();
return 0;
}
3 launch 启动多个节点pkg或者launch(可执行程序、进程)
省去roscore运行
<launch>
<arg name="robot_name" default=""/> <!-- support multi robot --> #可以在终端运行是定义参数 launch 接受的参数
<group> if unless
<param > #node中定义的参数 节点接受的参数
<node pkg="" type="talker" name="" output="screen" /> #c可执行文件 ,output可选用于发布信息打印,设置打印频率
<node pkg="" type="talker.py" name="" output="screen" /> # python 可执行文件
</launch>
也可以指定launch所在目录